A control method and system of a hydraulic system of a tunnel secondary lining trolley

Abstract

The application discloses a kind of control method and system of tunnel second lining trolley hydraulic system, the method includes: when tunnel second lining trolley stops and does not work, PLC obtains self-checking start instruction, to each electromagnetic valve output drive signal, drive electromagnetic valve action makes corresponding cylinder produce the detection level displacement that can be collected by displacement sensor and does not change corresponding template working state;PLC will drive signal output time sequence and the displacement information acquisition time sequence of association matching, establish the actual mapping relationship of digital output channel and analog feedback channel to identify the connection state of oil pipe and electromagnetic valve;PLC is based on actual mapping relationship and updates the associated logic of remote controller instruction and digital output channel.The scheme is adopted, and the actual mapping relationship of channel is established by self-checking and control logic is updated, the problem that control failure caused by oil pipe and electromagnetic valve connection misplacement is solved, ensure that remote controller can accurately control target cylinder, improve the reliability of hydraulic system control and trolley operation safety.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tunnel secondary lining trolley, and particularly relates to a control method and system of a hydraulic system of a tunnel secondary lining trolley. BACKGROUND

[0002] In the field of tunnel construction, the tunnel secondary lining trolley is the core equipment for lining operation, and the stable operation of the hydraulic system of the tunnel secondary lining trolley directly determines the construction efficiency and safety. At the installation and debugging stage of the current tunnel secondary lining trolley hydraulic system, the hydraulic oil pipe and the electromagnetic valve need to be accurately connected by manual operation to ensure that the corresponding relationship of the control line, the programmable logic controller (PLC) and the displacement sensor is correct. However, in actual operation, due to the difference in installation personnel experience or operation negligence, problems such as incorrect connection of the oil pipe (such as incorrect connection of No. 1 oil pipe to No. 3 electromagnetic valve) and chaotic matching of the line often occur, which causes the inconsistency between the remote controller command and the actual action of the oil cylinder.

[0003] To correct the above errors, the existing method needs to repeatedly disassemble and assemble the oil pipe or adjust the electromagnetic valve wiring, which not only prolongs the debugging period, but also easily causes hydraulic oil leakage, pollutes the working environment and reduces the anti-skid performance of the trolley walkway, and has safety hazards. Moreover, the existing system lacks an automatic identification and correction mechanism for connection errors, and professional personnel need to be present to troubleshoot when problems occur, which further increases the construction cost and the risk of construction period delay.

[0004] Therefore, how to realize the automatic correction of the connection error of the tunnel trolley hydraulic system, reduce manual intervention and shorten the debugging period has become a technical problem to be solved at present. SUMMARY

[0005] The present application provides a control method and system of a tunnel trolley hydraulic system, which can automatically identify and correct the error connection of the oil pipe and the electromagnetic valve in the hydraulic system without manual disassembly and assembly of hardware or adjustment of the line, effectively shortens the debugging period, reduces the risk of hydraulic oil leakage, and meets the needs of efficient and safe installation and debugging of the tunnel trolley hydraulic system.

[0006] In a first aspect, the embodiments of the present application provide a control method of a tunnel second lining trolley hydraulic system, comprising the following steps: in a state that the tunnel second lining trolley is stopped and has no operation, a PLC acquires a self-checking start instruction; in response to the self-checking start instruction, the PLC outputs a driving signal to each electromagnetic valve in the hydraulic system, each electromagnetic valve is connected to an oil cylinder through an oil pipe, the driving signal is used to drive the electromagnetic valve to act and transmit hydraulic power to the corresponding oil cylinder through the oil pipe, so that the oil cylinder generates a detection level displacement, the detection level displacement is limited to "being able to be collected by a displacement sensor and not changing the working state of the template connected to the oil cylinder", for example, the detection level displacement can be 1% to 3% of the maximum stroke of the oil cylinder; the PLC acquires detection level displacement information of the corresponding oil cylinder collected by the displacement sensor, the displacement sensor is configured in one-to-one correspondence with each oil cylinder; the PLC associates and matches the output time sequence of the driving signal with the collection time sequence of the acquired displacement information, establishes an actual mapping relationship between the digital output channel of itself and the analog feedback channel of the displacement sensor, to identify the connection state of the oil pipe and the electromagnetic valve in the hydraulic system, wherein the digital output channel corresponds to each electromagnetic valve in one-to-one correspondence, and the analog feedback channel corresponds to each oil cylinder in one-to-one correspondence; based on the actual mapping relationship, the PLC automatically updates the association logic between the internal preset remote controller instruction and the digital output channel, so that the control instruction of the target oil cylinder sent by the remote controller is matched by the PLC, and a driving signal is output by the digital output channel actually associated with the target oil cylinder.

[0007] The core logic of "stop self-checking + time sequence association matching" solves the industry pain point that the oil pipe and the electromagnetic valve in the traditional hydraulic system need to be manually checked for mismatch. The limitation of the detection level displacement ensures effective collection of the displacement sensor and avoids false action of the template, achieving "non-interference checking"; the mapping relationship established by the time sequence matching can automatically identify the connection state, and the logic updating mechanism ensures that the remote controller instruction accurately corresponds to the target oil cylinder, greatly reduces the manual checking cost and operation error risk, and improves the construction safety and efficiency.

[0008] In combination with the first aspect, in a first possible implementation manner, the PLC outputs the driving signal to each electromagnetic valve in the hydraulic system, comprising: adopting a single oil cylinder independent driving mode, the PLC outputs the driving signal to each oil cylinder corresponding electromagnetic valve in a preset order, only one electromagnetic valve is driven to act at the same time to drive the corresponding oil cylinder to generate a detection level displacement, after the detection level displacement information of the previous oil cylinder is collected and the signal is stable, the driving signal is output to the electromagnetic valve corresponding to the next oil cylinder.

[0009] The preset sequence can be determined based on a preset sequence of cylinder function association, such as being set according to the function module association relationship of the tunnel secondary lining trolley cylinder, for example, first driving the core cylinder directly related to the stability of the formwork support, then driving the auxiliary adjustment type cylinder, and the cylinders in the same function module are arranged in a symmetrical order from the middle to the two sides to avoid the displacement of the formwork posture caused by unilateral stress. The preset sequence can also be determined based on the order of signal acquisition priority, such as being set according to the signal transmission priority of the displacement sensor, and preferentially driving the solenoid valve corresponding to the cylinder with the shortest signal feedback path and the strongest anti-interference capability. The preset sequence can also be customized and stored through the man-machine interface of the secondary lining trolley electrical control cabinet, which is suitable for the calibration requirements in different tunnel construction scenes, and is all feasible.

[0010] The implementation avoids the displacement signal interference problem caused by the simultaneous action of multiple cylinders through the control logic of "driving one by one and then progressing after the signal is stable". The independent calibration of a single cylinder can accurately position the correspondence between each solenoid valve and cylinder, especially for complex trolley systems with a large number of densely distributed cylinders, ensuring the accuracy of the mapping relationship and providing a reliable foundation for subsequent accurate control, while reducing the load pressure of the system during calibration.

[0011] In combination with the first aspect, in a second possible implementation, the PLC outputs driving signals to each solenoid valve in the hydraulic system, including: the PLC drives each template of the tunnel secondary lining trolley in groups, each template corresponding to a group of cylinders and their associated solenoid valves; the PLC outputs driving signals to all solenoid valves in the same group in turn, drives the cylinders corresponding to the template to generate detection level displacement in turn, after the oil cylinder displacement information collection of the last solenoid valve in the group is completed and the signal is stable, a preset time interval is set, and then the driving of the next group is started, the preset time is configured according to the cylinder displacement stable time length and the response characteristics of the tunnel secondary lining trolley hydraulic system, and is used to eliminate the interference of the previous group driving on the displacement signal collection of the next group.

[0012] The above scheme uses the grouping mode of the template as a unit to adapt to the actual needs of "template overall action" during trolley construction, so that the calibration logic and the operation logic are more suitable.

