Heading machine signal acquisition system based on CAN bus

Abstract

The invention discloses a CAN bus-based heading machine signal acquisition system, which comprises a sensing center module, an operation station module, a CAN bus isolation module, a pressure transmitter, an electromagnetic valve driving module and a heading machine main controller, the sensor center module and the operation station module are connected to the intrinsic safety side of the CAN bus isolation module and form an intrinsic safety type CAN network with a plurality of intrinsic safety type devices on the heading machine. The pressure transmitter, the electromagnetic valve driving module and the heading machine main controller are connected to the explosion-proof side of the CAN bus isolation module and form an explosion-proof CAN network with a plurality of onboard explosion-proof devices on the heading machine, and the CAN bus isolation module is used for electrically isolating the intrinsic safety type CAN network from the explosion-proof CAN network and realizing interconnection and intercommunication of data; sensor signals on the heading machine are collected through CAN communication, a unified interface with the main controller is achieved, and network connection of a heading machine control system is simplified.

Description

Technical Field

[0001] The invention relates to the technical field of tunneling equipment, and in particular to a tunneling machine signal acquisition system based on a CAN bus. Background Art

[0002] Signal acquisition is the basis for the roadheader to realize system protection, manual control, automatic control and other functions. Due to the large number of sensors and multiple types of output signals on the roadheader, the main control system is complex, the line connections are numerous, and troubleshooting is difficult.

[0003] At present, the signal acquisition systems commonly used in tunnel boring machines are mostly digital input, analog input, frequency signal input, RS485 communication, etc.; the main control system needs to be equipped with digital input modules, analog input modules, RS485 communication modules, isolation barriers and other electrical components.

[0004] Therefore, the existing signal acquisition system has the problem of complex structure. Therefore, it can be seen that how to simplify the signal acquisition system is a problem that needs to be solved in this field. Summary of the invention

[0005] In view of the above technical problems existing in the existing signal acquisition system, the purpose of the present invention is to provide a roadheader signal acquisition system based on CAN bus, which uses CAN communication to collect sensor signals on the roadheader, unifies the interface, simplifies the main control system, and uses bus connection to facilitate expansion and troubleshooting. It has strong adaptability and stability.

[0006] In order to achieve the above-mentioned purpose, the present invention provides a CAN bus-based tunnel boring machine signal acquisition system, including a sensor center module, an operation station module, a CAN bus isolation module, a pressure transmitter, a solenoid valve drive module, a tunnel boring machine main controller,

[0007] The sensor center module and the operation station module are connected to the intrinsically safe side of the CAN bus isolation module and form an intrinsically safe CAN network with several intrinsically safe devices on board the tunnel boring machine;

[0008] The pressure transmitter, solenoid valve drive module, and tunnel boring machine main controller are connected to the flameproof side of the CAN bus isolation module and form a flameproof CAN network with several flameproof devices on board the tunnel boring machine;

[0009] The intrinsically safe CAN network and the flameproof CAN network communicate with the CAN bus isolation module respectively through the CAN network protocol, and the CAN bus isolation module is used to isolate the intrinsically safe CAN network from the flameproof CAN network and interconnect the two;

[0010] The sensor center module is used to collect signals from analog sensors of the tunnel boring machine and send them to the intrinsically safe CAN network on the intrinsically safe side of the CAN bus isolation module. The operation station module is used to send control signals for starting and stopping the motor and collect signals for oil temperature, oil level and gas concentration and send them to the intrinsically safe CAN network on the intrinsically safe side of the CAN bus isolation module.

[0011] The pressure transmitter is used to collect the oil pressure signal of the hydraulic circuit of the tunnel boring machine and send it to the flameproof CAN network on the flameproof side of the CAN bus isolation module;

[0012] The solenoid valve drive module is used to control the opening of the proportional solenoid valve to achieve the action and speed adjustment of the corresponding hydraulic drive components;

[0013] The CAN bus isolation module forwards the data content sent by the sensor center module and the operation station module to the intrinsically safe CAN network on the intrinsically safe side to the flameproof CAN network on the flameproof side;

[0014] The main controller of the tunnel boring machine processes and judges the data content sent by the sensor center module, operation station module and pressure transmitter in the intrinsically safe CAN network and the flameproof CAN network, and sends control data to the solenoid valve drive module to execute corresponding hydraulic actions.

