Remote control method, device and medium for tunnel boring machine

Abstract

The present invention discloses a remote control method, device and medium for a tunnel boring machine, which are applicable to the field of remote control technology. The current data sent by the construction site is obtained, and a control instruction is obtained according to the current data; the control instruction is sent to the TSN terminal node through a switch; the control instruction is processed according to the TSN network to generate first radiation data; the first radiation data is sent to the TSN terminal node at the construction site through a base station so that the construction site can parse the first radiation data according to the TSN network to generate tunneling data, and control the tunnel boring machine according to the tunneling data to complete remote control. The first radiation data obtained based on the TSN network is transmitted through the base station to realize end-to-end deterministic communication between the remote center and the construction site. The remote center and the site where the tunnel boring machine is located are synchronized by clock through the TSN network, further ensuring the safety, real-time and control accuracy of the tunnel boring machine, while improving the reliability of data transmission.

Description

Technical Field

[0001] The present invention relates to the field of remote control technology, and in particular to a remote control method, device and medium for a tunnel boring machine. Background Art

[0002] The tunnel boring machine is an underground construction equipment, which is mainly controlled by switches, buttons, touch screens and operation instructions issued by the host computer in the control room. Due to the harsh working environment on site and the fact that the equipment may be located in different countries and cities, the current solution to solve the above problems is to remotely control the tunnel boring machine, by setting up a remote control console and establishing communication with the equipment on site.

[0003] Since construction sites are often located in remote areas and are far away from base stations, wireless communication is often used for remote control. Currently, there are two main types of wireless communication: one is a virtual private network (VPN), which connects nodes through public network lines to establish a secure connection, allowing users to use the Internet as a medium to establish a network to transmit data; the other is the fifth generation mobile communication technology network (5G), which sets up 5G communication remotely and on-site to achieve end-to-end communication. Based on the above two wireless communication methods, there is a possibility of packet loss in the data transmission process in actual application scenarios, and the reliability and real-time performance of data transmission cannot be guaranteed. For the second method, when the amount of data is large, the remote and on-site clocks cannot be synchronized, which cannot meet the safety and control accuracy of the tunnel boring machine.

[0004] Therefore, how to improve the real-time performance of remote control of a roadheader is an urgent problem to be solved by those skilled in the art. Summary of the invention

[0005] The purpose of the present invention is to provide a remote control method, device and medium for a tunnel boring machine, so as to ensure the safety, real-time performance and control accuracy of the tunnel boring machine and improve the reliability of data transmission.

[0006] In order to solve the above technical problems, the present invention provides a remote control method for a roadheader, which is applied to a remote center and comprises:

[0007] Obtain current data sent by the construction site and obtain control instructions based on the current data;

[0008] Send control instructions to TSN terminal nodes through switches;

[0009] Processing the control instruction according to the TSN network to generate first radiation data;

[0010] The first radiation data is sent to the TSN terminal node at the construction site through the base station so that the construction site can parse the first radiation data according to the TSN network to generate excavation data, and control the operation of the tunnel boring machine according to the excavation data to complete remote control.

[0011] Preferably, obtaining current data of the construction site includes:

[0012] Obtain the working data of the tunnel boring machine through IO devices and communication devices;

[0013] The work data is sent to the corresponding TSN terminal node through the switch at the construction site;

[0014] Processing the working data according to the TSN network to generate second radiation data;

[0015] The second radiation data is sent to the remote center through the base station to obtain current data.

[0016] Preferably, processing the working data to generate the second radiation data according to the TSN network includes:

[0017] Get the master clock signal;

[0018] Parsing the master clock signal and the working data according to the Ethernet format to obtain first parsed data;

[0019] The first analyzed data is radiated to the wireless network port to obtain second radiated data.

[0020] Preferably, the first radiation data is parsed to generate tunneling data according to the TSN network, including:

[0021] Obtain the industrial control protocol of the tunnel boring machine;

[0022] According to the industrial control protocol and the TSN network, the first radiation data is parsed into tunneling data and sent to the tunneling machine through the TSN Ethernet port.

[0023] Preferably, it also includes:

[0024] The first radiation data and the second radiation data are respectively sent to the cloud through the TSN terminal node of the remote center and the TSN terminal node at the construction site for data tracking.

[0025] Preferably, it also includes:

[0026] Get the matching data from the server;

[0027] Sending a request to the base station to establish a connection between the server and the base station according to the preset time and matching data;

[0028] After the connection is established, debugging and maintenance are carried out on the construction site and the remote center.