[0013] With reference to the first aspect, in a third possible implementation manner, the PLC outputs the driving signals to each electromagnetic valve in the hydraulic system, comprising: the PLC drives the forms of the tunnel lining trolley in groups, which comprises single-form independent grouping driving and symmetric-form combined grouping driving; wherein the single-form independent grouping driving mode is that one form and all the oil cylinders corresponding to the form and the associated electromagnetic valves thereof form a group, the PLC outputs the driving signals to all the electromagnetic valves in the group in turn, and the oil cylinders corresponding to the form generate the detection level displacement in turn; the symmetric-form combined grouping driving mode is that according to the structure of the tunnel lining trolley, two forms symmetrically distributed are divided into the same symmetric group, each group contains the oil cylinders and the electromagnetic valves corresponding to the two symmetric forms respectively, the PLC outputs the driving signals to the electromagnetic valves in the symmetric group in turn according to the “symmetric oil cylinder pair” to drive the displacement sensors corresponding to the symmetric oil cylinders in the symmetric group to collect the detection level displacement generated by the oil cylinders in turn, and the verification of one pair of symmetric oil cylinders is completed, then the next pair is driven, and the grouping mode is configured through the touch screen according to the structure of the tunnel lining trolley.

[0014] The scheme provides flexible grouping selection, the single-form mode is suitable for targeted verification after local form maintenance, and the symmetric-form combined mode utilizes the symmetric structure characteristics of the trolley, so that the symmetric oil cylinders can act in turn to avoid imbalance of the trolley in the verification process. The configuration function of the touch screen enhances the system adaptability, and the grouping strategy can be quickly adjusted according to the form layout of different trolleys, and the verification flexibility, trolley stability and operation convenience are considered.

[0015] With reference to the first aspect, in a fourth possible implementation manner, after any electromagnetic valve outputs the driving signal, if the corresponding detection level displacement information is not detected within a preset response time, the PLC marks the electromagnetic valve as an abnormal state, records the number, digital output channel and abnormal type of the electromagnetic valve, skips the electromagnetic valve to continue subsequent verification, and generates a diagnostic report containing the abnormal position, possible causes and troubleshooting suggestions on the man-machine interaction interface after the verification is completed.

[0016] The implementation manner gives the system a self-diagnosis capability, automatically marks an abnormality and skips when there is no displacement feedback within the preset response time, avoids blocking the overall verification process due to a single point failure, and improves the verification efficiency. The detailed abnormality record and diagnostic report directly locate the fault position, combined with the possible causes and troubleshooting suggestions, greatly shorten the fault troubleshooting time, reduce the operation and maintenance difficulty, and solve the problems of “difficult fault location” and “long troubleshooting period” of the traditional system.

[0017] With reference to the first aspect, in a fifth possible implementation manner, the control method further includes: in a normal operation process of the tunnel secondary lining trolley, the PLC compares an expected cylinder action corresponding to the remote controller instruction with an actual action fed back by the displacement sensor, if the actual action is opposite to the expected action, it is determined that the electromagnetic valve core sealing is not tight, causing the oil mixing failure, the corresponding electromagnetic valve driving signal is immediately cut off, an audible and light alarm is triggered, and the fault information is displayed on the touch screen.

[0018] This scheme realizes dynamic fault monitoring in the operation process, accurately identifies the electromagnetic valve oil mixing failure through "expected-actual action comparison", which is different from the limitation of the traditional system that "can only be checked when stopped". The linkage response of immediately cutting off the driving signal and audible and light alarm can quickly contain the failure expansion and avoid construction accidents caused by template misoperation; the touch screen displays the fault information for the operator to handle immediately, improving the safety and reliability of the system operation.

[0019] With reference to the first aspect, in a sixth possible implementation manner, the control method further includes: the PLC detects that the electromagnetic valve driving signal has been output by itself and the driving signal parameter is normal, no detection level displacement information of the corresponding oil cylinder is collected within a preset time, and the displacement sensor communication is normal, then it is determined that the electromagnetic valve coil is damaged or the control line circuit is broken, and the corresponding reminder information is displayed on the touch screen.

[0020] This implementation manner accurately subdivides the fault type through "driving signal-displacement feedback-sensor communication" triple verification, excludes sensor fault interference, and clearly points to the electromagnetic valve coil or line problem. Compared with the traditional "general fault alarm", this diagnostic logic can narrow down the scope of troubleshooting, and the targeted reminder on the touch screen enables the maintenance personnel to quickly locate the electrical fault point, shorten the maintenance time, and improve the system restart efficiency.

[0021] With reference to the first aspect, in a seventh possible implementation manner, the control method further includes: if the same electromagnetic valve electrical fault is continuously detected and the number of faults reaches a preset threshold, and the system is configured with a standby electromagnetic valve channel, the PLC automatically switches to the standby channel and re-executes the self-checking to update the mapping relationship, and displays the prompt information on the touch screen; if there is no standby channel, the alarm is continuously sent until the fault is removed.

[0022] This scheme avoids mis-switching through "fault number threshold judgment", improving the reliability of redundant control. The linkage of automatic switching of the standby channel and self-checking update realizes quick self-healing after the fault, reduces the construction interruption time, and is especially suitable for continuous construction scenes; the continuous alarm when there is no standby channel ensures that the fault is not ignored, forming a "self-healing-alarm" double protection mechanism, further improving the fault tolerance and operation continuity of the system.

[0023] With reference to the first aspect, in an eighth possible implementation manner, after the PLC establishes the actual mapping relationship between the digital output channel of the PLC and the analog feedback channel of the displacement sensor, the control method further includes: the PLC stores the actual mapping relationship as a history record in an encrypted manner; when it is detected that the hardware connection state of the tunnel secondary lining trolley hydraulic system changes, the PLC calls the latest valid history mapping relationship; the PLC starts an incremental self-checking process, performs correlation matching only on the digital output channel and the analog feedback channel involved in the change of the hardware connection state, and generates a local mapping relationship; the PLC determines the local mapping relationship according to a preset validity determination rule, and the determination includes: verifying whether the duration of the corresponding displacement feedback signal after the driving signal output in the local mapping relationship reaches a preset stable time length, and whether the time difference between the driving signal output time and the displacement feedback signal starting time is within a threshold range that is preset based on the response characteristic of the tunnel secondary lining trolley hydraulic system and the transmission delay of the displacement sensor; after the determination passes, the PLC integrates the local mapping relationship and the called latest valid history mapping relationship into a new actual mapping relationship, and updates the stored history record, wherein the upper limit of the storage quantity of the history record is preset through the touch screen.

[0024] The scheme provides basic data for checking after hardware change by storing the history mapping relationship in an encrypted manner, avoids full-system rechecking, greatly shortens the rework preparation time after hardware maintenance, and ensures local mapping accuracy by incremental checking and the validity determination rule, integrates the history relationship to form a new mapping, and takes into account checking efficiency and system stability. The function of presetting the storage upper limit of the touch screen can reasonably manage the history data according to the system memory, and avoids storage redundancy.

[0025] In a second aspect, the embodiments of the present application provide a tunnel secondary lining trolley hydraulic system, comprising: a secondary lining trolley body, an electric control cabinet, a hydraulic station, a plurality of oil cylinders, a plurality of displacement sensors, and a remote controller; wherein the electric control cabinet is integrated with a touch screen, a PLC, and a communication module; the hydraulic station comprises a plurality of electromagnetic valves; the touch screen is electrically connected with the PLC, and is used for triggering a self-checking start instruction, and performing grouping driving mode configuration, preset historical record storage quantity configuration, and display information; the PLC is used for executing the control method as described in the first aspect and any possible implementation manner of the first aspect; the communication module is electrically connected with the PLC, and is used for establishing a signal transmission link between the remote controller and the PLC; the hydraulic station comprises a plurality of electromagnetic valves and a hydraulic supply assembly, the plurality of electromagnetic valves are connected in series in the oil pipe lines corresponding to the oil cylinders, the control ends of the plurality of electromagnetic valves are electrically connected with the digital quantity output channels of the PLC, and are used for controlling the on-off and oil flow direction of the corresponding oil pipes under the driving of the PLC, so as to control the extension and retraction of the oil cylinders; the secondary lining trolley body adopts a rigid frame structure, and the template support parts are distributed along the circumferential direction of the trolley and are provided with oil cylinder mounting seats, which are used for assembling a plurality of oil cylinders, and the extension and retraction of the template are driven by the oil cylinders; one end of any oil cylinder in the plurality of oil cylinders is connected with one electromagnetic valve in one-to-one correspondence through an oil pipe, and the other end is hinged with a template of the secondary lining trolley body; any displacement sensor in the plurality of displacement sensors is assembled in one-to-one correspondence with an oil cylinder, the detection end of the displacement sensor is linked with a piston rod of the oil cylinder, the signal output end of the displacement sensor is electrically connected with an analog quantity feedback channel of the PLC, and is used for collecting displacement information of the oil cylinder and feeding back to the PLC; the remote controller is wirelessly connected with the PLC through the communication module, and is used for sending an oil cylinder action control instruction to the PLC.

