A shield operation system and method

Abstract

The present invention discloses a shield operation system and method in the technical field of shield machine control, comprising a remote operation console and a shield machine connected to the remote operation console in communication; the shield machine is provided with an image acquisition device for acquiring image information of a corresponding acquisition area of ​​the image acquisition device; the remote operation console is provided with a man-machine operation interface, a monitoring interface, and a guidance and tunneling management interface; the shield machine is used to report tunneling direction parameters and the excavation posture of the shield machine to the remote operation console; the remote operation console is used to receive image information of the corresponding acquisition area acquired by the image acquisition device, and display the corresponding image on the monitoring interface according to the image information; a guidance and tunneling model based on the shield machine perspective is constructed according to the excavation direction parameters and the excavation posture of the shield machine, and the guidance and tunneling status is displayed on the guidance and tunneling management interface according to the guidance and tunneling model; and corresponding operation instructions are generated and sent based on the operation of the operator on the man-machine operation interface.

Description

Technical Field

[0001] The present invention relates to the technical field of shield machine control, and in particular to a shield machine operating system and method. Background Art

[0002] The operation and control of the shield machine mainly relies on the manual operation of the operator in the operation room. The operation room is usually set up on the shield machine body, so one operation room can only control the shield machine. Since shield construction is usually carried out in two shifts, two operators are usually required for one shield machine. In the left and right double-line shield construction, four operators are required, resulting in an extremely short supply of operators. Moreover, the operation room is set up on the shield machine body, and the shield machine is in the tunnel. Due to the limitations of the tunnel excavation diameter and the space of the shield machine equipment, the operation room is in a dim and crowded environment, which may cause psychological and physical discomfort to the operator, and will also affect the progress and quality of the shield construction. Summary of the invention

[0003] In view of the technical problem in the prior art that different groups of propulsion cylinders of a tunnel boring machine cannot accurately calculate the required thrust during the tunneling process, the present invention provides a shield operating system and method.

[0004] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0005] A first aspect of an embodiment of the present invention provides a shield operation system, the shield operation system comprising at least one remote operation console and at least one shield machine communicatively connected to the remote operation console via an electrical harness;

[0006] The shield machine is provided with an image acquisition device for acquiring image information of an acquisition area corresponding to the image acquisition device, and there is a one-to-one correspondence between the image acquisition device and the acquisition area;

[0007] The remote operation console is at least equipped with a man-machine operation interface, a monitoring interface, and a guidance and excavation management interface;

[0008] The shield machine is used to report the excavation direction parameters and the excavation posture of the shield machine to the remote operating console through the electrical wiring harness;

[0009] The remote operation console is used to receive the image information of the corresponding acquisition area acquired by the image acquisition device and display the corresponding image on the monitoring interface according to the image information; and

[0010] A guidance and excavation model based on the perspective of the shield machine is constructed according to the excavation direction parameters and the excavation posture of the shield machine, and a guidance and excavation status is displayed on the guidance and excavation management interface according to the guidance and excavation model; and,

[0011] Based on the operator's operation on the human-machine interface, corresponding operation instructions are generated, and the operation instructions are sent to the shield machine through an electrical wiring harness so that the shield machine executes the operation instructions. The operation instructions are used to adjust the excavation direction parameters and the excavation posture of the shield machine.

[0012] Optionally, the remote operation console is specifically used for:

[0013] Determine the accumulated error of each direction sub-parameter in the excavation direction parameter according to a plurality of excavation postures of the shield machine within a preset time period;

[0014] Constructing a parameter space from the perspective of the shield machine according to the accumulated error amount of each directional sub-parameter and the excavation direction parameter;

[0015] The excavation posture of the shield machine is matched with the parameter space to construct a guidance and excavation model based on the perspective of the shield machine.

[0016] Optionally, the human-machine operation interface is provided with at least one of a shield machine mode switching button, an emergency stop button, an alarm indicator light, a reset button, a power unit control button, a working mode selection button, a thrust cylinder control button, an assembly indicator light, a thrust zone adjustment knob, a belt conveyor steering selection button, a belt conveyor control mode selection button, a screw machine speed adjustment button, a screw machine steering selection button, a screw machine gate switch selection button, a cutter disc working mode selection button and a cutter disc control mode selection button.