[0015] Furthermore, the sensing center module is provided with a plurality of oil cylinder displacement sensor interfaces, a plurality of laser ranging sensor interfaces, a plurality of rotary encoder interfaces and a power supply communication interface;

[0016] The cylinder displacement sensor interface, laser ranging sensor interface, and rotary encoder interface are respectively used to connect the cylinder displacement sensor, laser ranging sensor, and rotary encoder. The sensor center module processes the collected sensor data and sends it to the intrinsically safe side of the CAN bus isolation module. The power communication interface includes a power connector and a CAN communication connector. The power connector is connected to the electric control cabinet, and the CAN communication connector is connected to the intrinsically safe side of the CAN bus isolation module 300.

[0017] Furthermore, the operation station module is provided with an operation station panel button, an associated equipment sensor interface, a second power supply communication interface, and a display screen; by pressing the operation station panel button, the start and stop signals of the electrical circuit, as well as request signals for functions such as high and low speed selection and issuing early warning signals can be triggered; the associated equipment sensor interface is used to connect to the associated equipment sensor and can collect sensor signals; the second power supply communication interface has a power connection terminal and a CAN communication terminal; the power terminal is connected to the electric control cabinet; the CAN communication terminal is correspondingly connected to the intrinsically safe side terminal of the CAN bus isolation module; the display screen is used to display the current input instructions and equipment status information of the tunnel boring machine main controller.

[0018] Furthermore, the buttons on the operation station panel are composed of several buttons, which can be used to issue start and stop signals for electrical circuits such as oil pumps, cutting, transfer, and dust removal, as well as request signals for functions such as high and low speed selection and issuing early warning signals, and send request signals to the main controller of the tunnel boring machine through the CAN bus isolation module. The main controller of the tunnel boring machine executes corresponding actions based on the current state of the tunnel boring machine when the conditions are met. The associated equipment includes a methane sensor, a water pressure sensor, an oil temperature and oil level sensor, a water flow sensor, and a pollution transmitter. The associated equipment signals collected by the operation station module forward the sensor signals to the main controller of the tunnel boring machine through the CAN bus isolation module.

[0019] Furthermore, the pressure transmitter adopts a piezoresistive pressure sensor and a high-performance transmitter circuit, which is provided with a plurality of sensor interfaces and a third power supply communication interface. The plurality of sensor interfaces are used to access the pressure of the working port of the multi-way valve group of the tunnel boring machine. The third power supply communication interface has a power connection terminal and a CAN communication terminal. The power connection terminal is connected to the non-intrinsically safe power supply of the electric control cabinet, and the CAN communication terminal is correspondingly connected to the terminal on the explosion-proof side of the CAN bus isolation module.

[0020] Furthermore, the solenoid valve drive module is provided with a plurality of solenoid valve coil interfaces, a plurality of on-site output analog signal sensor interfaces, a plurality of on-site conversion switch interfaces for high and low speed selection, mode selection, etc., a power supply interface, and a CAN communication interface;

[0021] The solenoid valve coil interface is used to connect to the solenoid coil of the solenoid valve that activates the tunnel boring machine drive component to control the drive component to act. The analog signal sensor interface is connected to the on-site explosion-proof sensor signal. The on-site conversion switch interface used for high and low speed selection, mode selection, etc. is connected to an explosion-proof conversion switch. The power supply interface is connected to the 24V non-intrinsically safe power supply in the electrical control box. The CAN communication interface is connected to the terminal on the explosion-proof side of the CAN bus isolation module.

[0022] The CAN bus-based tunnel boring machine signal acquisition system provided by the present invention is used to connect with the electromagnetic coil of the electromagnetic valve of the tunnel boring machine driving component through the electromagnetic valve coil interface, so as to control the driving component to act. CAN communication is used to collect sensor signals on the tunnel boring machine, unify the interface, and simplify the main control system; and the bus connection method is easy to expand and convenient for troubleshooting. It has strong adaptability and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0024] Figure 1A schematic diagram of the structure of the sensor center module in the roadheader signal acquisition system based on the CAN bus provided by the present invention;

[0025] Figure 2 A schematic diagram of the structure of an operating station module in a roadheader signal acquisition system based on a CAN bus provided by the present invention;

[0026] Figure 3 A schematic diagram of the structure of a pressure transmitter in a roadheader signal acquisition system based on a CAN bus provided by the present invention;

[0027] Figure 4 A schematic diagram of the structure of a solenoid valve drive module in a tunnel boring machine signal acquisition system based on a CAN bus provided by the present invention;

[0028] Figure 5 A schematic block diagram of the connection of a roadheader signal acquisition system based on a CAN bus provided by the present invention.