[0029] Preferably, before acquiring the current data sent by the construction site, the method further includes:

[0030] Determine the control authority of the remote center, which includes local status or remote status;

[0031] When the construction site is in a remote state and the remote center is in a local state, the remote center obtains the operation authority to operate the tunnel boring machine, and then enters the step of obtaining the current data of the construction site.

[0032] In order to solve the above technical problems, the present invention further provides a remote control device for a roadheader, comprising:

[0033] An acquisition module is used to acquire current data sent by the construction site and obtain control instructions based on the current data;

[0034] A first sending module, used to send the control instruction to the TSN terminal node through the switch;

[0035] A generating module, configured to process the control instruction according to the TSN network to generate first radiation data;

[0036] The second sending module is used to send the first radiation data to the TSN terminal node at the construction site through the base station so that the construction site can parse the first radiation data according to the TSN network to generate excavation data, and control the operation of the tunnel boring machine according to the excavation data to complete remote control.

[0037] In order to solve the above technical problems, the present invention further provides a remote control device for a roadheader, comprising:

[0038] Memory for storing computer programs;

[0039] A processor is used to implement the steps of the remote control method of the tunnel boring machine as described above when executing a computer program.

[0040] In order to solve the above technical problems, the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the remote control method of the tunnel boring machine as described above are implemented.

[0041] The present invention provides a remote control method for a tunnel boring machine, which is applied to a remote center, including obtaining current data sent by a construction site, obtaining a control instruction based on the current data; sending the control instruction to a TSN terminal node through a switch; processing the control instruction according to the TSN network to generate first radiation data; sending the first radiation data to the TSN terminal node at the construction site through a base station so that the construction site can parse the first radiation data according to the TSN network to generate tunneling data, and control the tunnel boring machine according to the tunneling data to complete remote control. The method is based on the first radiation data obtained by the TSN network being transmitted through the base station to achieve end-to-end deterministic communication between the remote center and the construction site. The TSN network is used to achieve clock synchronization between the remote center and the site where the tunnel boring machine is located, further ensuring the safety, real-time performance and control accuracy of the tunnel boring machine, while improving the reliability of data transmission.

[0042] In addition, the present invention also provides a remote control device and medium for a tunnel boring machine, which have the same beneficial effects as the remote control method for the tunnel boring machine described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0044] Figure 1 A flowchart of a remote control method for a tunnel boring machine provided by an embodiment of the present invention;

[0045] Figure 2 A structural diagram of a TSN terminal node provided by an embodiment of the present invention;

[0046] Figure 3 A structural diagram of a remote control device for a tunnel boring machine provided by an embodiment of the present invention;

[0047] Figure 4 A structural diagram of another remote control device for a roadheader provided by an embodiment of the present invention;

[0048] Figure 5 A schematic diagram of an application scenario of a remote control method based on a tunnel boring machine provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] The core of the present invention is to provide a remote control method, device and medium for a tunnel boring machine, so as to ensure the safety, real-time performance and control accuracy of the tunnel boring machine, and at the same time improve the reliability of data transmission.

[0051] In order to enable those skilled in the art to better understand the solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0052] It should be noted that the remote control method of the tunnel boring machine provided by the present invention can be applied to tunnel boring machines, shield machines, and other scenarios of remote control technology. For tunnel boring machines suitable for rock tunnels, and shield machines for earth tunnels, the rigid shell outside the machine can be used as support. It can also be applied to debugging scenarios where the equipment is in a harsh environment, or the on-site staff is unfamiliar with the equipment, resulting in the equipment being unable to operate normally, so that the relevant engineers of the enterprise often have to go to other places to debug and solve problems, and the remote control of the present invention is needed to solve the debugging work. The present invention is not specifically limited, and specific application scenarios and remote control can be set according to actual conditions.

[0053] Figure 1 A flowchart of a remote control method for a tunnel boring machine provided by an embodiment of the present invention, such as Figure 1 As shown, the method includes:

[0054] S11: Acquire current data sent from the construction site, and obtain control instructions based on the current data.

[0055] It is understandable that this embodiment is applied to a remote center, which is generally set on the ground and includes I / O devices, communication devices, industrial computers, switches, remote controllers and TSN terminals. The current data is a display of the on-site status of the construction site. Further, according to the operation status display of the construction site, a decision is made in the remote center and a corresponding control instruction of the decision is generated, wherein the control instruction can be issued through switches, buttons, touch screens, host computers, etc. in the control room.

[0056] S12: Send the control command to the TSN terminal node through the switch.