[0026] The scheme is designed by means of the architecture of "integrated control of electric control cabinet-power regulation of hydraulic station-linkage of execution components", and accurately supports the landing of the control method of the first aspect. The integrated design of the electric control cabinet simplifies the wiring and improves the space utilization; the one-to-one connection of the electromagnetic valves and the oil cylinders in the hydraulic station matches the channel configuration of the PLC, and provides a hardware basis for time sequence matching and verification; the linkage collection of the displacement sensors and the oil cylinders ensures real-time and accurate displacement information. The overall system realizes a closed loop of "control-execution-detection-feedback", solves the problems of dispersed layout, low control accuracy, and difficult fault troubleshooting of the traditional system, can adapt to different trolley structures and construction scenes, and improves the automation and intelligent level of tunnel secondary lining construction. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the specific embodiments of the present application or the prior art, the accompanying drawings needed to be used in the specific embodiments or prior art description will be briefly introduced as follows. Obviously, the accompanying drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0028] Figure 1 is a structural schematic diagram of a tunnel secondary lining trolley hydraulic system in an embodiment of the present application;

[0029] Figure 2A is a flow schematic diagram of a control method of a tunnel secondary lining trolley hydraulic system provided by an embodiment of the present application;

[0030] Figure 2B is a flow schematic diagram of a control method of a tunnel secondary lining trolley hydraulic system provided by an embodiment of the present application;

[0031] Figure 2C is a flow schematic diagram of a control method of a tunnel secondary lining trolley hydraulic system provided by an embodiment of the present application;

[0032] Figure 3A is a display interface schematic diagram of a touch screen in an embodiment of the present application;

[0033] Figure 3B is another display interface schematic diagram of a touch screen in an embodiment of the present application;

[0034] Figure 3C is another display interface schematic diagram of a touch screen in an embodiment of the present application;

[0035] Figure 3D is another display interface schematic diagram of a touch screen in an embodiment of the present application. DETAILED DESCRIPTION

[0036] The terms used in the following embodiments of the present application are only for the purpose of describing the specific embodiments, and are not intended to be limiting to the present application. As used in the specification of the present application, the singular expression "one", "a", "the", "said" and "this" are intended to include the plural expression, unless there is clear indication to the contrary in the context. It should also be understood that the term "and / or" used in the present application means any or all possible combinations of the listed items.

[0037] Hereinafter, the terms "first", "second" are only used for descriptive purposes and cannot be understood as implying or suggesting relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features, and in the description of the embodiments of the present application, the meaning of "multiple" is two or more, unless otherwise stated.

[0038] As the core equipment of tunnel lining operation, the hydraulic system of the tunnel lining trolley bears the key functions of formwork support, posture adjustment, and lining forming, and the precise control of the system directly determines the forming precision, construction efficiency, and operation safety of the lining concrete. During the installation and debugging stage of the tunnel lining trolley, the pipe connection of the hydraulic system is one of the core processes: multiple groups of hydraulic oil pipes need to be connected to the corresponding solenoid valves one by one to ensure that each oil pipe connection, the PLC digital output channel controlling the solenoid valve, and the displacement sensor analog feedback channel detecting the state of the oil cylinder form a one-to-one logical association. Only in this way can the precise matching of the remote controller command and the target oil cylinder action be realized.

[0039] However, in the actual construction scene, the tunnel lining trolley is usually configured with 8-16 groups or even more oil cylinders (including core oil cylinders such as top mold oil cylinders and side wall oil cylinders), the interface layout of the hydraulic oil pipes and the solenoid valves is dense and similar in specification, and the tunnel operation environment is dim and narrow in space. Installation personnel are prone to connection errors due to experience differences, visual misjudgment, or operational negligence. For example, oil pipe misconnection (such as the oil pipe of "No. 1 oil cylinder" is mistakenly connected to the solenoid valve corresponding to "No. 2 oil cylinder"). Such errors directly cause the control command sent by the remote controller to be unable to drive the target oil cylinder to act, or cause non-target oil cylinders to malfunction, seriously affecting the debugging progress.

[0040] To correct the above connection errors, the existing solution has significant defects: it needs to rely on manual line-by-line checking of the oil pipe connection relationship, and verification is carried out by repeatedly disassembling the oil pipes and adjusting the solenoid valve wiring. This process not only consumes time and effort (sometimes 2-4 hours are needed for a single trolley debugging, and if there are multiple misconnections, the period will be longer), but also easily causes hydraulic oil leakage when disassembling the oil pipes. The leaked hydraulic oil will pollute the tunnel operation environment, such as forming an oil stain layer on the surface of the trolley walkway, which will reduce the anti-skid performance and bring a falling risk to the construction personnel. Therefore, the existing tunnel lining trolley hydraulic system lacks an automatic identification and correction mechanism for connection errors: the system cannot independently judge whether the "command-solenoid valve-oil cylinder" association is matched, and when a problem occurs, professional technical personnel must be present to troubleshoot, further increasing construction costs (labor costs, equipment idle costs) and the risk of project delay, especially in projects with a tight tunnel breakthrough period, this problem is more prominent.

[0041] In addition, although there are some general hydraulic system calibration schemes in the industry, they are difficult to adapt to the special scene requirements of the tunnel secondary lining trolley: first, most general schemes are for simple systems with single or a small number of oil cylinders, and cannot adapt to the multi-channel synchronous calibration requirements of the trolley with multiple oil cylinders arranged densely; second, the displacement control precision of the general scheme is insufficient, and the displacement of the oil cylinder is too large during calibration, which easily changes the work pose of the template that has been calibrated, resulting in subsequent lining precision deviation.

[0042] Therefore, it is a technical problem to be solved in the present application to develop a control scheme that is adapted to the tunnel secondary lining trolley scene, can automatically identify hydraulic system connection errors and complete correction, to reduce manual intervention, shorten the debugging period, and avoid safety hazards. It is a technical problem to be solved in the current tunnel construction field.

[0043] The following will be combined Figure 1 and Figure 2A to introduce an embodiment of the present application. First, the hydraulic system of the tunnel secondary lining trolley is generally described based on the structural schematic diagram of Figure 1 : the system mainly consists of a secondary lining trolley body, a PLC, multiple oil cylinders, multiple electromagnetic valves, multiple displacement sensors, a remote controller and a touch screen, etc. The secondary lining trolley body is a rigid frame structure, and the oil cylinder mounting seat is distributed at the template support position for assembling the oil cylinder; one end of the oil cylinder is connected to the electromagnetic valve through the oil pipe, and the other end is hinged to the template; the electromagnetic valve is integrated in the hydraulic station, and the control end is connected to the digital output channel of the PLC; the displacement sensor corresponds to the oil cylinder one by one, the detection end is linked to the piston rod, and the signal end is connected to the analog feedback channel of the PLC; the PLC, the touch screen and the communication module are integrated in the electric control cabinet, and the communication module establishes wireless connection with the remote controller to realize automatic control and calibration of the hydraulic system.

[0044] As Figure 1As shown, when the oil pipes connected to the oil cylinders are correctly connected to the electromagnetic valves, the one-to-one correspondence principle is followed, that is, one end of the first oil pipe is connected to the first oil cylinder, and the other end of the first oil pipe is connected to the first electromagnetic valve; one end of the second oil pipe is connected to the second oil cylinder, and the other end of the second oil pipe is connected to the second electromagnetic valve; one end of the Nth oil pipe is connected to the Nth oil cylinder, and the other end of the Nth oil pipe is connected to the Nth electromagnetic valve. When the remote controller sends an extension command for the first oil cylinder, the PLC drives the first electromagnetic valve to act through the first digital output channel. Since the oil pipe connected to the first electromagnetic valve is connected to the Nth oil cylinder, the Nth oil cylinder is driven to extend, and the desired extension of the first oil cylinder cannot be achieved. In order to solve the connection error, the prior art usually needs to correct the connection error, pull out and reconnect to the correct position. The present application adjusts the connection of the oil pipe, and only needs to update the logical relationship between the digital output channel and the analog output channel, such as associating the first analog feedback channel with the second digital output channel. In this way, after receiving the extension command for the first oil cylinder from the remote controller, according to the updated logical relationship, the PLC drives the second electromagnetic valve to act through the second digital output channel. Since the oil pipe connected to the second electromagnetic valve is connected to the first oil cylinder, the first oil cylinder is driven to extend, thereby achieving the desired operation.