[0029] Illustration Description:

[0030] Sensing center module 100, operation station module 200, CAN bus isolation module 300, pressure transmitter 400, solenoid valve drive module 500, tunneling machine main controller 600;

[0031] Cylinder displacement sensor interface 110, laser ranging sensor interface 120, rotary encoder interface 130, power communication interface 140, operation station panel button 210, button 211, associated equipment sensor interface 220, second power communication interface 230, display screen 240, associated equipment sensor 250, methane sensor 251, water pressure sensor 252, oil temperature and oil level sensor 253, water flow sensor 254, pollution transmitter 255, sensor interface 410, third power communication interface 420, solenoid valve coil interface 510, field output analog signal sensor interface 520, conversion switch interface 530, power interface 540, CAN communication interface 550. DETAILED DESCRIPTION

[0032] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below with reference to specific diagrams.

[0033] See also Figure 5 , which is a schematic diagram of the structure of the tunnel boring machine signal acquisition system based on CAN bus provided by the present invention.

[0034] According to the diagram, the CAN bus-based tunnel boring machine signal acquisition system provided by the present invention includes six components: a sensor center module 100, an operation station module 200, a CAN bus isolation module 300, a pressure transmitter 400, a solenoid valve drive module 500, and a tunnel boring machine main controller 600.

[0035] Furthermore, the sensor center module 100 and the operation station module 200 are connected to the intrinsically safe side of the CAN bus isolation module 300 and form an intrinsically safe CAN network with several intrinsically safe devices on board the tunnel boring machine;

[0036] The pressure transmitter 400, the solenoid valve driving module 500, and the tunnel boring machine main controller 600 are connected to the flameproof side of the CAN bus isolation module 300 and form a flameproof CAN network with several flameproof devices on board the tunnel boring machine;

[0037] The intrinsically safe CAN network consists of a sensor center module 100, an operation station module 200, and various onboard intrinsically safe sensors with CAN output interfaces; the sensor center module 100 and the operation station module 200 are both intrinsically safe in design, and the explosion-proof mark is Exib I Mb; the intrinsically safe sensors can be directly connected to intrinsically safe signal acquisition modules such as the sensor center 100 and the operation station module 200.

[0038] The flameproof CAN network is composed of flameproof CAN interface devices, among which the pressure transmitter 400 is flameproof, with the explosion-proof flag Exd I Mb; the solenoid valve drive module 500 and the tunneling machine main controller 600 are installed in the flameproof electric control box, both of which are flameproof devices. The input and output interfaces of the flameproof devices can be directly connected to flameproof sensor devices and flameproof solenoid valve devices.

[0039] The intrinsically safe CAN network and the flameproof CAN network communicate with the CAN bus isolation module 300 respectively through the CAN network protocol. The CAN bus isolation module 300 is used to isolate the intrinsically safe CAN network from the flameproof CAN network and interconnect the two.

[0040] The sensor center module 100 is used to collect signals from analog sensors of the tunnel boring machine and send them to the intrinsically safe CAN network on the intrinsically safe side of the CAN bus isolation module 300. The operation station module 200 is used to send control signals for starting and stopping the motor and collect oil temperature, oil level and gas concentration signals and send them to the intrinsically safe CAN network on the intrinsically safe side of the CAN bus isolation module 300.

[0041] The pressure transmitter 400 is used to collect the oil pressure signal of the hydraulic circuit of the tunnel boring machine and send it to the flameproof CAN network on the flameproof side of the CAN bus isolation module 300;

[0042] The solenoid valve driving module 500 is used to control the opening of the proportional solenoid valve to achieve the action and speed adjustment of the corresponding hydraulic driving component;

[0043] The CAN bus isolation module 300 forwards the data content sent by the sensor center module 100 and the operation station module 200 to the intrinsically safe CAN network on the intrinsically safe side to the flameproof CAN network on the flameproof side;

[0044] The main controller 600 of the tunnel boring machine processes and judges the data content sent by the sensor center module 100, the operation station module 200, and the pressure transmitter 400 in the intrinsically safe CAN network and the flameproof CAN network, and sends control data to the solenoid valve drive module 500 to perform corresponding hydraulic actions.