[0057] Specifically, with the continuous development of network technology, Ethernet technology has developed from the previous shared half-duplex technology to switched full-duplex technology. The network is divided into independent collision domains by switches, and the transmission lines for sending and receiving between nodes (between switches and between switches and devices) are also completely separated. Data is cached and forwarded through the switch.

[0058] The control instruction generated in step S11 is sent to the TSN terminal node by means of a switch.

[0059] TSN is a set of standards (EEE802.1Q) specified by the Time Sensitive Network Task Group of the IEEE802.1 Working Group. It is mainly used to transmit time-sensitive real-time data on Ethernet networks. Its TSN network is an Ethernet protocol, which is the second layer of Open System Interconnection (OSI). It ensures that information is transmitted from point A to point B within a fixed and predictable time, which also means that network devices share a common clock to achieve time synchronization.

[0060] In order to meet the increasing network requirements, the TSN protocol provides high-level clock synchronization, lower end-to-end latency and determinism, high fault tolerance, high system robustness and security mechanisms. Taking the construction site as an example, it is regarded as a TSN network, in which TSN terminals, switches and devices are respectively used as nodes. Through the exchange of standard Ethernet messages between devices, the selection, negotiation and matching of the best master clock are achieved, the transmission delay on the link is calculated, and the corresponding clock is matched and adjusted, so that the time of each node is synchronized with the same master clock to achieve clock synchronization and high-quality data transmission of the entire system. The present invention does not make specific restrictions on the selection of the master clock in this embodiment, and can be set according to actual conditions to use the clock of a certain node as the master clock.

[0061] Figure 2 A structural diagram of a TSN terminal node provided by an embodiment of the present invention, such as Figure 2 As shown, the power supply 1 is responsible for providing 12-24VDC to the TSN terminal node 6, the processor 3 is the core of the TSN terminal for processing and computing data, and the memory 2 is used to store process data and result data generated by data processing, computing, etc.; the network processing device 4 supports various industrial control protocols (such as Modbus, EtherNet / IP, PowerLink, ProfiNet, EtherCAT, etc.), is responsible for parsing the device data into a unified universal Ethernet data format, and transmits the parsed data to the 5G communication device 5, which is responsible for encapsulating and radiating the data to the 5G wireless network port to facilitate data transmission of the base station. The TSN terminal node of the remote center mentioned in this embodiment serves as the data sending end.

[0062] S13: Processing the control instruction according to the TSN network to generate first radiation data;

[0063] The controller of the remote center sends the control instructions to the TSN terminal node through the switch, and then processes the control instructions according to the TSN network to generate the first radiation data. Specifically, the control instructions generated by the switches, buttons, touch screens, host computers, etc. of the remote center are matched through the TSN network to generate the first radiation data. The control instructions are parsed and transmitted to the network processing device through the 5G communication device, and are converted into data of multiple different industrial control protocols according to the industrial control protocol of the equipment, and are sent to each device through the TSN Ethernet port. After each device processes the data, it radiates the first radiation data at the TSN terminal node.

[0064] S14: Send the first radiation data to the TSN terminal node at the construction site through the base station so that the construction site can parse the first radiation data to generate excavation data according to the TSN network, and control the operation of the tunnel boring machine according to the excavation data to complete remote control.

[0065] The first radiation data is sent to the TSN terminal node at the construction site through the base station, and then the construction site parses the first radiation data to generate excavation data according to the TSN network. Specifically, the first radiation data is parsed to generate radiation data at the construction site, and the radiation data is used to generate excavation data through the switch, and the excavation machine is controlled according to the excavation data. It receives the parsed radiation data through the 5G communication module and transmits it to the network processing module, and encapsulates it according to the industrial control protocol of the equipment, and sends the encapsulated data, that is, the excavation data, to the equipment through the TSN Ethernet port to control the excavation machine to complete remote control.

[0066] The present invention provides a remote control method for a tunnel boring machine, which is applied to a remote center, including obtaining current data sent by a construction site, obtaining a control instruction based on the current data; sending the control instruction to a TSN terminal node through a switch; processing the control instruction according to the TSN network to generate first radiation data; sending the first radiation data to the TSN terminal node at the construction site through a base station so that the construction site can parse the first radiation data according to the TSN network to generate tunneling data, and control the tunnel boring machine according to the tunneling data to complete remote control. The method is based on the first radiation data obtained by the TSN network being transmitted through the base station to achieve end-to-end deterministic communication between the remote center and the construction site. The TSN network is used to achieve clock synchronization between the remote center and the site where the tunnel boring machine is located, further ensuring the safety, real-time performance and control accuracy of the tunnel boring machine, while improving the reliability of data transmission.