[0017] Optionally, an emergency telephone is provided on the shield operating system, and the emergency telephone is connected to an industrial telephone and / or industrial broadcast on the shield machine through the electrical wiring harness;

[0018] The emergency telephone is used to connect to the industrial telephone via dialing.

[0019] Optionally, the remote operating console includes a shell and a first operating console connecting component detachably fixed to the shell;

[0020] The first operating console connection component is used to engage with the second operating console connection component to mechanically connect the remote operating console with the remote operating console configured with the second operating console connection component.

[0021] Optionally, a plurality of fixed bases are provided at the bottom of the housing, and the fixed bases are provided with shock absorbing components and height fine-tuning components;

[0022] The shock absorbing assembly is used to absorb shock, thereby preventing the electrical components in the remote operating console from being damaged during transportation and placement;

[0023] The height fine-adjustment assembly can adjust the height of each fixed base of the remote operating platform relative to the placement surface based on manual adjustment, so as to prevent the remote operating platform from shaking during transportation and after installation.

[0024] A second aspect of an embodiment of the present invention provides a shield operation method, which is applied to the shield operation system described in any one of the first aspects, wherein the shield operation system includes at least one remote operation console and at least one shield machine that is communicatively connected to the remote operation console via an electrical harness;

[0025] Wherein, the shield machine is equipped with an image acquisition device for acquiring image information of a corresponding acquisition area of ​​the image acquisition device, and there is a one-to-one correspondence between the image acquisition device and the acquisition area;

[0026] The remote operation console is at least equipped with a man-machine operation interface, a monitoring interface, and a guidance and excavation management interface;

[0027] The method comprises:

[0028] Based on the electrical harness, the tunneling direction parameters and the excavation posture of the shield machine are reported by the shield machine to the remote operating console;

[0029] Receive the image information of the corresponding acquisition area acquired by the image acquisition device through the remote operation console and display the corresponding image on the monitoring interface according to the image information; and,

[0030] A guidance and excavation model based on the perspective of the shield machine is constructed according to the excavation direction parameters and the excavation posture of the shield machine, and a guidance and excavation status is displayed on the guidance and excavation management interface according to the guidance and excavation model; and,

[0031] Based on the operator's operation on the human-machine interface, corresponding operation instructions are generated, and the operation instructions are sent to the shield machine through an electrical wiring harness so that the shield machine executes the operation instructions. The operation instructions are used to adjust the excavation direction parameters and the excavation posture of the shield machine.

[0032] Optionally, the step of constructing a guidance and excavation model based on the perspective of the shield machine according to the excavation direction parameter and the excavation posture of the shield machine includes:

[0033] Determine the accumulated error of each direction sub-parameter in the excavation direction parameter according to a plurality of excavation postures of the shield machine within a preset time period;

[0034] Constructing a parameter space from the perspective of the shield machine according to the accumulated error amount of each directional sub-parameter and the excavation direction parameter;

[0035] The excavation posture of the shield machine is matched with the parameter space to construct a guidance and excavation model based on the perspective of the shield machine.

[0036] Beneficial Effects

[0037] The present invention provides a multifunctional chromatography analysis system. Compared with the prior art, it has the following beneficial effects:

[0038] 1. The remote control console is independently integrated and can match any type of existing shield machine.

[0039] 2. The shield machine can be flexibly switched between remote control mode and underground local control mode through the remote operating console according to the actual situation on site.

[0040] 3. By connecting the remote operating console, one person can remotely operate and control multiple shield machines, which not only solves the problem of personnel shortage and reduces costs, but also realizes unmanned underground construction and improves construction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 The present invention provides a flow chart of a shield operation method. DETAILED DESCRIPTION

[0042] 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.

[0043] The present invention provides a technical solution: a shield operation system is provided, the shield operation system comprises at least one remote operation console, and at least one shield machine connected to the remote operation console through an electrical harness;

[0044] The shield machine is provided with an image acquisition device for acquiring image information of an acquisition area corresponding to the image acquisition device, and there is a one-to-one correspondence between the image acquisition device and the acquisition area;

[0045] The remote operation console is at least equipped with a man-machine operation interface, a monitoring interface, and a guidance and excavation management interface;

[0046] The shield machine is used to report the excavation direction parameters and the excavation posture of the shield machine to the remote operating console through the electrical wiring harness;

[0047] The remote operation console is used to receive the image information of the corresponding acquisition area acquired by the image acquisition device and display the corresponding image on the monitoring interface according to the image information; and

[0048] A guidance and excavation model based on the perspective of the shield machine is constructed according to the excavation direction parameters and the excavation posture of the shield machine, and a guidance and excavation status is displayed on the guidance and excavation management interface according to the guidance and excavation model; and,

[0049] Based on the operator's operation on the human-machine interface, corresponding operation instructions are generated, and the operation instructions are sent to the shield machine through an electrical wiring harness so that the shield machine executes the operation instructions. The operation instructions are used to adjust the excavation direction parameters and the excavation posture of the shield machine.