[0045] Any node on the CAN network can actively send information to the network. Each CAN data frame has a corresponding ID for priority judgment. The data sent by the main controller 600 of the tunnel boring machine is sent to the flameproof CAN network on the flameproof side. The data is forwarded to the intrinsically safe CAN network on the intrinsically safe side through the CAN isolation module 300. The ID and content of the data frame remain consistent. The solenoid valve drive module 500 controls the opening of the solenoid valve according to the content of the corresponding data frame to achieve hydraulic action and speed regulation.

[0046] Furthermore, the sensor center module 100 can collect output signals of intrinsically safe sensors, including digital signals, 1-5V and 4-20mA analog signals, encoder signals, etc. It is used to collect distance sensors and displacement sensors built into the oil cylinder on the roadheader, and convert them into CAN communication data and send them to the intrinsically safe side of the CAN bus isolation module 300 to realize the collection of onboard analog sensor signals.

[0047] The operation station module 200 serves as the control core of the onboard operating console. It sends control signals for starting and stopping the motor through the dial buttons on the panel, and collects oil temperature, oil level and gas concentration in the tunneling tunnel in real time. The CAN bus isolation module 300 forwards control signals and sensor data from the intrinsically safe side to the tunneling machine main controller 600 on the explosion-proof side of the CAN bus isolation module 300.

[0048] The CAN bus isolation module 300 is used for electrical isolation of the CAN network. According to the explosion-proof requirements of coal mines, flameproof products and intrinsically safe products need to be isolated before they can be electrically connected. Therefore, the CAN bus isolation module is used to isolate the two types of CAN networks to achieve the interconnection of CAN bus data.

[0049] Furthermore, the CAN bus isolation module 300 neither produces nor consumes CAN data, but only forwards the CAN data sent by the sensor center module 100 and the operation station module 200 to the explosion-proof CAN network for use by the tunnel boring machine main controller 600. The function of using this module is to meet the explosion-proof requirements of coal mines.

[0050] The pressure transmitter 400 is an explosion-proof pressure signal acquisition module with a built-in high-reliability piezoresistive sensor and a high-performance transmitter circuit. It can collect the oil pressure signal of the hydraulic circuit of the tunnel boring machine and forward the pressure data to the tunnel boring machine main controller 600 through the CAN bus isolation module 300.

[0051] The solenoid valve driving module 500 has multiple PMW output channels, which can control the solenoid valve switch and the size of the opening according to the data on the bus, and is used for the action and speed adjustment of the hydraulic driving components.

[0052] The main controller 600 of the tunnel boring machine is the core of the electrical system of the tunnel boring machine. It executes control logic based on the data content sent to the CAN bus isolation module 300 by the sensor center 100, the operation station module 200, and the pressure transmitter 400, including control signals and equipment status information, controls the start and stop of the motor, and then sends control data to the solenoid valve drive module 500 to execute the corresponding hydraulic action.

[0053] Specifically, Figure 1 The sensor center module 100 is an intrinsically safe structure, and the sensor center module 100 can realize the access of sensors such as cylinder displacement sensor, ranging laser, ranging radar, rotary encoder, etc.

[0054] The sensor center module 100 is a bus-type signal acquisition and processing module used for collecting and processing the signals of the onboard sensors of the tunnel boring machine.

[0055] The sensor center module 100 is provided with a plurality of oil cylinder displacement sensor interfaces 110, a plurality of laser distance measuring sensor interfaces 120, a plurality of rotary encoder interfaces 130 and a power supply communication interface 140;

[0056] The cylinder displacement sensor interface 110, the laser ranging sensor interface 120, and the rotary encoder interface 130 are respectively used to connect the cylinder displacement sensor, the laser ranging sensor, and the rotary encoder. The sensor center module 100 processes the collected sensor data and sends it to the intrinsically safe side of the CAN bus isolation module 300. The power communication interface 140 includes a power connector and a CAN communication connector. The power connector is connected to the electric control cabinet, and the CAN communication connector is connected to the intrinsically safe side of the CAN bus isolation module 300.