[0067] Based on the above embodiment, the step S11 of obtaining the current data sent by the construction site specifically includes:

[0068] Obtain the working data of the tunnel boring machine through IO devices and communication devices;

[0069] The work data is sent to the corresponding TSN terminal node through the switch at the construction site;

[0070] Processing the working data according to the TSN network to generate second radiation data;

[0071] The second radiation data is sent to the remote center through the base station to obtain the current data. It can be understood that the construction site obtains the working data of the tunnel boring machine through input / output (I / O) equipment and communication equipment, wherein when the tunnel boring machine is working underground, the tunnel boring machine controller receives instructions from switches, buttons, human-computer interaction interfaces, etc. to control the operation of the equipment on the construction site.

[0072] The tunneling data of the tunnel boring machine is collected through input / output (I / O) devices and other communication devices. Specifically, the on-site equipment where the tunnel boring machine is located includes I / O devices, communication devices, industrial computers, tunnel boring machine controllers, switches, time-sensitive network (TSN) terminal nodes and other devices.

[0073] The work data is sent to the TSN terminal node at the construction site through the switch at the construction site, and the work data is processed according to the TSN network to generate second radiation data, and then the second radiation data is sent to the remote center through the base station to obtain the current data. The current data of the construction site provided by the embodiment of the present invention is transmitted through the base station based on the second radiation data obtained by the TSN network to achieve end-to-end deterministic communication between the remote center and the construction site. The clock synchronization between the remote center and the site where the tunnel boring machine is located is achieved through the TSN network, further ensuring the safety, real-time and control accuracy of the tunnel boring machine, while improving the reliability of data transmission.

[0074] Based on the above embodiment, the working data is processed according to the TSN network to generate second radiation data, including:

[0075] Get the master clock signal;

[0076] Parsing the master clock signal and the working data according to the Ethernet format to obtain first parsed data;

[0077] The first analyzed data is radiated to the wireless network port to obtain second radiated data.

[0078] The remote control method provided in the present invention mainly includes a construction site, a remote center and a base station. The selection of the master clock information can be set according to the actual situation for negotiation and matching. As a preferred embodiment, the master clock signal is determined, the 5G base station provides the master clock, and other nodes are matched and adjusted according to the master clock signal, so that the clock signal of each node is synchronized with the master clock signal of the 5G base station to achieve clock synchronization of the entire system. The working data is parsed according to the master clock signal and the Ethernet format of the TSN network to obtain the first parsed data. The first parsed data is radiated to the wireless network port to obtain the second radiated data.

[0079] Specifically, the data format of each node is unified according to the Ethernet data format, and matched with the master clock signal to achieve clock synchronization of each node at the construction site where the first TSN terminal node is located. The first parsed data is radiated to the wireless network port to obtain the final second radiation data for subsequent end-to-end data communication of the base station. It can be understood that the master clock signal can be selected for the construction site or the remote center, without specific limitation, as long as the clock signal can be guaranteed to be the same, and the clock signal of each node is adjusted according to the master clock signal matching to achieve clock synchronization of the system.

[0080] In addition, the master clock signal is also selected for generating the first radiation data. Since the 5G base station is used as the master clock signal, the first radiation data is obtained by matching the TSN network with the master clock signal.

[0081] The embodiment of the present invention provides a method for obtaining a master clock signal; parsing the master clock signal and working data according to an Ethernet format to obtain first parsed data; and radiating the first parsed data to a wireless network port to obtain second radiated data. The clock signal of each node is determined by the master clock signal to achieve clock synchronization at the construction site, which facilitates the subsequent implementation of clock synchronization of the system.

[0082] Based on the above embodiment, the first radiation data is parsed according to the TSN network to generate tunneling data, including:

[0083] Obtain the industrial control protocol of the tunnel boring machine;

[0084] According to the industrial control protocol and the TSN network, the first radiation data is parsed into tunneling data and sent to the tunneling machine through the TSN Ethernet port.

[0085] Specifically, the industrial control protocol of the tunnel boring machine is obtained. Since the data encapsulation in the remote center is uniformly encapsulated in Ethernet format, after receiving the first radiation data at the construction site, it is necessary to obtain the second parsed data from the first radiation data through the TSN Ethernet port, and send the second parsed data to each device for parameter control, and then process the second parsed data and radiate it to the wireless network port. It should be noted that the second parsed data is used as a data instruction to control the tunnel boring machine. When it is sent to the construction site at the same time, it is processed according to the Ethernet data format and the main clock signal and radiated to the wireless network port to realize remote control of the tunnel boring machine at the construction site.

