Control system of heading machine

Abstract

The invention discloses a heading machine control system which comprises an in-cavity control unit arranged in an electric control box of a heading machine and an out-cavity control unit arranged outside the electric control box of the heading machine. The intra-cavity control unit is in communication connection with the extra-cavity control unit through the Ethernet; the intra-cavity control unit comprises a control host used for realizing basic control functions of the heading machine, an intelligent control host used for realizing intelligent control functions of the heading machine, and a built-in switch used for realizing signal transmission between the control host and the intelligent control host. The control host is respectively connected with an execution operation component for executing operation of the heading machine and a first acquisition component for acquiring signals through a CAN (Controller Area Network) bus; and the control host is in Ethernet communication connection with the intelligent control host through the built-in switch. The basic control function is completed through the control host, the intelligent control function is completed through the intelligent control host, and the intelligent coal mining requirement of the heading machine is met.

Description

Technical Field

[0001] The invention relates to the field of coal mining, and in particular to a roadheader control system. Background Art

[0002] The main operation mode of domestic coal mine roadheaders is still completed by manual button control and naked eye recognition. This method has a low degree of intelligence, low operator safety, and a large workload. At the same time, the quality and efficiency of roadheading are greatly affected by human factors, resulting in low roadheading efficiency and poor quality of cut sections. The early roadheader control system used a combination of AC intermediate relays and AC contactors for control, but the wiring of this control form was relatively cumbersome and the control function was single, resulting in high system maintenance costs and low roadheading efficiency. The control system developed later was based on the controller, and some control systems used single-chip microcomputers as the control core to realize the motion control and posture detection of the roadheader. However, with the continuous improvement of the requirements for the intelligence level of the roadheader control system, traditional single-chip microcomputers are unable to meet the intelligent control needs of the roadheader.

[0003] Most of the existing control systems are based on PLC (Programmable Logic Controller) as the core, and the periphery consists of actuators, operating parameter monitoring modules and host computers. PLC is mainly used to collect sensor operating parameters and scan input quantities. After being processed by the host computer program, it controls the actuator to complete the corresponding tunneling machine action. In the existing PLC control system, due to the small running memory of the single-chip microcomputer, its data processing capability is poor, and it can no longer meet the intelligent coal mining needs of the tunneling machine; at the same time, in the existing solution, the connection between the control core and other modules is a direct cable connection, with many and complex lines and poor transmission stability, so it is necessary to improve it. Summary of the invention

[0004] The object of the present invention is to provide a roadheader control system with simple connection lines and stable and reliable data transmission in view of the above problems.

[0005] In order to achieve the above object, the technical solution of the present invention is: A tunnel boring machine control system comprises an intracavity control unit arranged in an electric control box of the tunnel boring machine and an extracavity control unit arranged outside the electric control box of the tunnel boring machine; the intracavity control unit and the extracavity control unit are connected via Ethernet communication; the intracavity control unit comprises a control host for realizing basic control functions of the tunnel boring machine, an intelligent control host for realizing intelligent control functions of the tunnel boring machine, and a built-in switch for realizing signal transmission between the control host and the intelligent control host, and the control host is respectively connected to an execution operation component for performing tunnel boring machine execution operations and a first acquisition component for performing signal acquisition via a CAN bus; the control host realizes Ethernet communication connection with the intelligent control host via the built-in switch.

[0006] Furthermore, the execution operation component includes an intrinsically safe receiver for receiving remote control control signals, an intrinsically safe operation box for controlling the start and stop of the equipment, and an intrinsically safe keyboard for operating the display on the electrical control box of the tunnel boring machine. The intrinsically safe receiver, the intrinsically safe operation box, and the intrinsically safe keyboard are connected to the CAN communication interface of the control host via the first isolation fence.