[0045] When the oil pipes are connected incorrectly, the traditional troubleshooting needs to manually check the oil pipes and lines one by one, which is time-consuming and labor-intensive. In order to solve the problems of connection error between the oil pipes and the electromagnetic valves in the conventional tunnel secondary lining trolley hydraulic system, low efficiency of manual troubleshooting, control disorder and easy safety accidents, etc., like Figure 2A As shown in one embodiment, a control method of a tunnel secondary lining trolley hydraulic system is provided, which comprises steps S201 to S205.

[0046] S201. In the state of stopping and no operation of the tunnel secondary lining trolley, the PLC obtains a self-checking start command.

[0047] After the tunnel secondary lining trolley completes a segment of lining construction, it stops and the formwork is retracted to the initial position. At this time, the operator can trigger the command by clicking the “hydraulic one-key check” button on the touch screen (such as Figure 3A As shown), or by sending a signal through the physical button on the electric control cabinet, or through the special button of the remote controller. The PLC will first confirm that the trolley has no operation action (such as formwork movement, hydraulic oil supply, etc.), to avoid conflicts between checking and construction.

[0048] S202. In response to the self-checking start instruction, the PLC outputs a driving signal to each electromagnetic valve in the hydraulic system, each electromagnetic valve is connected to a corresponding oil cylinder through an oil pipe, the driving signal is used to drive the electromagnetic valve to act and transmit hydraulic power to the corresponding oil cylinder through the oil pipe, so that the oil cylinder generates a detection level displacement, and the detection level displacement is limited to an amount that can be collected by the displacement sensor and does not change the working state of the template connected to the oil cylinder. And the displacement amount can be reset by the electromagnetic valve reverse drive to realize the instant reset of the oil cylinder, and the template still maintains the initial working posture after reset. The display interface of the touch screen during the checking process can be as shown in Figure 3B .

[0049] For example, the PLC outputs a signal to the electromagnetic valve according to a preset mode (such as a single oil cylinder independent driving mode). Taking an 8-cylinder trolley as an example, after the 1# electromagnetic valve receives the signal, the hydraulic oil pushes the 1# oil cylinder to extend by 8mm - the displacement can be captured by a sensor with a precision of 1mm, and is smaller than the gap of 20mm between the template and the tunnel wall, so it will not change the state of the template.

[0050] S203. The PLC acquires the detection level displacement information of the corresponding oil cylinder collected by the displacement sensor, and the displacement sensor is configured in one-to-one correspondence with each oil cylinder.

[0051] The displacement sensor of each oil cylinder is linked with the piston rod, and when the 1# oil cylinder extends and retracts, the 1# displacement sensor converts the displacement data into a 4-20mA signal and transmits it to the analog feedback channel of the PLC in real time.

[0052] S204. The PLC associates and matches the output time sequence of the driving signal with the collection time sequence of the acquired displacement information, establishes the actual mapping relationship between the digital output channel of itself and the analog feedback channel of the displacement sensor, and identifies the connection state of the oil pipe and the electromagnetic valve in the hydraulic system. Among them, the digital output channel corresponds to each electromagnetic valve in one-to-one correspondence, and the analog feedback channel corresponds to each oil cylinder in one-to-one correspondence;

[0053] If the PLC drives the 1# electromagnetic valve through the first data output channel Q0.0 at T1, and the analog feedback channel AIW0 receives an 8mm displacement signal at T1+0.3 seconds, then the "Q0.0-AIW0" mapping is established; if the signal comes from the AIW2 channel (corresponding to the 3# sensor), it can be determined that the 1# electromagnetic valve is connected to the 3# oil cylinder. Among them, Q represents the digital output (Digital Output, QO) of the PLC, AI represents the analog input (Analog Input, AI), Q0.0 corresponds to AIW0, which establishes the association between the "digital output channel (controls the electromagnetic valve)" and the "analog input channel (collects the displacement sensor signal)", and realizes the closed-loop control logic of "driving signal output-displacement feedback collection". W represents word (word, W)

[0054] Based on the actual mapping relationship, the S205.PLC automatically updates the internal preset association logic between remote control commands and digital output channels, so that the control commands sent by the remote control to the target cylinder are matched by the PLC and the drive signals are output by the digital output channels actually associated with the target cylinder.

[0055] After automatically updating the internally preset association logic between remote control commands and digital output channels, the touch interface can display the following: Figure 3D The content shown.

[0056] If it is detected that cylinder #1 actually corresponds to channel Q0.2, when the remote control commands cylinder #1 to move, the PLC will automatically output a drive signal through channel Q0.2 to ensure accurate execution of the command.

[0057] This embodiment is achieved through Figure 1 The hardware structure shown is similar to Figure 2A By integrating control processes with "timing matching + automatic calibration" to replace manual troubleshooting, it can not only quickly identify incorrect connections between oil pipes and solenoid valves, but also automatically correct control logic, avoiding construction accidents caused by connection problems. Compared with traditional methods, the verification efficiency is improved by more than 80%, and it can achieve "verification upon shutdown and correction upon discovery," significantly reducing labor costs and construction risks, and significantly improving the safety and intelligence level of tunnel secondary lining construction.

[0058] In some possible implementations, the PLC outputs drive signals to each solenoid valve in the hydraulic system, including: using an independent drive mode for each cylinder, the PLC outputs drive signals to the solenoid valve corresponding to each cylinder in a preset order, driving only one solenoid valve to move at the same time to drive its corresponding cylinder to generate a detection-level displacement. After the detection-level displacement information of the previous cylinder is collected and the signal is stable, the PLC outputs a reverse drive signal to control the cylinder to retract and reset. After the displacement sensor detects that the cylinder has reset to the initial position, the PLC outputs a drive signal to the solenoid valve corresponding to the next cylinder.

[0059] Taking a tunnel lining trolley with 8 hydraulic cylinders (1#-8#) as an example, the preset sequence is 1#→2#→3#→…→8#. The PLC first outputs a drive signal to solenoid valve 1# through its digital output channel. After solenoid valve 1# activates, it pushes cylinder 1# to produce an 8mm detection-level displacement. The displacement sensor collects the displacement information in real time and feeds it back to the PLC. Once the PLC detects that the displacement signal has stabilized for 300ms (i.e., confirming complete acquisition without fluctuation), it outputs a reverse drive signal to control cylinder 1# to retract and reset. After the displacement sensor detects that cylinder 1# has reset to its initial position, it outputs a drive signal to solenoid valve 2#, repeating the above process until all 8 cylinders have completed the verification. If the displacement signal of any cylinder fluctuates, the PLC will extend the signal stabilization waiting time until it reaches the preset upper limit (e.g., 1 second) before proceeding to the next stage.

[0060] The driving mode has the beneficial effect that, through the logic of "driving one by one and progressing after signal stabilization", the displacement signal interference problem caused by the simultaneous action of multiple oil cylinders is avoided, the corresponding relationship of each electromagnetic valve and oil cylinder can be accurately positioned, and it is especially suitable for complex trolley systems with many oil cylinders and dense distribution, thereby providing a basis for establishing accurate mapping relationship. At the same time, the independent action of single oil cylinder can reduce the instantaneous load of the hydraulic system in the calibration process, reduce the calibration error caused by pressure fluctuation, and improve the overall calibration accuracy.

[0061] In some possible implementations, the PLC outputs driving signals to each electromagnetic valve in the hydraulic system, including: the PLC drives in groups according to the forms of the tunnel lining trolley, each form corresponds to a group of oil cylinders and their associated electromagnetic valves; the PLC outputs driving signals to all electromagnetic valves in the same group in turn, and the oil cylinders corresponding to the form generate detection level displacement in turn, after the oil cylinder displacement information collection of the last electromagnetic valve in the group is completed and the signal is stabilized, a preset time interval is set, and then the driving of the next group is started. The preset time is configured according to the oil cylinder displacement stabilization time and the response characteristics of the tunnel lining trolley hydraulic system, and is used to eliminate the interference of the previous group driving on the displacement signal collection of the next group.