[0086] The embodiment of the present invention provides an industrial control protocol for obtaining a tunnel boring machine; according to the industrial control protocol and the TSN network, the first radiation data is parsed into tunnel boring data and sent to the tunnel boring machine through the TSN Ethernet port, thereby realizing remote control of the tunnel boring machine.

[0087] Based on the above embodiment, the method further includes:

[0088] The first radiation data and the second radiation data are respectively sent to the cloud through the TSN terminal node of the remote center and the TSN terminal node at the construction site for data tracking.

[0089] Specifically, the first radiation data and the second radiation data are sent to a remote end through a TSN terminal, which meets the enterprise's needs for big data analysis, as well as the backtracking and tracking of historical data.

[0090] Sending data to the cloud makes it easier to build a database for systematic analysis of the tunnel boring machine's data. Since the amount of data from the tunnel boring machine is large, storing it in the cloud saves memory and can also provide a reference for regular inspections of the tunnel boring machine.

[0091] This embodiment provides that the first radiation data and the second radiation data are sent to the cloud through the TSN terminal node of the remote center and the TSN terminal node at the construction site respectively for data tracking, which meets the enterprise's needs for big data analysis, as well as the backtracking and tracking of historical data.

[0092] On the basis of the above embodiment, if a roadheader fails during on-site operation, in addition to the control of the remote center, the method includes:

[0093] Get the matching data from the server;

[0094] Sending a request to the base station to establish a connection between the server and the base station according to the preset time and matching data;

[0095] After the connection is established, debugging and maintenance are carried out on the construction site and the remote center.

[0096] Specifically, this embodiment supports remote service engineers to access through mobile devices such as computers, mobile phones and tablets. Before access, they need to obtain the matching data of the server and send a connection request to the base station to establish a connection according to the preset time and the matching data of the server corresponding to the debugging device.

[0097] When the server matches the connection information successfully, that is, the connection is established, the debugging equipment can be used to remotely debug, configure, analyze, and identify faults at the construction site and remote center to achieve maintenance of the tunnel boring machine equipment.

[0098] This embodiment provides the method of obtaining matching data from the server; sending a request to the base station according to the preset time and matching data to establish a connection between the server and the base station; after the connection is established, debugging and maintaining the construction site and the remote center. It is convenient for the staff to remotely debug, configure, analyze, and identify faults on the construction site and the remote center through the debugging equipment to achieve maintenance of the tunnel boring machine equipment.

[0099] Based on the above embodiment, before the step S11 of acquiring the current data sent by the construction site, the following is further included:

[0100] Determine the control authority of the remote center, which includes local status or remote status;

[0101] When the construction site is in remote state and the remote center is in local state, the remote center obtains the operation authority to operate the tunnel boring machine, and then enters the step of obtaining the current data of the construction site. It should be noted that the present invention is mainly aimed at remote control of equipment on the construction site when the remote center has the operation authority.

[0102] Specifically, both the remote center and the construction site are equipped with a local and remote switching function switch. When the remote center switches to the remote end and the construction site switches to the local end, the construction site obtains the operating authority, and the remote center can only read and display, but cannot issue control instructions. When the remote end switches to the local end and the construction site thread switches to the remote end, the remote host computer pops up the takeover authority enable. After clicking, the remote center obtains the operating authority. At this time, the construction site can only read and display, but cannot issue control instructions. When the remote center and the construction site are both local ends or both remote ends, it is necessary to maintain the operating authority of the previous current working state. In order to cope with sudden emergencies, if the current working state does not select the operating authority, the construction site can forcibly take over the authority to operate the tunnel boring machine.

[0103] When the construction site is in local state and the remote center is in remote state, the construction site obtains the operating authority to operate the tunnel boring machine; when the construction site is in remote state and the remote center is in local state, the remote center obtains the operating authority to operate the tunnel boring machine; when the construction site and the remote center are both in local state or remote state, the operating authority of the previous current working state is maintained to operate the tunnel boring machine; when an emergency occurs in the current working state of the construction site and the remote center, the construction site obtains the operating authority to operate the tunnel boring machine.