[0007] Furthermore, the first acquisition component includes a temperature acquisition module for collecting the motor temperature, a cutting high-speed current transformer for detecting the cutting motor high-speed winding current, a cutting low-speed current transformer for detecting the cutting motor low-speed winding current, an oil pump motor current transformer for detecting the oil pump motor winding current, a second-operation motor current transformer for detecting the second-operation motor winding current, and a fan motor current transformer for detecting the fan motor winding current; the temperature acquisition module, the cutting high-speed current transformer, the cutting low-speed current transformer, the oil pump motor current transformer, the second-operation motor current transformer, and the fan motor current transformer are all connected to the CAN communication interface of the control host through the CAN bus.

[0008] Furthermore, the intracavity control unit also includes a vehicle-mounted display for displaying the operating status of the tunnel boring machine, an expansion module for expanding the control host connection port, and a gyroscope for detecting the inclination angle of the tunnel boring machine; the vehicle-mounted display is connected to the intelligent control host via a DVI interface, the expansion module is connected to the control host via a CAN interface, and the gyroscope is connected to the built-in switch via a network cable.

[0009] Furthermore, the extra-cavity control unit includes an external switch for connecting with the intra-cavity control unit, a camera acquisition component installed on the tunnel boring machine for performing peripheral environment monitoring operations, and a second acquisition component for detecting the working environment of the tunnel boring machine; the external switch is connected to the built-in switch and the camera acquisition component through a network cable, and the second acquisition component is connected to the control host through a CAN bus.

[0010] Furthermore, the video acquisition component includes a first airborne camera installed on the left front of the tunnel boring machine body, a second airborne camera installed on the right front of the tunnel boring machine body, a third airborne camera installed in the middle of the front end of the tunnel boring machine body, a fourth airborne camera installed at the rear of the tunnel boring machine body, and a millimeter-wave radar installed on the tunnel boring machine body. The first airborne camera, the second airborne camera, the third airborne camera, the fourth airborne camera, and the millimeter-wave radar are all connected to an external switch via a network cable.

[0011] Furthermore, the second collection component includes an audible and visual alarm for alarm prompts, a methane concentration sensor for detecting the methane concentration in the surrounding environment, and a dust concentration sensor for detecting the dust concentration in the surrounding environment. The audible and visual alarm, the methane concentration sensor, and the dust concentration sensor are connected to the CAN communication interface of the control host via a second isolation fence.

[0012] Furthermore, the second acquisition component also includes a personnel intrusion sensor for detecting personnel intrusion into the construction range of the tunnel boring machine, a shovel plate inclination sensor for detecting the inclination angle of the tunnel boring machine shovel plate, a rear support cylinder displacement sensor for detecting the displacement of the rear support cylinder of the tunnel boring machine, a lifting cylinder displacement sensor for detecting the displacement of the lifting cylinder of the tunnel boring machine, a rotating cylinder displacement sensor for detecting the displacement of the rotating cylinder of the tunnel boring machine, a telescopic cylinder displacement sensor for detecting the displacement of the telescopic cylinder of the tunnel boring machine, an oil tank oil level sensor for detecting the oil level of the tunnel boring machine oil tank, and an oil circuit system pressure sensor for detecting the pressure of the oil circuit system of the tunnel boring machine. The personnel intrusion sensor, the shovel plate inclination sensor, the rear support cylinder displacement sensor, the lifting cylinder displacement sensor, the rotating cylinder displacement sensor, the telescopic cylinder displacement sensor, the oil tank oil level sensor, and the oil circuit system pressure sensor are all connected to the CAN communication interface of the control host through the hybrid acquisition module.

[0013] Furthermore, the extracavity control unit also includes a voice phone for making voice calls, and the voice phone is connected to an external switch via a network cable.

[0014] Furthermore, the tunnel boring machine control system also includes a remote control unit, which includes an underground centralized control module for collecting underground operation data, and a ground centralized control module for monitoring the operating status of underground equipment and issuing execution instructions. The underground centralized control module is connected to the external switch through a wireless base station communication, and the underground centralized control module is connected to the ground centralized control module through a network cable.