[0062] For example, a certain tunnel lining trolley includes three forms of top, left side and right side, the top form corresponds to two oil cylinders (1#, 2#) and electromagnetic valves, the left side form corresponds to three oil cylinders (3#, 4#, 5#) and electromagnetic valves, and the right side form corresponds to three oil cylinders (6#, 7#, 8#) and electromagnetic valves, and accordingly, three driving groups are divided. The PLC outputs driving signals to the 1# and 2# electromagnetic valves of the top form group in turn, and the two oil cylinders are extended by 8 mm in turn, and after the feedback signal of the displacement sensor is stabilized, a 500 ms interval (configured according to the oil cylinder displacement stabilization time of 300 ms and the system response delay of 200 ms of this group) is set, and then driving signals are output to the 3#, 4# and 5# electromagnetic valves of the left side form group in turn, and finally the right side form group is driven.

[0063] For example, taking a tunnel secondary lining trolley with three blocks of templates as an example: the top template corresponds to two oil cylinders (1#, 2#) and solenoid valves (1#, 2#), the left template corresponds to three oil cylinders (3#, 4#, 5#) and solenoid valves (3#, 4#, 5#), and the right template corresponds to three oil cylinders (6#, 7#, 8#) and solenoid valves (6#, 7#, 8#), and the verification is carried out in the single template independent grouping driving mode. First, verify the top template group: PLC outputs driving signals to Q0.0, Q0.1 channels corresponding to 1#, 2# solenoid valves in turn (at times T1, T2), only 1#, 2# oil cylinders produce displacement, and AIW0, AIW1 channels feedback signals at T1+0.2, T2+0.2 seconds, and other channels have no response, so that Q0.0→AIW0 (1# solenoid valve-1# oil cylinder), Q0.1→AIW1 (2# solenoid valve-2# oil cylinder) are matched. After 500 ms, verify the left template group: Q0.2, Q0.3, Q0.4 channels output signals in turn, and AIW2, AIW3, AIW4 channels feedback signals in turn, and the corresponding relationship of the left group is matched. Finally, verify the right template group, and all channel associations are completed in the same way. If the 3# solenoid valve oil pipe of the left group is mistakenly connected to the 5# oil cylinder, the Q0.2 output signal will trigger the AIW4 channel feedback when driving, and the connection error can be accurately identified through the deviation of the group signal correspondence. Further, the actual mapping relationship can be established.

[0064] It should be noted that the scheme can not only detect whether there is a connection error between the same templates, but also detect the connection error of the oil pipe between different templates. For example, the oil cylinder belonging to template A is incorrectly connected to the solenoid valve belonging to template B, and when self-checking, the correspondence between the driving signal sent by the PLC and the displacement feedback signal received will also be abnormal. This is consistent with the detection principle of component connection error in a single template, and the problem can be found through the self-checking process. When the connection error is detected, the PLC automatically updates the internal preset association logic between the remote controller instructions and the digital output channels based on the actual mapping relationship. The updated logic can ensure that even if there is a connection error, the instructions sent by the remote controller can still control the corresponding oil cylinder through the correct digital output channel, ensuring that the system can continue to operate safely and stably to a certain extent until the error is repaired.

[0065] By using this implementation mode, the verification efficiency can be improved, and compared with single oil cylinder independent driving, grouping driving in turn can be applied to trolley systems with few templates and similar response characteristics of oil cylinders in each group. Dynamic configuration of the preset time can adapt to the action rules of oil cylinders in different groups, which not only ensures the effective collection of displacement signals, but also avoids mutual interference between group driving.

[0066] In some possible implementations, the PLC outputs a driving signal to each electromagnetic valve in the hydraulic system, including: the PLC driving the forms of the tunnel lining trolley in groups, the group driving including: single form independent group driving and symmetric form combined group driving; wherein, the single form independent group driving mode is that 1 form and all the oil cylinders corresponding to the form and the associated electromagnetic valves thereof form a group, the PLC outputs a driving signal to all electromagnetic valves in the group in turn, and the oil cylinders corresponding to the form generate detection level displacement in turn; the symmetric form combined group driving mode is that according to the structure of the tunnel lining trolley, two forms symmetrically distributed are divided into the same symmetric group, each group containing the oil cylinders and electromagnetic valves corresponding to the two symmetric forms respectively, the PLC outputs a driving signal to the electromagnetic valves in the symmetric group in turn according to “symmetric oil cylinder pair” to drive the displacement sensors corresponding to the symmetric oil cylinders in the symmetric group to collect the detection level displacement generated by the oil cylinders in turn, and the verification of one pair of symmetric oil cylinders is completed, and then the next pair is driven, and the group mode is configured through a touch screen according to the structure of the tunnel lining trolley.

[0067] For example, a certain double-lane tunnel lining trolley has a top form, left 1, left 2, right 1 and right 2 forms, a total of 5 forms, and an operator selects a group mode through a touch screen: if only the top form needs to be verified, the single form independent group driving can be switched to, and the two oil cylinders and electromagnetic valves of the top form are set as a group; if comprehensive verification is needed, the symmetric form combined group driving can be selected, the left 1 and right 1 forms and the left 2 and right 2 forms are divided into two symmetric groups respectively, and the top form is a group alone, the PLC drives the first oil cylinder of the left 1 form first, then drives the first oil cylinder of the right 1 form, then drives the second oil cylinder of the left 1 form, and then drives the second oil cylinder of the right 1 form, and then drives the other symmetric group (left 2+right 2) in a similar manner, and finally drives the top form group.

[0068] By using the implementation mode, different trolley structures and verification requirements can be adapted through grouping: the single form independent group driving can be used for targeted verification after local form maintenance, reducing unnecessary operations; the symmetric form combined group driving utilizes the symmetric structure characteristics of the trolley, and makes the left and right symmetric oil cylinders act in turn, avoiding the deflection of the trolley due to unilateral force during verification, and protecting the safety of the equipment structure. The touch screen configuration function reduces the operation threshold, and the operator can quickly adjust the strategy according to the construction scene, improving the adaptability and ease of use of the system.

[0069] In some possible implementations, after any electromagnetic valve outputs a driving signal, if the corresponding detection level displacement information is not detected within a preset response time, the PLC marks the electromagnetic valve as an abnormal state, records the number, digital quantity output channel and abnormal type of the electromagnetic valve, skips the electromagnetic valve to continue subsequent verification, and generates a diagnostic report including the abnormal position, possible causes and troubleshooting suggestions on a man-machine interaction interface after the verification is completed.

[0070] For example, in a possible implementation, the preset response time is set to 300 ms, and after the PLC outputs a driving signal to the 4# electromagnetic valve, no displacement signal of the corresponding oil cylinder is received within 300 ms, at which time the PLC immediately marks the 4# electromagnetic valve as an abnormal state, records its number (4#), digital output channel (Q0.3), and abnormal type (no displacement feedback), and then skips the 4# electromagnetic valve and continues to drive the 5# electromagnetic valve for verification. After the verification is completed, the touch screen (human-machine interaction interface) displays a diagnosis report: the abnormal position is the 4# electromagnetic valve, and the possible reasons include oil pipe blockage, electromagnetic valve core jamming, and oil cylinder seal failure. The troubleshooting suggestions are “1. Check whether the oil pipe from the 4# electromagnetic valve to the oil cylinder is unobstructed; 2. Disassemble the 4# electromagnetic valve to check the valve core state; 3. Detect the sealing performance of the rodless cavity of the oil cylinder”.

[0071] With this implementation, the system has self-diagnosis and fault tolerance capabilities, and a single point fault will not block the overall verification process, ensuring the continuity of the verification work. The detailed abnormal record and diagnosis report accurately locate the fault position, which greatly shortens the troubleshooting time and reduces the operation and maintenance difficulty compared with the traditional “general alarm”. Especially for complex scenes such as tunnel construction, it can quickly provide a solution to the fault, reduce the equipment downtime, and improve the continuity and safety of construction.

[0072] In combination with Figure 2B , another embodiment of the present application is introduced. The tunnel secondary lining trolley hydraulic system control method provided by the embodiment further optimizes the fault diagnosis logic in the operation process, and the specific process includes steps S211 to S216. Figure 2A The execution process of S211 to S215 is consistent with that of S201 to S205 in Figure 2A , which will not be described here.