[0050] Optionally, the remote operation console is specifically used for:

[0051] Determine the accumulated error of each direction sub-parameter in the excavation direction parameter according to a plurality of excavation postures of the shield machine within a preset time period;

[0052] Constructing a parameter space from the perspective of the shield machine according to the accumulated error amount of each directional sub-parameter and the excavation direction parameter;

[0053] The excavation posture of the shield machine is matched with the parameter space to construct a guidance and excavation model based on the perspective of the shield machine.

[0054] Optionally, the human-machine operation interface is provided with at least one of a shield machine mode switching button, an emergency stop button, an alarm indicator light, a reset button, a power unit control button, a working mode selection button, a thrust cylinder control button, an assembly indicator light, a thrust zone adjustment knob, a belt conveyor steering selection button, a belt conveyor control mode selection button, a screw machine speed adjustment button, a screw machine steering selection button, a screw machine gate switch selection button, a cutter disc working mode selection button and a cutter disc control mode selection button.

[0055] Optionally, an emergency telephone is provided on the shield operating system, and the emergency telephone is connected to an industrial telephone and / or industrial broadcast on the shield machine through the electrical wiring harness;

[0056] The emergency telephone is used to connect to the industrial telephone via dialing.

[0057] Optionally, the remote operating console includes a shell and a first operating console connecting component detachably fixed to the shell;

[0058] The first operating console connection component is used to engage with the second operating console connection component to mechanically connect the remote operating console with the remote operating console configured with the second operating console connection component.

[0059] Optionally, a plurality of fixed bases are provided at the bottom of the housing, and the fixed bases are provided with shock absorbing components and height fine-tuning components;

[0060] The shock absorbing assembly is used to absorb shock, thereby preventing the electrical components in the remote operating console from being damaged during transportation and placement;

[0061] The height fine-adjustment assembly can adjust the height of each fixed base of the remote operating platform relative to the placement surface based on manual adjustment, so as to prevent the remote operating platform from shaking during transportation and after installation.

[0062] In the disclosed embodiment, the shell is made of stainless steel or iron plate. Four holes are opened on the shell, which are used to place two human-machine operation interfaces, a monitoring interface and a guide and guidance and excavation management interface. The human-machine operation interface can be an industrial-grade touch LCD display screen, which contains the shield machine human-machine interaction software, or a physical button operation interface, which can meet the needs of operators for daily operation and monitoring; the monitoring interface is an industrial-grade display screen, which mainly monitors the core area of ​​the shield machine, and the core area may include: soil bin, assembly area, mortar mixing area, screw machine excavation area, belt conveyor excavation area and underground driver's room area; the guidance and excavation management interface is an industrial-grade display screen, which mainly monitors the excavation posture of the shield machine in real time and provides directional support for the operator to advance.

[0063] Among them, four fixed bases can be configured at the bottom of the shell, which mainly provide support and fixation for the remote operating platform of the shield machine. The fixed base includes a base support assembly, a shock-absorbing assembly and a height fine-adjustment assembly. When the remote operating platform of the shield machine is placed in place, the height fine-adjustment assembly can be manually adjusted to adjust the height of the remote operating platform. The shock-absorbing assembly can prevent the remote operating platform from being damaged during transportation and placement.

[0064] The left and right sides of the shell can be detachably fixed with bolts for the first operating table connection component, and the first operating table connection component can be snap-connected with the second operating table connection component, so that multiple remote operating tables can be connected together, and one person can operate multiple remote operating tables.