[0015] Compared with the prior art, the present invention has the following advantages and positive effects: The present invention arranges a control host and an intelligent control host in the control unit in the cavity, so that when the tunnel boring machine is working, basic control functions can be completed through the control host, including start and stop of motor equipment, motion control and common sensor signal acquisition, etc.; intelligent control functions are completed through the intelligent control host, including memory cutting and planned mining, etc.; while ensuring the normal control operation of the tunnel boring machine, the intelligent control of the tunnel boring machine is realized, the data processing capability of the control system is effectively improved, and the intelligent coal mining requirements of the tunnel boring machine are met; and, in terms of connection mode, the present invention adopts CAN bus and gigabit optical fiber network cable connection, the line layout is simple, and the transmission is stable and reliable; at the same time, it separates the control equipment and the data reading equipment to avoid the failure of the data reading equipment affecting the equipment control function; it also separates non-safety equipment from intrinsically safe equipment to avoid signal interference, further improving the use effect of the tunnel boring machine control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. 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 labor.

[0017] Figure 1 The structure of the present invention is schematically shown Figure 1 ; Figure 2 The structure of the present invention is schematically shown Figure 2 . DETAILED DESCRIPTION

[0018] 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, any modifications, equivalent substitutions, improvements, etc., should be included in the protection scope of the present invention.

[0019] The present invention discloses a control system for a roadheader, the whole system is divided into a wire control part and an intelligent control part. The wire control part realizes the basic functions of the vehicle; the intelligent control system realizes the advanced functions of the vehicle system. On the basis of not changing the original control mode, an intelligent control host, an intelligent sensor and an intelligent communication module are added to complete the intelligent control of the system.

[0020] The structure of the present invention is as follows Figure 1 As shown, the overall system is divided into the remote control side and the fuselage side.

[0021] The communication between the remote control side and the fuselage side is carried out by wireless base stations. In the case of no obstruction, the communication distance can reach 200 meters. The remote control side equipment mainly consists of wireless base stations, underground control centers and ground control centers.

[0022] Remote control and testing equipment can complete remote control and testing functions.

[0023] The fuselage side is divided into two parts, inside and outside the cavity, according to where the equipment is installed inside and outside the electrical control box of the tunnel boring machine; optical fiber communication is used between the equipment inside and outside the cavity, and no isolation is required.

[0024] The cavity is centered around a control host, an intelligent control host, and a built-in switch; the control host completes basic control functions, the intelligent control host completes intelligent control functions, and control and data reading use different communication links without interfering with each other.

[0025] The control host adopts a vehicle-mounted controller based on the CAN bus system architecture; the control host has 4 CAN communication interfaces and one Ethernet communication interface, namely CAN1, CAN2, CAN3, CAN4 and RJ45.

[0026] The CAN1 interface communicates with the expansion module through the CAN bus. Since the number of functional interfaces of the control host cannot meet the needs of the control system, an expansion module is added to meet the control needs. Only the expansion module is connected to the CAN1 interface because the role of the expansion module is as important as the control host, and the communication cannot be interfered by other devices.

[0027] The CAN2 interface is connected to the isolation fence 1 through the CAN bus. The isolation fence 1 is externally connected to an intrinsically safe receiver, an intrinsically safe operation box and an intrinsically safe keyboard. These three devices are intrinsically safe devices, and the signal interaction with the control host needs to be isolated through the isolation fence. These three devices participate in the control of the tunnel boring machine, among which the functions of the intrinsically safe receiver are: 1. Receive the control signal of the remote control, which includes emergency stop, low-speed start and stop control of the cutting motor, high-speed start and stop control of the cutting motor, start and stop control of the oil pump motor, start and stop control of the second operation motor, start and stop control of the fan motor, forward and reverse control of the left star wheel, forward and reverse control of the right star wheel, forward and reverse control of the first operation, manual and automatic selection control, shovel lifting control, rear support lifting control, cutting head telescopic control, cutting lifting control, left and right rotation control, etc.; 2. Send the basic operation information and fault information of the tunnel boring machine to the remote control. The functions of the intrinsically safe operation box are: 1. Control the start and stop of some equipment, and the control signals include emergency stop, remote control and local control selection, low-speed start and stop control of cutting motor, high-speed start and stop control of cutting motor, start and stop control of oil pump motor, start and stop control of secondary motor, start and stop control of fan motor, page turning of the operation box interface and interface line selection, etc.; 2. Display of roadheader operation information, including motor operation status, external sensor data, alarm information and fault records. The intrinsically safe keyboard is the on-board display on the operating electric control box, and its functions include page turning, interface line selection and parameter setting.