[0073] S216. In the normal operation process of the tunnel secondary lining trolley, the PLC compares the expected oil cylinder action corresponding to the remote controller instruction with the actual action fed back by the displacement sensor. If the actual action is opposite to the expected action, it is determined that the electromagnetic valve core seal is not tight, causing oil mixing failure, the driving signal of the corresponding electromagnetic valve is immediately cut off, and an audible and visual alarm is triggered, and the fault information is displayed on the touch screen.

[0074] Taking the template extension operation of the tunnel secondary lining trolley as an example: the operator sends a "5# oil cylinder extension" instruction through the remote controller. After the instruction is transmitted to the PLC through the communication module, the PLC analyzes the instruction to determine that the expected oil cylinder action is "5# oil cylinder piston rod extension, driving the corresponding template to extend outward". At this time, the PLC outputs a driving signal to the 5# electromagnetic valve through the preset digital output channel, and the electromagnetic valve core is switched to the "oil inlet position". The hydraulic oil should enter the 5# oil cylinder rodless chamber to push the piston rod to extend. However, due to the long-term high-frequency use of the 5# electromagnetic valve, the valve core sealing is not tight, and high-pressure oil is simultaneously introduced into the rod chamber, causing the piston rod to retract inward instead, driving the template to unexpectedly retract inward. The displacement sensor corresponding to the 5# oil cylinder collects the reverse action in real time and feeds back the "piston rod retraction 80mm" displacement information to the analog feedback channel of the PLC. The PLC compares the "expected extension (extension)" and "actual retraction (retraction)" action directions, and immediately determines that the 5# electromagnetic valve has a string oil fault caused by the valve core sealing.

[0075] After the fault is determined, the PLC cuts off the driving signal output to the 5# electromagnetic valve within a preset time (such as 100ms), the electromagnetic valve core is reset to cut off the oil flow; at the same time, the sound and light alarm on the electric control cabinet is triggered - the red warning light flashes and the buzzer emits intermittent alarm sound; the touch screen jumps to the fault display interface (as shown in Figure 3C ), clearly marking "5# electromagnetic valve core fault!" and can also have a prompt information of "string oil causing reverse action" to help the operator quickly locate the problem.

[0076] With this implementation, real-time diagnosis and rapid response of string oil faults during operation are achieved. Compared with the traditional system which needs to be shut down for manual troubleshooting, this scheme can accurately identify the problem at the moment of fault occurrence through "expected-actual action comparison", and the linkage operation of cutting off the driving signal and sound and light alarm can immediately contain the fault expansion, avoiding accidents such as lining size deviation and equipment collision caused by reverse action of the template; the intuitive fault prompt of the touch screen shortens the fault troubleshooting time and improves the equipment operation efficiency, providing double protection for the continuity and safety of tunnel secondary lining construction.

[0077] In some possible implementations, the control method of the tunnel secondary lining trolley hydraulic system can also include: the PLC detects that it has output an electromagnetic valve driving signal, and the driving signal parameter is normal, and no detection level displacement information of the corresponding oil cylinder is collected within a preset time, and the displacement sensor communication is normal, then it is determined that the electromagnetic valve coil is damaged or the control line is open circuit fault, and the corresponding prompt information is displayed on the touch screen.

[0078] Taking a tunnel secondary lining trolley with 8 oil cylinders as an example, the preset time is set to 500 ms, and the normal standard of the drive signal parameter is "output voltage 24V±0.5V, continuous output time ≥200 ms". After the PLC outputs the drive signal to the 6# electromagnetic valve, it is detected in real time that the output voltage is 24.2V and the continuous output time is 300 ms, which meets the normal parameter requirement; at the same time, it is detected through the communication link that the communication state of the 6# displacement sensor is "online" and the data transmission link is smooth, but the detection level displacement information of the 6# oil cylinder has not been received within 500 ms. At this time, the PLC excludes the possibility of drive signal abnormality and sensor failure, directly determines that the 6# electromagnetic valve has coil damage or control line circuit fault, and displays the prompt information "6# electromagnetic valve abnormal: coil damage or control line circuit fault, please check" on the touch screen.

[0079] By using the implementation mode, the fault type without displacement feedback is accurately subdivided through the triple verification logic of "drive signal-displacement feedback-sensor communication", and the blind area of troubleshooting caused by "general alarm" in the traditional system is avoided. Compared with the tedious process of manually detecting the coil, line and sensor one by one, the scheme can directly lock the fault range, shorten the troubleshooting time from hours to minutes, and greatly reduce the operation and maintenance difficulty. At the same time, the clear fault prompt provides a targeted troubleshooting direction for the operator, reduces invalid operation, and improves the equipment restart efficiency.

[0080] In some possible implementation modes, the control method of the tunnel secondary lining trolley hydraulic system further includes: if the same electromagnetic valve electrical fault is continuously detected and the fault times reach a preset threshold, and the system is configured with a standby electromagnetic valve channel, the PLC automatically switches to the standby channel and re-executes the self-checking to update the mapping relationship, and displays the prompt information on the touch screen; if there is no standby channel, the alarm is continued until the fault is removed.

[0081] For example, the preset threshold is set to 3 times, the system is configured with a standby solenoid valve channel (corresponding to the Q0.8 digital output channel of the PLC). During the continuous 3 times of verification and operation, the PLC detects that the 6# solenoid valve has a "coil damage or line open circuit" fault, and the fault type is completely consistent. At this time, the PLC confirms that the fault is a persistent electrical fault, and detects that the system has a standby channel, and immediately executes the switching process: first cut off the driving signal of the 6# solenoid valve, then transfer the control logic associated with the 6# solenoid valve to the Q0.8 standby channel, and then start the self-checking process, only for the Q0.8 channel and the displacement sensor analog feedback channel corresponding to the 6# cylinder are associated and matched, and the mapping relationship is updated. During the switching and verification process, the touch screen can display the prompt information "6# solenoid valve fault, has automatically switched to standby channel, verification in progress...". If the system is not configured with a standby channel, the PLC triggers the audible and light alarm to alarm continuously, and the touch screen displays "6# solenoid valve persistent fault, no standby channel, please repair immediately" in a loop, and stops alarming automatically after the fault is removed.

[0082] With this implementation, the nature of the fault is determined by the number of consecutive faults, avoiding invalid switching caused by single false alarm; the automatic switching of the standby channel and the self-checking linkage realize "self-healing" after the fault, without the need for manual reconfiguration of the logic, reducing the equipment downtime to a minimum, especially suitable for continuous operation scenes such as tunnel construction. Even without a standby channel, continuous alarm and clear prompt can force the operator to handle in time, avoid the expansion of the fault to cause more serious equipment damage or construction accidents, and further improve the fault tolerance and operation reliability of the system.

[0083] The following will be described in combination with Figure 2C An embodiment of the present application is introduced. The embodiment can be based on any of the preceding method embodiments, further optimizing the storage, updating and verification logic of the mapping relationship. After the PLC establishes the actual mapping relationship between its digital output channel and the analog feedback channel of the displacement sensor, the control method of the tunnel secondary lining trolley hydraulic system can further include steps S221 to S225.

[0084] S221. The PLC stores the actual mapping relationship as a historical record.

[0085] For example, after the first self-checking of the tunnel secondary lining trolley, the PLC establishes the actual mapping relationship of "digital output channels Q0.0-Q0.7 corresponding to analog feedback channels AIW0-AIW7", which contains channel numbers, associated timing parameters and other core data. The PLC uses encryption algorithms such as the Advanced Encryption Standard (AES) encryption algorithm to encrypt the mapping relationship, and then stores it as a historical record in the internal storage module. The operator presets the upper limit of the historical record storage quantity to be 10 through the touch screen, and the system automatically covers the oldest expired record according to the storage time to ensure that the latest valid data is always retained.

[0086] S222. When a change in the hardware connection state of the tunnel secondary lining trolley hydraulic system is detected, the PLC retrieves the most recent valid historical mapping relationship.