[0065] An operation panel is arranged on the shell, and operation buttons can be arranged on the panel to meet the daily operation needs of the operator. The operation buttons may include a shield machine mode switching button for switching the shield machine between a local operation mode and a remote operation mode; an emergency stop button for emergency stopping the shield machine; an alarm indicator light for lighting up in the event of a fault or emergency to prompt the operator; a reset button for restoring the program or control parameters; a power unit control button for starting or stopping the power unit of the shield machine, for example, starting or stopping the diesel engine; a working mode selection button for switching the shield machine between a tunneling mode and an assembly mode; a propulsion cylinder control button for controlling the extension or retraction of the propulsion cylinder; an assembly Indicator light, used to indicate that the shield machine is in the splicing state or the splicing completion state; the propulsion zone adjustment knob, used to adjust the propulsion zone of the shield machine; the belt conveyor steering selection button, used to control the forward or reverse rotation of the belt conveyor; the belt conveyor control mode selection button, used to switch the belt conveyor between local control mode and remote control mode; the screw machine speed adjustment button; the screw machine steering selection button, used to remotely control the forward or reverse rotation of the screw machine; the screw machine gate switch selection button, used to remotely control the screw machine gate to open or close; the cutter disc working mode selection button, used to remotely switch the cutter disc between the inching mode and the start mode; the cutter disc control mode selection button, used to switch the cutter disc between the local control mode and the remote control mode.

[0066] An emergency telephone is arranged on the shell, which can not only dial and connect with the industrial telephone on the shield machine, but also broadcast and shout.

[0067] The rear part of the shell contains an operation control cabinet, which is a double-door design and can house the shield machine remote control station power supply equipment, control PLC system, video surveillance recorder equipment, guidance and tunneling management system industrial computer equipment and ground and underground network optical terminal equipment.

[0068] Based on the same inventive concept, an embodiment of the present invention further provides a shield operation method, which is applied to the shield operation system described in any one of the above embodiments, wherein the shield operation system includes at least one remote operation console and at least one shield machine that is communicatively connected to the remote operation console via an electrical harness;

[0069] Wherein, the shield machine is equipped with an image acquisition device for acquiring image information of a corresponding acquisition area of ​​the image acquisition device, and there is a one-to-one correspondence between the image acquisition device and the acquisition area;

[0070] The remote operation console is at least equipped with a man-machine operation interface, a monitoring interface, and a guidance and excavation management interface;

[0071] See also Figure 1FIG. 1 is a flow chart of a shield operation method provided according to the present invention, wherein the method comprises:

[0072] In step S11, based on the electrical harness, the tunneling direction parameters and the excavation posture of the shield machine are reported by the shield machine to the remote operating console;

[0073] In step S12, the image information of the corresponding acquisition area acquired by the image acquisition device is received through the remote operation console, and the corresponding image is displayed on the monitoring interface according to the image information;

[0074] In step S13, a guidance and excavation model based on the perspective of the shield machine is constructed according to the excavation direction parameter and the excavation posture of the shield machine, and the guidance and excavation status is displayed on the guidance and excavation management interface according to the guidance and excavation model;

[0075] In step S14, based on the operator's operation on the human-machine operation interface, corresponding operation instructions are generated, and the operation instructions are sent to the shield machine through the electrical wiring harness so that the shield machine executes the operation instructions. The operation instructions are used to adjust the excavation direction parameters and the excavation posture of the shield machine.

[0076] Optionally, in step S13, the step of constructing a guidance and excavation model based on the perspective of the shield machine according to the excavation direction parameter and the excavation posture of the shield machine includes:

[0077] Determine the accumulated error of each direction sub-parameter in the excavation direction parameter according to a plurality of excavation postures of the shield machine within a preset time period;

[0078] Constructing a parameter space from the perspective of the shield machine according to the accumulated error amount of each directional sub-parameter and the excavation direction parameter;

[0079] The excavation posture of the shield machine is matched with the parameter space to construct a guidance and excavation model based on the perspective of the shield machine.

[0080] Based on the above ideal embodiments of this application, the relevant staff can make various changes and modifications without departing from the technical concept of this application through the above description. The technical scope of this application is not limited to the content in the specification, and its technical scope must be determined according to the scope of the claims.