[0028] The CAN3 interface is connected to the temperature acquisition module, cutting high-speed current transformer, cutting low-speed current transformer, oil pump motor current transformer, secondary motor current transformer and fan motor current transformer through the CAN bus. These devices are all non-safety devices, among which the temperature acquisition module mainly collects the winding temperature of the cutting motor, oil pump motor, secondary motor and fan motor; the cutting high-speed current transformer detects the cutting motor high-speed winding current; the cutting low-speed current transformer detects the cutting motor low-speed winding current; the oil pump motor current transformer detects the oil pump motor winding current; the secondary motor current transformer detects the secondary motor winding current; the fan motor current transformer detects the fan motor winding current.

[0029] The CAN4 interface is connected to the isolation fence 2 through the CAN bus. The isolation fence 2 is externally connected to a mixed acquisition module, a methane concentration sensor, and a dust concentration sensor. These three devices are intrinsically safe devices, and the signal interaction with the control host needs to be isolated through the isolation fence. These three devices collect system sensor data. Among them, the mixed quantity acquisition module can collect intrinsically safe switch quantity signals, analog current signals, and voltage signals. The collected data include personnel intrusion, shovel plate inclination, rear support cylinder displacement, lifting cylinder displacement, swing cylinder displacement, telescopic cylinder displacement, oil tank oil level, and oil system pressure. The methane concentration sensor detects the methane concentration in the environment around the tunnel boring machine system. The dust concentration sensor detects the dust concentration in the environment around the tunnel boring machine system.

[0030] The RJ45 interface is connected to the built-in switch via a network cable to receive control signals from the intelligent control host and transmit the operation information of the tunnel boring machine to the intelligent control host. When Ethernet communication is unavailable, the local control function of the tunnel boring machine is not affected.

[0031] The intelligent control host has one Ethernet interface, one DVI interface, two 485 interfaces and three CAN bus interfaces. The intelligent control host is connected to the built-in switch through the Ethernet interface, reads the operation data of the tunnel boring machine from the control host, reads the position data of the tunnel boring machine from the inertial navigation, reads the peripheral space data of the tunnel boring machine from the millimeter wave radar, and reads the remote control instructions from the remote control host (underground centralized control host and ground centralized control host). The intelligent control host sends the processed data to the vehicle display, and the data is displayed on the vehicle display; sends control instructions to the control host, and the control host executes the control instructions; sends operation data to the remote control host (underground centralized control host and ground centralized control host), and the operation data is displayed on the remote control interface. The intelligent control host is connected to the vehicle display through the DVI interface, and the operation data is displayed on the vehicle display. The 485 interface and CAN interface are redundant configurations.

[0032] The vehicle-mounted display has an HD interface, a DVI interface and a VGA interface. It is connected to the intelligent control host through the DVI interface and the DVI high-definition connector. Its function is to display the parameters of the tunnel boring machine.

[0033] The gyroscope has a CAN bus interface and an RJ45 interface, which is connected to the built-in switch via RJ45 to transmit the detected position data to the intelligent control host.

[0034] The built-in switch has 4 RJ45 interfaces and one optical fiber communication interface. The RJ45-1 interface is connected to the control host, the RJ45-2 interface is connected to the intelligent control host, the RJ45-3 interface is connected to the gyroscope, the JR45-4 is used as a debugging interface, and the optical fiber communication interface is connected to the external switch.