[0057] The processor of the sensor center module 100 is an STM32 chip, which collects digital, analog, and encoder data through different types of interface components. After processing, the signal is placed in the data segment of the CAN data frame through the CAN interface chip inside the module, and then sent to the intrinsically safe side of the CAN bus isolation module 300. The main controller 600 of the tunnel boring machine receives the intrinsically safe side data frame forwarded by the isolation module 300 on the flameproof side, and obtains the corresponding sensor data according to the data frame ID.

[0058] Combined with Figure 1 In this example, three cylinder displacement sensor interfaces 110 are provided, and the three cylinder displacement sensor interfaces 110 are respectively connected to the shovel cylinder displacement sensor, the rear support cylinder displacement sensor and the telescopic cylinder displacement sensor, and have two types of analog signals of 4-20mA and 1-5V. The strokes of the unused cylinders are not the same, and the corresponding real-time strokes in the cylinder telescopic process are output after calculation by the sensor center module 100; in this example, two laser ranging sensor interfaces 120 are provided, and the two laser ranging sensor interfaces 120 are respectively connected to the left laser ranging sensor and the right laser ranging sensor to the center of the sensor center module 100, and the sensor center module 100 processes and outputs the distance values ​​measured by the ranging sensors; in this example, two rotary encoder interfaces 130 are provided, and the two rotary encoder interfaces 130 are respectively connected to the cutting arm lifting rotary encoder and the cutting arm rotating rotary encoder to the sensor center module 100, and can detect the swing angles of the cutting arm in two directions. The sensor center module 100 integrates the rotation angles of the two encoders and the telescopic cylinder displacement sensor data and calculates the position information of the cutting head.

[0059] like Figure 2 The operation station module 200 is provided with an operation station panel button 210, a plurality of associated equipment sensor interfaces 220, a second power supply communication interface 230, and a display screen 240;

[0060] By pressing the operation station panel button 210, the start and stop signals of the electrical circuit can be triggered, as well as the request signals for functions such as high and low speed selection and issuing warning signals. The associated equipment sensor interface 220 is used to connect with the associated equipment sensor 250, and can collect sensor signals such as methane sensor signals, water pressure, water flow, and temperature. The second power supply communication interface 230 has a power connection terminal and a CAN communication terminal. The power terminal is connected to the electric control cabinet, and the CAN communication terminal is correspondingly connected to the intrinsically safe side terminal of the CAN bus isolation module 300. The display screen 240 is used to display the current input instructions and equipment status information of the main controller 600 of the tunnel boring machine.

[0061] The operation station panel button 210 is composed of a number of buttons 211, which can be used to send start and stop signals of electrical circuits such as oil pump, cutting, transfer, dust removal, etc., as well as request signals for functions such as high and low speed selection and sending warning signals, and send request signals to the main controller 600 of the tunnel boring machine through the CAN bus isolation module 300. The main controller 600 of the tunnel boring machine performs corresponding actions when the conditions are met according to the current state of the tunnel boring machine. The associated equipment 250 includes a methane sensor 251, a water pressure sensor 252, an oil temperature and oil level sensor 253, a water flow sensor 254, and a pollution transmitter 255. The associated equipment 250 signals collected by the operation station module 200 are forwarded to the main controller 600 of the tunnel boring machine through the CAN bus isolation module 300.

[0062] The display data of the display screen 240 comes from the tunnel boring machine main controller 600. The data communication process is similar to sensor acquisition. The tunnel boring machine main controller 600 places the status bit of the motor startup and the motor current value data after startup in the data frame and sends it to the explosion-proof side of the CAN bus isolation module. The CAN isolation module 300 forwards the value frame to the intrinsically safe side, and the operation station module 200 displays the status data of the equipment according to the data in the data frame.

[0063] The CAN bus isolation module 300 is a functional module for forwarding CAN bus data. It is provided with a flameproof interface and an intrinsically safe interface. The flameproof interface is connected to the flameproof CAN network, and the connected devices include the tunnel boring machine main controller 600, the pressure transmitter 400 and the solenoid valve drive module 500; the intrinsically safe interface is connected to the intrinsically safe CAN network, and the connected devices include the sensor center module 100 and the operation station module 200; the CAN bus isolation 300 module itself does not produce and consume CAN data, and is used to forward the CAN data on the intrinsically safe side to the flameproof side for use by the tunnel boring machine main controller.