[0104] For the local and remote ends, the local and remote states correspond to the working states. Table 1 is the operation authority table of the remote control remote center and the construction site, as shown in Table 1:

[0105] Table 1 Operation authority table of remote control remote center and construction site

[0106]

[0107]

[0108] When the construction site is in local state and the remote center is in remote state, the construction site obtains the operating authority to operate the tunnel boring machine; when the construction site is in remote state and the remote center is in local state, the remote center obtains the operating authority to operate the tunnel boring machine; when the construction site and the remote center are both in local state or remote state, the operating authority of the previous current working state is maintained to operate the tunnel boring machine; when an emergency occurs in the current working state of the construction site and the remote center, the construction site obtains the operating authority to operate the tunnel boring machine.

[0109] The control of the operating authority of the working status provided in this embodiment enables the remote center and the construction site to monitor the equipment excavation in real time and coordinate the operation control, which is conducive to relevant technical personnel to find problems in time and improve the accuracy of control.

[0110] The above detailed descriptions of various embodiments corresponding to the remote control method of a tunnel boring machine are based on which the present invention further discloses a remote control device for a tunnel boring machine corresponding to the above method. Figure 3 The structure diagram of a remote control device for a tunnel boring machine provided by an embodiment of the present invention. Figure 3 As shown, the remote control device of the tunnel boring machine includes:

[0111] The acquisition module 11 is used to acquire the current data sent by the construction site and obtain the control instructions according to the current data;

[0112] A first sending module 12, used to send the control instruction to the TSN terminal node through the switch;

[0113] A generating module 13, configured to process the control instruction according to the TSN network to generate first radiation data;

[0114] The second sending module 14 is used to send the first radiation data to the TSN terminal node at the construction site through the base station so that the construction site can parse the first radiation data according to the TSN network to generate excavation data, and control the operation of the tunnel boring machine according to the excavation data to complete remote control.

[0115] Since the embodiments of the device part correspond to the above embodiments, please refer to the description of the embodiments of the method part for the embodiments of the device part, and will not be repeated here.

[0116] The present invention provides a remote control device for a tunnel boring machine, comprising obtaining current data sent by a construction site, obtaining a control instruction according to the current data; sending the control instruction to a TSN terminal node through a switch; processing the control instruction according to the TSN network to generate first radiation data; sending the first radiation data to the TSN terminal node at the construction site through a base station so that the construction site can parse the first radiation data according to the TSN network to generate tunneling data, and control the tunnel boring machine according to the tunneling data to complete remote control. The device transmits the first radiation data obtained based on the TSN network through the base station to achieve end-to-end deterministic communication between the remote center and the construction site. The TSN network is used to achieve clock synchronization between the remote center and the site where the tunnel boring machine is located, further ensuring the safety, real-time performance and control accuracy of the tunnel boring machine, while improving the reliability of data transmission.

[0117] Figure 4 A structural diagram of another remote control device for a tunnel boring machine provided by an embodiment of the present invention, such as Figure 4 As shown, the device comprises:

[0118] A memory 21, used for storing computer programs;

[0119] The processor 22 is used to implement the steps of the remote control method of the tunnel boring machine when executing the computer program.

[0120] The remote control device for the tunnel boring machine provided in this embodiment may include but is not limited to a smart phone, a tablet computer, a laptop computer or a desktop computer.

[0121] It should be noted that the processor and memory mentioned in this embodiment are Figure 2 The processor and memory in the Figure 2 The processor and memory in the figure are only for TSN terminal settings.

[0122] Among them, the processor 22 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 22 can be implemented in at least one hardware form of a digital signal processor (DSP), a field-programmable gate array (FPGA), and a programmable logic array (PLA). The processor 22 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a central processing unit (CPU); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 22 may be integrated with a graphics processing unit (GPU), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 22 may also include an artificial intelligence (AI) processor, which is used to process computing operations related to machine learning.

[0123] The memory 21 may include one or more computer-readable storage media, which may be non-transitory. The memory 21 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In this embodiment, the memory 21 is at least used to store the following computer program 211, wherein, after the computer program is loaded and executed by the processor 22, it can implement the relevant steps of the remote control method of the tunnel boring machine disclosed in any of the aforementioned embodiments. In addition, the resources stored in the memory 21 may also include an operating system 212 and data 213, etc., and the storage method may be temporary storage or permanent storage. Among them, the operating system 212 may include Windows, Unix, Linux, etc. The data 213 may include but is not limited to data involved in the remote control method of the tunnel boring machine, etc.

[0124] In some embodiments, the remote control device of the tunnel boring machine may further include a display screen 23 , an input / output interface 24 , a communication interface 25 , a power supply 26 , and a communication bus 27 .

[0125] Those skilled in the art can understand that Figure 4 The structure shown in the figure does not constitute a limitation on the remote control device of the tunnel boring machine, and may include more or less components than those shown in the figure.