[0035] The extra-cavity part includes voice phones, external switches, airborne cameras, millimeter-wave radars, wireless base stations, methane concentration sensors, dust concentration sensors, sound and light alarms and other sensors, all of which are intrinsically safe devices.

[0036] The voice phone has a CAN bus interface and an RJ45 interface, and is connected to an external switch via the RJ45 interface.

[0037] The external switch has 10 RJ45 interfaces, two fiber optic interfaces and two groups of CPE interfaces. The RJ45-1 interface is connected to the voice phone, the RJ45-2 interface is connected to the onboard camera 1, the RJ45-3 interface is connected to the onboard camera 2, the RJ45-4 interface is connected to the onboard camera 3, the RJ45-5 interface is connected to the onboard camera 4, the RJ45-6 interface is connected to the millimeter-wave radar, and the remaining RJ45 interfaces are reserved; the fiber optic interface 1 is connected to the built-in switch; CPE-1 is connected to the wireless transmitter, and CPE-2 is reserved.

[0038] The onboard camera 1 is a non-PTZ camera with an RJ45 interface connected to an external switch. It is installed on the left front of the fuselage to observe the left front area of ​​the tunnel boring machine gun head.

[0039] The onboard camera 2 is a non-PTZ camera with an RJ45 interface connected to an external switch. It is installed on the right front of the fuselage to observe the right front area of ​​the tunnel boring machine gun head.

[0040] The onboard camera 3 is a pan-tilt camera with an RJ45 interface connected to an external switch. It is installed in the middle front position of the fuselage, and the monitoring area moves with the gun head.

[0041] The onboard camera 4 is a non-PTZ camera with an RJ45 interface connected to an external switch. It is installed directly behind the fuselage to observe the status of the transport aircraft.

[0042] The millimeter-wave radar has an RJ45 interface connected to an external switch to transmit the detected data to the intelligent control host.

[0043] The wireless base station has a CPE interface connected to an external switch and is installed at the rear of the fuselage to interact with the vehicle transmitter data.

[0044] The methane concentration sensor is installed on the machine body and is associated with the operating status of the equipment to prevent unsafe factors. It is connected to the cavity isolation fence 2 through the CAN bus to detect the methane concentration in the surrounding environment of the machine system. Depending on the methane concentration, the sound and light alarm will send out early warning signals and alarm signals. When an early warning signal occurs, the cutting motor switches from high speed to low speed; when the early warning signal is lifted, the cutting motor can be manually switched to high speed operation; when an alarm signal occurs, the cutting motor and the oil pump motor stop; when the alarm signal is lifted, the pump motor and the cutting motor can be restarted.

[0045] The dust concentration sensor is installed on the machine body and is associated with the equipment operation status to protect the health of front-line employees. It is connected to the cavity isolation fence 2 through the CAN bus to detect the dust concentration in the surrounding environment of the machine system. Depending on the dust concentration, the sound and light alarm will send out early warning signals and alarm signals. When an early warning signal occurs, the cutting motor switches from high speed to low speed; when the early warning signal is lifted, the cutting motor can be manually switched to high speed operation; when an alarm signal occurs, the cutting motor and the oil pump motor stop; when the alarm signal is lifted, the pump motor and the cutting motor can be restarted.

[0046] Other sensors include personnel intrusion, shovel inclination, rear support cylinder displacement, lifting cylinder displacement, swing cylinder displacement, telescopic cylinder displacement, tank oil level and oil system pressure. Among them, personnel intrusion collects switch signals; shovel inclination, rear support cylinder displacement, lifting cylinder displacement, swing cylinder displacement, telescopic cylinder displacement, tank oil level and oil system pressure collect analog signals. When the personnel intrusion sensor has a signal input, the sound and light alarm sends an alarm signal, indicating that there are people in the danger zone and the tunnel boring machine cannot be started; if the tunnel boring machine is running, it will stop immediately. When the personnel withdraw from the danger zone, the alarm signal is released and the equipment can be started. When the detection value of the tank oil level sensor is lower than the minimum limit value of the oil level, the sound and light alarm sends an alarm signal, indicating that the oil tank is insufficient and the tunnel boring machine cannot be started; if the tunnel boring machine is running, it will stop immediately. After refueling, the alarm signal is released and the equipment can be started. The remaining sensors belong to the category of state monitoring and will not be introduced in detail.