[0081] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A shield operation system, characterized in that: The shield operation system includes at least one remote operation console and at least one shield machine connected to the remote operation console through an electrical harness; The shield machine is provided with an image acquisition device for acquiring image information of an acquisition area corresponding to the image acquisition device, and there is a one-to-one correspondence between the image acquisition device and the acquisition area; The remote operation console is at least equipped with a man-machine operation interface, a monitoring interface, and a guidance and excavation management interface; The shield machine is used to report the excavation direction parameters and the excavation posture of the shield machine to the remote operating console through the electrical wiring harness; The remote operation console is used to receive the image information of the corresponding acquisition area acquired by the image acquisition device and display the corresponding image on the monitoring interface according to the image information; and, A guidance and excavation model based on the perspective of the shield machine is constructed according to the excavation direction parameters and the excavation posture of the shield machine, and a guidance and excavation status is displayed on the guidance and excavation management interface according to the guidance and excavation model; and, Based on the operator's operation on the human-machine operation interface, a corresponding operation instruction is generated, and the operation instruction is sent to the shield machine through an electrical harness so that the shield machine executes the operation instruction, wherein the operation instruction is used to adjust the excavation direction parameter and the excavation posture of the shield machine; The remote operation console is specifically used for: Determine the accumulated error of each direction sub-parameter in the excavation direction parameter according to a plurality of excavation postures of the shield machine within a preset time period; Constructing a parameter space from the perspective of the shield machine according to the accumulated error amount of each directional sub-parameter and the excavation direction parameter; Matching the excavation posture of the shield machine with the parameter space to construct a guidance and excavation model based on the perspective of the shield machine; The human-machine operation interface is provided with at least one of a shield machine mode switching button, an emergency stop button, an alarm indicator light, a reset button, a power unit control button, a working mode selection button, a propulsion cylinder control button, an assembly indicator light, a propulsion partition adjustment knob, a belt conveyor steering selection button, a belt conveyor control mode selection button, a screw machine speed adjustment button, a screw machine steering selection button, a screw machine gate switch selection button, a cutter disc working mode selection button, and a cutter disc control mode selection button; The shield operating system is provided with an emergency telephone, and the emergency telephone is connected to the industrial telephone and / or industrial broadcast on the shield machine through the electrical wiring harness; The emergency telephone is used to connect to the industrial telephone via dialing; The remote operating console comprises a housing and a first operating console connecting assembly detachably fixed to the housing; The first operating platform connection component is used to engage with the second operating platform connection component to mechanically connect the remote operating platform with the remote operating platform equipped with the second operating platform connection component; A plurality of fixed bases are provided at the bottom of the housing, and the fixed bases are provided with shock absorbing components and height fine-tuning components; The shock absorbing assembly is used to absorb shock, thereby preventing the electrical components in the remote operating console from being damaged during transportation and placement; The height fine-adjustment assembly can adjust the height of each fixed base of the remote operating platform relative to the placement surface based on manual adjustment, so as to prevent the remote operating platform from shaking during transportation and after installation.

2. A shield operation method, characterized in that: The shield operation system as applied to claim 1, wherein the shield operation system comprises at least one remote operation console and at least one shield machine connected to the remote operation console through an electrical harness; Wherein, the shield machine is equipped with an image acquisition device for acquiring image information of a corresponding acquisition area of ​​the image acquisition device, and there is a one-to-one correspondence between the image acquisition device and the acquisition area; The remote operation console is at least equipped with a man-machine operation interface, a monitoring interface, and a guidance and excavation management interface; The method comprises: Based on the electrical harness, the tunneling direction parameters and the excavation posture of the shield machine are reported by the shield machine to the remote operating console; Receive the image information of the corresponding acquisition area acquired by the image acquisition device through the remote operation console and display the corresponding image on the monitoring interface according to the image information; and, A guidance and excavation model based on the perspective of the shield machine is constructed according to the excavation direction parameters and the excavation posture of the shield machine, and a guidance and excavation status is displayed on the guidance and excavation management interface according to the guidance and excavation model; and, Based on the operator's operation on the human-machine operation interface, a corresponding operation instruction is generated, and the operation instruction is sent to the shield machine through an electrical harness so that the shield machine executes the operation instruction, wherein the operation instruction is used to adjust the excavation direction parameter and the excavation posture of the shield machine; The step of constructing a guidance and excavation model based on the perspective of the shield machine according to the excavation direction parameters and the excavation posture of the shield machine includes: Determine the accumulated error of each direction sub-parameter in the excavation direction parameter according to a plurality of excavation postures of the shield machine within a preset time period; Constructing a parameter space from the perspective of the shield machine according to the accumulated error amount of each directional sub-parameter and the excavation direction parameter; The excavation posture of the shield machine is matched with the parameter space to construct a guidance and excavation model based on the perspective of the shield machine.

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