[0126] The processor 22 implements the remote control method of the tunnel boring machine provided by any of the above embodiments by calling the instructions stored in the memory 21.

[0127] The present invention provides a remote control device for a tunnel boring machine, comprising obtaining current data sent by a construction site, obtaining a control instruction according to the current data; sending the control instruction to a TSN terminal node through a switch; processing the control instruction according to the TSN network to generate first radiation data; sending the first radiation data to the TSN terminal node at the construction site through a base station so that the construction site can parse the first radiation data according to the TSN network to generate tunneling data, and control the tunnel boring machine according to the tunneling data to complete remote control. The device transmits the first radiation data obtained based on the TSN network through the base station to achieve end-to-end deterministic communication between the remote center and the construction site. The TSN network is used to achieve clock synchronization between the remote center and the site where the tunnel boring machine is located, further ensuring the safety, real-time performance and control accuracy of the tunnel boring machine, while improving the reliability of data transmission.

[0128] Furthermore, the present invention also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by the processor 22, the steps of the remote control method of the tunnel boring machine as described above are implemented.

[0129] It is understandable that if the method in the above embodiment is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program code.

[0130] For an introduction to a computer-readable storage medium provided by the present invention, please refer to the above method embodiment, and the present invention will not be repeated here. It has the same beneficial effects as the above-mentioned remote control method of the tunnel boring machine.

[0131] As a preferred embodiment, Figure 5 A schematic diagram of an application scenario of a remote control method based on a tunnel boring machine provided by an embodiment of the present invention, such as Figure 5 As shown, it mainly includes a construction site 31, a remote control center 33, and a base station 32.

[0132] When the tunnel boring machine is operating underground, the tunnel boring machine controller receives instructions from switches, buttons, human-machine interaction interfaces, etc. to control the operation of the equipment on the construction site, and collects real-time data of the tunnel boring machine through the first I / O device and the second communication device; the base station 32 receives the signal radiated by the first TSN terminal of the construction site 31, and transmits it to the remote controller after parsing through the second TSN terminal of the remote control center 33; the base station 32 receives the signal radiated by the second TSN terminal of the remote control center 33, and transmits it to the tunnel boring machine controller after parsing through the first TSN terminal of the construction site 31, thereby realizing end-to-end deterministic communication between the remote control center 33 and the construction site 31; in addition, the tunnel boring machine data is sent to the cloud 34 through the first TSN terminal and the second TSN terminal to meet the enterprise's needs for big data analysis, as well as the backtracking and tracking of historical data; and the system supports remote service engineers to access through mobile devices 35 such as computers, mobile phones and tablets, and remotely debug, configure, analyze, and identify faults of the equipment on the construction site 31 and the remote control center 33 to achieve equipment maintenance.

[0133] The above introduces an application scenario schematic diagram of a remote control method based on a tunnel boring machine provided in an embodiment of the present invention, which has the same beneficial effects as the remote control method of the tunnel boring machine mentioned above.

[0134] The above is a detailed introduction to the remote control method, device and medium of a tunnel boring machine provided by the present invention. The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the embodiments can be referenced to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

[0135] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. A remote control method for a tunnel boring machine, characterized in that: Applications in remote centers include: Acquire current data sent from the construction site, and obtain control instructions according to the current data; Sending the control instruction to the TSN terminal node through the switch; Processing the control instruction to generate first radiation data according to the TSN network; The first radiation data is sent to the TSN terminal node at the construction site through the base station so that the construction site can parse the first radiation data to generate tunneling data according to the TSN network, and control the tunneling machine to work according to the tunneling data to complete remote control; Correspondingly, the obtaining of current data sent from the construction site includes: Acquire the working data of the tunnel boring machine through IO equipment and communication equipment; Sending the working data to the corresponding TSN terminal node through the switch at the construction site; Processing the working data according to the TSN network to generate second radiation data; sending the second radiation data to the remote center through the base station to obtain the current data; Correspondingly, the processing the working data according to the TSN network to generate second radiation data includes: Get the master clock signal; The master clock signal and the working data are parsed according to the Ethernet format to obtain the first parsed data; wherein the data format of each node is unified according to the Ethernet data format, and matched with the master clock signal to achieve clock synchronization of each node at the construction site where the first TSN terminal node is located; the master clock signal is the clock signal of the base station, and other nodes are matched and adjusted according to the master clock signal, so that the clock signal of each node is synchronized with the master clock signal of the base station; radiating the first analyzed data to a wireless network port to obtain the second radiated data; Correspondingly, before acquiring the current data of the construction site, the method further includes: Determining the control authority of the remote center, the control authority including local status or remote status; When the construction site is in the remote state and the remote center is in the local state, the remote center obtains the control authority to operate the tunnel boring machine, and then enters the step of obtaining the current data of the construction site; Among them, the remote center and the construction site are both equipped with local and remote switching function switches. When the remote center switches to the remote end and the construction site switches to the local end, the construction site obtains the control authority, and the remote center can only read and display, but cannot issue control instructions; when the remote end switches to the local end and the construction site switches to the remote end, the remote host computer pops up the takeover authority enable. After clicking, the remote center obtains the control authority, and the construction site can only read and display, but cannot issue control instructions; when the remote center and the construction site are both local ends or both remote ends, the control authority of the previous current working status is maintained; when an emergency occurs in the current working status of the construction site and the remote center, the construction site obtains the control authority to operate the tunnel boring machine.