[0047] On the other hand, some connection structures in the present invention can be appropriately modified, such as Figure 2 As shown, the CAN bus connection between the control host and other modules is replaced by a 485 bus connection or a mixture of the CAN bus and the 485 bus; the DVI high-definition connector between the vehicle display and the intelligent control host is replaced by an HDMI cable; the optical fiber communication between the intracavitary device and the extracavitary device is replaced by a network cable plus an isolation module communication method; the hybrid acquisition module installed in the cavity is installed outside the cavity as a separate acquisition device; the sequential communication connection method between the external switch and multiple airborne cameras is replaced by a method in which multiple airborne cameras are connected in series and then connected to an external switch; the above-mentioned changes are conventional changes in the control system, and different system connection structures can be formed through these changes, which also have the technical effects of the present technical solution and are also within the scope of protection of the present technical solution.

[0048] The present invention arranges a control host and an intelligent control host in the control unit in the cavity, so that when the tunnel boring machine is working, basic control functions can be completed through the control host, including start and stop of motor equipment, motion control and common sensor signal acquisition, etc.; intelligent control functions are completed through the intelligent control host, including memory cutting and planned mining, etc.; while ensuring the normal control operation of the tunnel boring machine, the intelligent control of the tunnel boring machine is realized, the data processing capability of the control system is effectively improved, and the intelligent coal mining requirements of the tunnel boring machine are met; and, in terms of connection mode, the present invention adopts CAN bus and gigabit optical fiber network cable connection, the line layout is simple, and the transmission is stable and reliable; at the same time, it separates the control equipment and the data reading equipment to avoid the failure of the data reading equipment affecting the equipment control function; it also separates non-safety equipment from intrinsically safe equipment to avoid signal interference, further improving the use effect of the tunnel boring machine control system.

Claims

1. A roadheader control system, characterized in that: The tunnel boring machine control system includes an intracavity control unit arranged in the tunnel boring machine electrical control box and an extracavity control unit arranged outside the tunnel boring machine electrical control box; the intracavity control unit and the extracavity control unit are connected via Ethernet communication; the intracavity control unit includes a control host for realizing the basic control functions of the tunnel boring machine, an intelligent control host for realizing the intelligent control functions of the tunnel boring machine, and a built-in switch for realizing signal transmission between the control host and the intelligent control host. The control host is connected to the execution operation component for performing tunnel boring machine execution operations and the first acquisition component for signal acquisition via the CAN bus respectively; the control host realizes Ethernet communication connection with the intelligent control host via the built-in switch.

2. The tunnel boring machine control system according to claim 1, characterized in that: The execution operation component includes an intrinsically safe receiver for receiving remote control control signals, an intrinsically safe operation box for controlling the start and stop of the equipment, and an intrinsically safe keyboard for operating the display on the electric control box of the tunnel boring machine. The intrinsically safe receiver, the intrinsically safe operation box, and the intrinsically safe keyboard are connected to the CAN communication interface of the control host via the first isolation fence.

3. The tunnel boring machine control system according to claim 1, characterized in that: The first acquisition component includes a temperature acquisition module for collecting the motor temperature, a cutting high-speed current transformer for detecting the high-speed winding current of the cutting motor, a cutting low-speed current transformer for detecting the low-speed winding current of the cutting motor, an oil pump motor current transformer for detecting the oil pump motor winding current, a second-operation motor current transformer for detecting the second-operation motor winding current, and a fan motor current transformer for detecting the fan motor winding current; the temperature acquisition module, the cutting high-speed current transformer, the cutting low-speed current transformer, the oil pump motor current transformer, the second-operation motor current transformer, and the fan motor current transformer are all connected to the CAN communication interface of the control host through the CAN bus.