[0064] like Figure 3 The pressure transmitter 400 is a flameproof multi-interface pressure transmitter for mining. It adopts a high-stability and high-reliability piezoresistive pressure sensor and a high-performance transmitter circuit. It is provided with a number of sensor interfaces 410 and a third power supply communication interface 420. The sensor interfaces 410 are used to access the pressure of the working port of the multi-way valve group of the tunnel boring machine. The third power supply communication interface 420 has a power connection terminal and a CAN communication terminal. The power connection terminal is connected to the non-intrinsically safe power supply of the electric control cabinet, and the CAN communication terminal is correspondingly connected to the terminal on the flameproof side of the CAN bus isolation module 300.

[0065] In this example, preferably 8 sensor interfaces 410 are provided, which can realize the acquisition of pressure signals of up to 8 channels and up to 60 MPa, with a measurement accuracy of ±0.5% FS, and output the pressure data of 8 sensors through the third power supply communication interface 420. The main controller 600 of the tunnel boring machine can judge whether the corresponding equipment is working normally according to the pressure.

[0066] like Figure 4 The solenoid valve driver module 500 supports up to 14 analog inputs; supports CAN2.0A and CAN2.0B protocols, and the data frame ID can be freely configured.

[0067] The solenoid valve drive module 500 receives control instructions from the main controller 600 of the tunnel boring machine and drives the solenoid valve coil that responds to hydraulic action; at the same time, it can connect to 4~20mA or 0~10V analog input signals, such as pressure, flow, stroke, etc., as well as explosion-proof digital input signals.

[0068] The solenoid valve driving module 500 is provided with a plurality of solenoid valve coil interfaces 510, a plurality of on-site output analog signal sensor interfaces 520, a plurality of on-site conversion switch interfaces 530 for high and low speed selection, mode selection, etc., a power supply interface 540, and a CAN communication interface 550;

[0069] The solenoid valve coil interface 510 is used to connect to the solenoid coil of the solenoid valve of the driving component of the tunnel boring machine, so as to control the driving component to act;

[0070] The analog signal sensor interface 520 can be connected to the explosion-proof sensor signal on site, such as cooling water pressure, hydraulic pipeline pressure, etc.;

[0071] The conversion switch interface 530 used on site for high and low speed selection, mode selection, etc. is connected to a flameproof conversion switch, with the middle position being 0, turning to the left for production mode, and turning to the right for support mode; the power supply interface 540 is connected to the 24V non-intrinsically safe power supply in the electrical control box, and the CAN communication interface 550 is connected to the terminal on the flameproof side of the CAN bus isolation module 300.

[0072] The CAN communication equipment involved in this signal acquisition system has basically the same power supply and CAN communication connection. The difference is that the intrinsically safe equipment needs to be powered by a 12V intrinsically safe power supply, and the flameproof equipment needs to be powered by a 24V non-intrinsically safe power supply. The CAN communication lines of the intrinsically safe equipment are connected to the intrinsically safe side of the CAN isolation module 300, and the CAN communication lines of the flameproof equipment are connected to the flameproof side of the CAN isolation module 300. See the system connection diagram Figure 5 .

[0073] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A CAN bus tunnel boring machine signal acquisition system, characterized in that: Including sensor center module, operation station module, CAN bus isolation module, pressure transmitter, solenoid valve drive module, tunnel boring machine main controller, The sensor center module and the operation station module are connected to the intrinsically safe side of the CAN bus isolation module and form an intrinsically safe CAN network with several intrinsically safe devices on board the tunnel boring machine; The pressure transmitter, solenoid valve drive module, and tunnel boring machine main controller are connected to the flameproof side of the CAN bus isolation module and form a flameproof CAN network with several flameproof devices on board the tunnel boring machine; The intrinsically safe CAN network and the flameproof CAN network communicate with the CAN bus isolation module respectively through the CAN network protocol, and the CAN bus isolation module is used to isolate the intrinsically safe CAN network from the flameproof CAN network and interconnect the two; The sensor center module is used to collect signals from analog sensors of the tunnel boring machine and send them to the intrinsically safe CAN network on the intrinsically safe side of the CAN bus isolation module. The operation station module is used to send control signals for starting and stopping the motor and collect signals for oil temperature, oil level and gas concentration and send them to the intrinsically safe CAN network on the intrinsically safe side of the CAN bus isolation module. The pressure transmitter is used to collect the oil pressure signal of the hydraulic circuit of the tunnel boring machine and send it to the flameproof CAN network on the flameproof side of the CAN bus isolation module; The solenoid valve drive module is used to control the opening of the proportional solenoid valve to achieve the action and speed adjustment of the corresponding hydraulic drive components; The CAN bus isolation module forwards the data content sent by the sensor center module and the operation station module to the intrinsically safe CAN network on the intrinsically safe side to the flameproof CAN network on the flameproof side; The main controller of the tunnel boring machine processes and judges the data content sent by the sensor center module, operation station module and pressure transmitter in the intrinsically safe CAN network and the flameproof CAN network, and sends control data to the solenoid valve drive module to execute corresponding hydraulic actions.