[0087] Wherein, the change in the hardware connection state can be identified in the following way: PLC realizes change identification by real-time monitoring of "drive signal-displacement feedback" dual characteristics: (1) Solenoid-line connection change detection: PLC real-time monitors the "drive signal feedback value" (such as output voltage, loop current) of each digital output channel, and associates and matches the feedback signal of the corresponding displacement sensor. When connected normally, the channel output drive signal will receive stable loop current feedback (such as 24V drive corresponding to 100mA current), and the corresponding analog feedback channel will simultaneously receive displacement signal; if only current drops (open circuit), abnormal fluctuation (wrongly connected to other circuits), and no corresponding displacement feedback, or the current is normal but the displacement feedback comes from a non-associated channel, then it is determined that the line connection has changed, excluding the current normal fluctuation interference caused by hydraulic system pressure fluctuation. (2) Displacement sensor-cylinder association change detection: PLC real-time monitors the "communication handshake signal" and "static zero value" of the displacement sensor through the analog feedback channel. After each sensor is bound to the cylinder, the static zero value (displacement reading when the cylinder is not in action) is fixed; if the connection between the sensor and the cylinder changes (such as the sensor is loose and then reinstalled, the replacement of the cylinder causes the mismatch of the sensor), the zero value will deviate significantly (such as the original zero value is 0mm, and now it is 50mm), and the response delay of the communication handshake signal will exceed the preset threshold, and the PLC determines the hardware association change of the sensor and the cylinder accordingly.

[0088] For example, during construction, if the oil pipe corresponding to the 3# oil cylinder is replaced due to aging, the replaced oil pipe is mistakenly connected to the 4# solenoid valve interface, resulting in a change in the hardware connection state. The PLC detects the change in the initial communication link between the solenoid valve and the oil cylinder, identifies that the hardware connection has changed, immediately retrieves the last encrypted and stored valid historical mapping relationship from the storage module, i.e., the associated data of "Q0.2 (3# solenoid valve) corresponds to AIW2 (3# sensor), Q0.3 (4# solenoid valve) corresponds to AIW3 (4# sensor)", and automatically decrypts it for subsequent integration and use.

[0089] S223. The PLC starts the incremental self-checking process, and only performs association matching on the digital output channels and analog feedback channels involved in the hardware connection state change to generate a local mapping relationship.

[0090] The PLC analyzes the hardware change range and determines that the digital output channels Q0.2 and Q0.3 corresponding to the 3# and 4# solenoid valves are involved, as well as the analog feedback channels AIW2 and AIW3 corresponding to the 3# and 4# displacement sensors. The system starts incremental self-checking and only outputs driving signals to the Q0.2 and Q0.3 channels, and the unchanged other channels (such as Q0.0, Q0.1, etc.) do not participate in the checking. Through timing matching, it is found that the AIW3 channel feeds back the displacement signal after the Q0.2 channel is driven, and the AIW2 channel feeds back the displacement signal after the Q0.3 channel is driven, and accordingly the local mapping relationship of "Q0.2 corresponds to AIW3, Q0.3 corresponds to AIW2" is generated.

[0091] S224. The PLC determines the local mapping relationship according to the preset validity determination rule, which includes: verifying whether the duration of the corresponding displacement feedback signal after the driving signal output in the local mapping relationship reaches the preset stable time length, and whether the time difference between the driving signal output time and the displacement feedback signal starting time is within the preset threshold range.

[0092] The preset stable time length is 300 ms, and the preset time difference threshold is 100-500 ms. For the local mapping relationship of "Q0.2 corresponds to AIW3", the PLC detects that the AIW3 channel feeds back the displacement signal at 200 ms after the Q0.2 channel outputs the driving signal, the time difference is 200 ms (within the 100-500 ms threshold), and the displacement signal lasts stably for 400 ms (more than the 300 ms stable time length); similarly, the verification of the mapping relationship of "Q0.3 corresponds to AIW2" also meets the determination condition, and the local mapping relationship is confirmed to be valid.

[0093] S225. After the determination is passed, the PLC integrates the local mapping relationship with the last valid historical mapping relationship retrieved to generate a new actual mapping relationship, and updates the stored historical record, wherein the upper limit of the number of historical records is preset through the touch screen.

[0094] The PLC retains the unchanged channel associations in the historical mapping (e.g., Q0.0 corresponds to AIW0, Q0.1 corresponds to AIW1, etc.), and only replaces the channel association data of Q0.2 and Q0.3 involved in the local mapping, integrating them to form a new actual mapping relationship of "Q0.0 corresponds to AIW0, Q0.1 corresponds to AIW1, Q0.2 corresponds to AIW3, Q0.3 corresponds to AIW2...". The new relationship is then encrypted and stored, overwriting the earliest data in the original historical record, ensuring that the number of stored records does not exceed the touchscreen's preset limit of 10.

[0095] Using this implementation method, through Figure 2C The incremental verification process shown solves the problem of excessively long verification times in traditional full-system verification. Encrypted storage of historical mapping relationships ensures data security. When hardware changes occur, only the incremental logic of the affected channels is verified, reducing the verification time from 5 minutes for the entire system to less than 30 seconds, significantly improving maintenance efficiency. The validity judgment rules ensure the accuracy of local mappings, and the integration of historical data avoids duplicate verification, balancing system stability and ease of operation. It is especially suitable for tunnel construction scenarios where frequent hardware maintenance is required.

[0096] This embodiment also provides a hydraulic system for a tunnel lining trolley, including a lining trolley body, an electrical control cabinet, a hydraulic station, multiple cylinders, multiple displacement sensors, and a remote controller. The electrical control cabinet integrates a touch screen, a PLC, and a communication module; the hydraulic station includes multiple solenoid valves and hydraulic supply components. The touch screen is electrically connected to the PLC and can be used to trigger self-verification start commands, configure group drive modes, configure the preset historical record storage quantity, and display verification status, fault information, etc. The PLC, as the system control core, is used to implement the control method described in any of the preceding method embodiments. The specific self-verification process, fault diagnosis logic, and mapping relationship update details are detailed in the preceding method embodiments and will not be repeated here. The communication module is electrically connected to the PLC to establish a wireless signal transmission link between the remote controller and the PLC. Multiple solenoid valves in the hydraulic station are connected in series in the oil pipes corresponding to each cylinder. Their control terminals are electrically connected to the digital output channels of the PLC, allowing control of the opening and closing of the corresponding oil pipes and the direction of oil flow under PLC drive, thereby regulating the extension and retraction of the cylinders. The secondary lining trolley adopts a rigid frame structure. Hydraulic cylinder mounting seats are distributed along the circumference of the trolley's support area for assembling multiple hydraulic cylinders. One end of each cylinder is connected to a solenoid valve via an oil pipe, while the other end is hinged to the template. Extension or retraction of the template is achieved through telescoping. Multiple displacement sensors are mounted correspondingly to each cylinder, with their detection ends linked to the cylinder's piston rod. Their signal output ends are electrically connected to the PLC's analog feedback channel to collect cylinder displacement information and provide real-time feedback to the PLC. A remote control establishes a wireless connection with the PLC via a communication module, allowing it to send action control commands to the target cylinder.

[0097] The above-described embodiments are merely intended for describing and illustrating the technical solutions of the present application, but not to limit the present application; even though the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or equivalently replace some of the technical features thereof; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

[0098] In the above-described embodiments, according to the context, the term “when” can be interpreted to mean “if” or “after” or “in response to determining” or “in response to detecting”. Similarly, according to the context, the phrase “upon determining” or “if detecting (the stated condition or event)” can be interpreted to mean “if determining” or “in response to determining” or “upon detecting (the stated condition or event)” or “in response to detecting (the stated condition or event)”.

[0099] Those of ordinary skill in the art can understand that all or part of the processes in the above-described embodiments can be implemented by a computer program instructing relevant hardware, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the above-described embodiments. The foregoing storage medium includes ROM, random access memory (RAM), magnetic disk or optical disk, and various storage media that can store program codes.