4. The tunnel boring machine control system according to claim 1, characterized in that: The intracavity control unit also includes an on-board display for displaying the operating status of the tunnel boring machine, an expansion module for expanding the control host connection port, and a gyroscope for detecting the inclination angle of the tunnel boring machine; the on-board display is connected to the intelligent control host via a DVI interface, the expansion module is connected to the control host via a CAN interface, and the gyroscope is connected to the built-in switch via a network cable.

5. The tunnel boring machine control system according to claim 1, characterized in that: The extracavity control unit includes an external switch for connecting to the intracavity control unit, a camera acquisition component for being installed on the tunnel boring machine to perform peripheral environment monitoring operations, and a second acquisition component for detecting the working environment of the tunnel boring machine; the external switch is connected to the built-in switch and the camera acquisition component via a network cable, and the second acquisition component is connected to the control host via a CAN bus.

6. The tunnel boring machine control system according to claim 5, characterized in that: The video acquisition component includes a first airborne camera installed on the left front of the tunnel boring machine body, a second airborne camera installed on the right front of the tunnel boring machine body, a third airborne camera installed in the middle of the front end of the tunnel boring machine body, a fourth airborne camera installed at the rear of the tunnel boring machine body, and a millimeter-wave radar installed on the tunnel boring machine body. The first airborne camera, the second airborne camera, the third airborne camera, the fourth airborne camera, and the millimeter-wave radar are all connected to an external switch via a network cable.

7. The tunnel boring machine control system according to claim 5, characterized in that: The second collection component includes an audible and visual alarm for alarm prompts, a methane concentration sensor for detecting the methane concentration in the surrounding environment, and a dust concentration sensor for detecting the dust concentration in the surrounding environment. The audible and visual alarm, the methane concentration sensor, and the dust concentration sensor are connected to the CAN communication interface of the control host via a second isolation fence.

8. The tunnel boring machine control system according to claim 7, characterized in that: The second acquisition component also includes a personnel intrusion sensor for detecting personnel intrusion into the construction range of the tunnel boring machine, a shovel plate inclination sensor for detecting the inclination angle of the tunnel boring machine shovel plate, a rear support cylinder displacement sensor for detecting the displacement of the rear support cylinder of the tunnel boring machine, a lifting cylinder displacement sensor for detecting the displacement of the lifting cylinder of the tunnel boring machine, a rotating cylinder displacement sensor for detecting the displacement of the rotating cylinder of the tunnel boring machine, a telescopic cylinder displacement sensor for detecting the displacement of the telescopic cylinder of the tunnel boring machine, an oil tank oil level sensor for detecting the oil level of the tunnel boring machine oil tank, and an oil circuit system pressure sensor for detecting the pressure of the oil circuit system of the tunnel boring machine. The personnel intrusion sensor, the shovel plate inclination sensor, the rear support cylinder displacement sensor, the lifting cylinder displacement sensor, the rotating cylinder displacement sensor, the telescopic cylinder displacement sensor, the oil tank oil level sensor, and the oil circuit system pressure sensor are all connected to the CAN communication interface of the control host through the hybrid acquisition module.

9. The tunnel boring machine control system according to claim 5, characterized in that: The extracavity control unit also includes a voice phone for voice calls, and the voice phone is connected to an external switch via a network cable.

10. The tunnel boring machine control system according to claim 5, characterized in that: The tunnel boring machine control system also includes a remote control unit, which includes an underground centralized control module for collecting underground operation data, and a ground centralized control module for monitoring the operating status of underground equipment and issuing execution instructions. The underground centralized control module is connected to the external switch through a wireless base station communication, and the underground centralized control module is connected to the ground centralized control module through a network cable.

Images