2. The CAN bus tunnel boring machine signal acquisition system according to claim 1, characterized in that: The sensor center module is provided with a plurality of oil cylinder displacement sensor interfaces, a plurality of laser ranging sensor interfaces, a plurality of rotary encoder interfaces and a power supply communication interface; The cylinder displacement sensor interface, laser ranging sensor interface, and rotary encoder interface are respectively used to connect the cylinder displacement sensor, laser ranging sensor, and rotary encoder. The sensor center module processes the collected sensor data and sends it to the intrinsically safe side of the CAN bus isolation module. The power communication interface includes a power connector and a CAN communication connector. The power connector is connected to the electric control cabinet, and the CAN communication connector is connected to the intrinsically safe side of the CAN bus isolation module.

3. The CAN bus tunnel boring machine signal acquisition system according to claim 1, characterized in that: The operation station module is provided with an operation station panel button, an associated equipment sensor interface, a second power supply communication interface, and a display screen. By pressing the operation station panel button, the start and stop signals of the electrical circuit, as well as request signals for functions such as high and low speed selection and issuing early warning signals, can be triggered. The associated equipment sensor interface is used to connect to the associated equipment sensor and can collect sensor signals. The second power supply communication interface has a power connection terminal and a CAN communication terminal. The power terminal is connected to the electric control cabinet, and the CAN communication terminal is correspondingly connected to the intrinsically safe side terminal of the CAN bus isolation module. The display screen is used to display the current input instructions and equipment status information of the main controller of the tunnel boring machine.

4. The CAN bus tunnel boring machine signal acquisition system according to claim 3 is characterized in that: The buttons on the operation station panel are composed of several buttons, which can be used to issue start and stop signals for electrical circuits such as oil pumps, cutting, transfer, and dust removal, as well as request signals for functions such as high and low speed selection and issuing early warning signals. The request signal is sent to the main controller of the tunnel boring machine through the CAN bus isolation module. The main controller of the tunnel boring machine executes corresponding actions based on the current state of the tunnel boring machine when the conditions are met. The associated equipment includes a methane sensor, a water pressure sensor, an oil temperature and oil level sensor, a water flow sensor, and a pollution transmitter. The associated equipment signals collected by the operation station module forward the sensor signals to the main controller of the tunnel boring machine through the CAN bus isolation module.

5. The CAN bus tunnel boring machine signal acquisition system according to claim 1, characterized in that: The pressure transmitter adopts a piezoresistive pressure sensor and a high-performance transmitter circuit, which is provided with a plurality of sensor interfaces and a third power supply communication interface. The plurality of sensor interfaces are used to access the pressure of the working port of the multi-way valve group of the tunnel boring machine. The third power supply communication interface has a power connection terminal and a CAN communication terminal. The power connection terminal is connected to the non-intrinsically safe power supply of the electric control cabinet, and the CAN communication terminal is correspondingly connected to the terminal on the explosion-proof side of the CAN bus isolation module.

6. The CAN bus tunnel boring machine signal acquisition system according to claim 1, characterized in that: The solenoid valve drive module is provided with a plurality of solenoid valve coil interfaces, a plurality of on-site output analog signal sensor interfaces, a plurality of on-site conversion switch interfaces for high and low speed selection, mode selection, etc., a power supply interface, and a CAN communication interface; The solenoid valve coil interface is used to connect to the solenoid coil of the solenoid valve that activates the tunnel boring machine drive component to control the drive component to act. The analog signal sensor interface is connected to the on-site explosion-proof sensor signal. The on-site conversion switch interface used for high and low speed selection, mode selection, etc. is connected to an explosion-proof conversion switch. The power supply interface is connected to the non-intrinsically safe power supply in the electrical control box. The CAN communication interface is connected to the terminal on the explosion-proof side of the CAN bus isolation module.

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