Claims

1. A control method of a hydraulic system of a tunnel secondary lining trolley, characterized in that, The method comprises the following steps: In the state that the tunnel lining trolley is stopped and has no work, the PLC acquires a self-checking starting instruction; In response to the self-checking starting instruction, the PLC outputs a driving signal to each electromagnetic valve in the hydraulic system, each electromagnetic valve is connected to an oil cylinder through an oil pipe, the driving signal is used to drive the electromagnetic valve to act and transmit hydraulic power to the corresponding oil cylinder through the oil pipe, so that the oil cylinder generates a detection level displacement, and the detection level displacement is limited to "a displacement that can be collected by a displacement sensor and does not change the working state of the template connected to the oil cylinder"; The PLC acquires detection level displacement information of the corresponding oil cylinder collected by the displacement sensor, and the displacement sensor is arranged in one-to-one correspondence with each oil cylinder; The PLC associates and matches the output time sequence of the driving signal with the collection time sequence of the acquired displacement information, establishes an actual mapping relationship between the digital output channel of itself and the analog feedback channel of the displacement sensor, to identify the connection state of the oil pipe and the electromagnetic valve in the hydraulic system, wherein the digital output channel corresponds to each electromagnetic valve in one-to-one correspondence, and the analog feedback channel corresponds to each oil cylinder in one-to-one correspondence; Based on the actual mapping relationship, the PLC automatically updates the association logic between the internal preset remote controller instruction and the digital output channel, so that the control instruction of the target oil cylinder sent by the remote controller is matched by the PLC, and the driving signal is output by the digital output channel actually associated with the target oil cylinder.

2. The control method according to claim 1, characterized by, The PLC outputs a driving signal to each electromagnetic valve in the hydraulic system, comprising: adopting a single oil cylinder independent driving mode, the PLC outputs a driving signal to each oil cylinder corresponding electromagnetic valve in a preset order, only one electromagnetic valve is driven to act at the same time to drive the corresponding oil cylinder to generate a detection level displacement, and the driving signal is output to the electromagnetic valve corresponding to the next oil cylinder after the detection level displacement information of the previous oil cylinder is collected and the signal is stable.

3. The control method according to claim 1, characterized by, The PLC outputs a driving signal to each electromagnetic valve in the hydraulic system, comprising: the PLC groups the templates of the tunnel lining trolley for driving, each template corresponds to a group of oil cylinders and associated electromagnetic valves; the PLC outputs a driving signal to all electromagnetic valves in the same group in turn, drives the oil cylinders corresponding to the template to generate detection level displacement in turn, and after the oil cylinder displacement information of the last electromagnetic valve in the group is driven is collected and the signal is stable, a preset time interval is set, and the driving of the next group is started, and the preset time is configured according to the oil cylinder displacement stable time length and the response characteristics of the tunnel lining trolley hydraulic system.

4. The control method according to claim 1, characterized by, The PLC outputs driving signals to each electromagnetic valve in the hydraulic system, including: the PLC driving the formwork of the tunnel lining trolley in groups, which includes: single formwork independent grouping driving and symmetric formwork combined grouping driving; wherein, the single formwork independent grouping driving mode is that 1 formwork and all the oil cylinders corresponding to the formwork and the associated electromagnetic valves thereof form a group, the PLC outputs driving signals to all electromagnetic valves in the group in turn, and the oil cylinders corresponding to the formwork generate detection level displacement in turn; the symmetric formwork combined grouping driving mode is that according to the structure of the tunnel lining trolley, two symmetrically distributed formworks are divided into the same symmetric group, each group contains the oil cylinders and electromagnetic valves corresponding to the two symmetric formworks, the PLC outputs driving signals to the electromagnetic valves in the symmetric group in turn according to "symmetric oil cylinder pairs" to drive the displacement sensors corresponding to the symmetric oil cylinders in the symmetric group to collect the detection level displacement generated by the oil cylinders in turn, and the verification of one pair of symmetric oil cylinders is completed, then the next pair is driven, and the grouping mode is configured through the touch screen according to the structure of the tunnel lining trolley.

5. The control method according to any one of claims 1 to 4, characterized by, After any electromagnetic valve outputs a driving signal, if no corresponding detection level displacement information is detected within a preset response time, the PLC marks the electromagnetic valve as an abnormal state, records the number, digital output channel and abnormal type of the electromagnetic valve, skips the electromagnetic valve to continue subsequent verification, and generates a diagnostic report including the abnormal position, possible causes and troubleshooting suggestions on the human-computer interaction interface after the verification is completed.

6. The control method according to claim 5, characterized by The control method further includes: During normal operation of the tunnel lining trolley, the PLC compares the expected oil cylinder action corresponding to the remote controller instruction with the actual action fed back by the displacement sensor, if the actual action is opposite to the expected action, it is determined that the electromagnetic valve core sealing is not tight, causing oil mixing failure, the driving signal of the corresponding electromagnetic valve is immediately cut off, an audible and light alarm is triggered, and fault information is displayed on the touch screen.

7. The control method according to claim 6, characterized by The control method further includes: If the PLC detects that the electromagnetic valve driving signal has been output and the driving signal parameter is normal, and no detection level displacement information of the corresponding oil cylinder is collected within a preset time, and the displacement sensor communication is normal, it is determined that the electromagnetic valve coil is damaged or the control circuit is open circuit failure, and the corresponding reminder information is displayed on the touch screen.

8. The control method according to claim 7, characterized by The control method further includes: If the same electromagnetic valve electrical fault is continuously detected and the number of faults reaches a preset threshold, and the system is configured with a backup electromagnetic valve channel, the PLC automatically switches to the backup channel and re-executes self-verification to update the mapping relationship, and displays prompt information on the touch screen; if there is no backup channel, the alarm is continued until the fault is removed.

9. The control method according to any one of claims 1 to 4, characterized by, After the PLC establishes the actual mapping relationship between the digital output channel of itself and the analog feedback channel of the displacement sensor, the control method further includes: The PLC encrypts and stores the actual mapping relationship as a history record; When detecting that the hardware connection state of the hydraulic system of the tunnel lining trolley changes, the PLC calls the latest valid history mapping relationship; The PLC starts an incremental self-checking process, only performs associated matching on the digital output channel and analog feedback channel involved in the change of the hardware connection state, and generates a local mapping relationship; The PLC determines the local mapping relationship according to a preset validity determination rule, which includes verifying whether the duration of the corresponding displacement feedback signal after the driving signal output in the local mapping relationship reaches a preset stable time length, and whether the time difference between the driving signal output time and the displacement feedback signal starting time is within a threshold range preset based on the response characteristics of the tunnel secondary lining trolley hydraulic system and the transmission delay of the displacement sensor; After the determination is passed, the PLC integrates the local mapping relationship and the retrieved last valid historical mapping relationship into a new actual mapping relationship, and updates the stored historical record, wherein the upper limit of the storage quantity of the historical record is preset through the touch screen.

10. A hydraulic system for a tunnel lining trolley, characterized in that Comprise: The secondary lining trolley body, the electric control cabinet, the hydraulic station, a plurality of oil cylinders, a plurality of displacement sensors, and a remote controller; The electric control cabinet is integrated with a touch screen, a PLC, and a communication module; the hydraulic station comprises a plurality of electromagnetic valves; The touch screen is electrically connected with the PLC, and is used to trigger a self-checking start instruction, and to configure a grouping driving mode, to configure a preset historical record storage quantity, and to display information; The PLC is used to execute the control method according to any one of claims 1 to 9; The communication module is electrically connected with the PLC, and is used to establish a signal transmission link between the remote controller and the PLC; The hydraulic station comprises a plurality of electromagnetic valves and a hydraulic supply assembly, the plurality of electromagnetic valves are connected in series in the oil pipe line corresponding to each oil cylinder, the control end of the electromagnetic valve is electrically connected with the digital output channel of the PLC, and is used to control the on-off and oil flow direction of the corresponding oil pipe under the driving of the PLC, so as to control the extension and retraction action of the oil cylinder; The secondary lining trolley body adopts a rigid frame structure, and the template support part is distributed along the circumference of the trolley and is provided with an oil cylinder mounting seat, which is used to assemble a plurality of oil cylinders, and the template is driven to extend or retract by the extension and retraction of the oil cylinder; One end of any oil cylinder in the plurality of oil cylinders is connected with an electromagnetic valve one by one through an oil pipe, and the other end is hinged with a template of the secondary lining trolley body; Any displacement sensor in the plurality of displacement sensors is assembled one by one with an oil cylinder, the detection end of the displacement sensor is linked with the piston rod of the oil cylinder, the signal output end is electrically connected with the analog feedback channel of the PLC, and is used to collect the displacement information of the oil cylinder and feed back to the PLC; The remote controller is wirelessly connected with the PLC through the communication module, and is used to send an oil cylinder action control instruction to the PLC.

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