2. The remote control method of a tunnel boring machine according to claim 1, characterized in that: The step of parsing the first radiation data according to the TSN network to generate tunneling data includes: Obtaining an industrial control protocol of the tunnel boring machine; The first radiation data is parsed into the tunneling data according to the industrial control protocol and the TSN network, and is sent to the tunneling machine through the TSN Ethernet port.

3. The remote control method of a tunnel boring machine according to claim 1, characterized in that: Also includes: The first radiation data and the second radiation data are respectively sent to the cloud through the TSN terminal node of the remote center and the TSN terminal node at the construction site for data tracking.

4. The remote control method of a tunnel boring machine according to claim 3, characterized in that: Also includes: Get the matching data from the server; Sending a request to the base station according to the preset time and the matching data to establish a connection between the server and the base station; After the connection is established, the construction site and the remote center are debugged and maintained.

5. A remote control device for a tunnel boring machine, characterized in that: Applications in remote centers include: An acquisition module, used to acquire current data sent from the construction site, and obtain control instructions according to the current data; A first sending module, used to send the control instruction to the TSN terminal node through the switch; A generating module, configured to process the control instruction according to the TSN network to generate first radiation data; A second sending module is used to send the first radiation data to the TSN terminal node at the construction site through the base station so that the construction site can parse the first radiation data according to the TSN network to generate excavation data, and control the tunnel boring machine according to the excavation data to complete remote control; Correspondingly, the obtaining of current data sent from the construction site includes: Acquire the working data of the tunnel boring machine through IO equipment and communication equipment; Sending the working data to the corresponding TSN terminal node through the switch at the construction site; Processing the working data according to the TSN network to generate second radiation data; sending the second radiation data to the remote center through the base station to obtain the current data; Correspondingly, the processing the working data according to the TSN network to generate second radiation data includes: Get the master clock signal; The master clock signal and the working data are parsed according to the Ethernet format to obtain the first parsed data; wherein the data format of each node is unified according to the Ethernet data format, and matched with the master clock signal to achieve clock synchronization of each node at the construction site where the first TSN terminal node is located; the master clock signal is the clock signal of the base station, and other nodes are matched and adjusted according to the master clock signal, so that the clock signal of each node is synchronized with the master clock signal of the base station; radiating the first analyzed data to a wireless network port to obtain the second radiated data; Correspondingly, before acquiring the current data of the construction site, the method further includes: Determining the control authority of the remote center, the control authority including local status or remote status; When the construction site is in the remote state and the remote center is in the local state, the remote center obtains the control authority to operate the tunnel boring machine, and then enters the step of obtaining the current data of the construction site; Among them, the remote center and the construction site are both equipped with local and remote switching function switches. When the remote center switches to the remote end and the construction site switches to the local end, the construction site obtains the control authority, and the remote center can only read and display, but cannot issue control instructions; when the remote end switches to the local end and the construction site switches to the remote end, the remote host computer pops up the takeover authority enable. After clicking, the remote center obtains the control authority, and the construction site can only read and display, but cannot issue control instructions; when the remote center and the construction site are both local ends or both remote ends, the control authority of the previous current working status is maintained; when an emergency occurs in the current working status of the construction site and the remote center, the construction site obtains the control authority to operate the tunnel boring machine.

6. A remote control device for a tunnel boring machine, characterized in that: include: Memory for storing computer programs; A processor is used to implement the steps of the remote control method for a tunnel boring machine as described in any one of claims 1 to 4 when executing the computer program.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the remote control method for a tunnel boring machine as described in any one of claims 1 to 4 are implemented.

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