CN102900365A - Embedded type system-based control device for horizontal directional drill - Google Patents
Embedded type system-based control device for horizontal directional drill Download PDFInfo
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- CN102900365A CN102900365A CN2012103799271A CN201210379927A CN102900365A CN 102900365 A CN102900365 A CN 102900365A CN 2012103799271 A CN2012103799271 A CN 2012103799271A CN 201210379927 A CN201210379927 A CN 201210379927A CN 102900365 A CN102900365 A CN 102900365A
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- directional drill
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Abstract
The invention relates to an embedded type system-based control device for a horizontal directional drill, which comprises an orientating instrument, an embedded type system and a programmable logic controller, wherein the orientating instrument is used for obtaining current drill bit position information and feeding back the drill bit position information to the embedded type system; the embedded type system is used for automatically planning the operation track of the horizontal directional drill, correcting the deviation of the operation track according to the drill bit position information fed back by the orientating instrument, transmitting a control instruction to the programmable logic controller, receiving a data packet of working condition information of the programmable logic controller and displaying the working condition information to operation personnel; and the programmable logic controller is communicated with the embedded type system through a CAN (controller area network) bus and is used for driving the horizontal directional drill to operate and monitoring the working condition information of each part of the horizontal directional drill. With the adoption of the control device, the automatic track planning and deviation correction of the horizontal directional drill are realized, the operation mode of the horizontal directional drill is simplified, and the working efficiency and the quality are improved.
Description
Technical field
The present invention relates to a kind of control system mechanism of horizontal directional drill, belong to the control technology field of horizontal directional drill.
Background technology
Horizontal directional drill is a kind ofly to lay multiple underground installation for realizing under the condition of excavating earth surface face not, and such as the engineering machinery of pipeline, cable etc., this form of construction work is not only saved cost but also reduce environmental disruption.The development of domestic infrastructure has promoted the application of horizontal directional drill, also its automation mechanized operation level is had higher requirement simultaneously.At present manual mode is adopted in the operation of horizontal directional drill mostly, the operator need to finish work progress according to self technical level and experience, and labour intensity is large, and efficient is low.Therefore, improve the control system of horizontal directional drill, realize that automatic orbit planning and correction are problems in the urgent need to address.
Because the domestic existing horizontal directional drill controller overwhelming majority does some technological improvements in existing level and has larger difficulty from external introduction.By searching related data, utility model (title: automatic guide system for horizontal positioning drill, the patent No.: ZL200620115955.2) disclose a kind of horizontal directional drill and passed through the automatic guide system for horizontal positioning drill that track automatic guide, work information automatically gather and manage by predetermined, formed by Industrial Personal Computer (IPC), PLC, field monitoring sensor and gauge tap.Although such scheme can be realized to a certain extent the real-time location of horizontal directional drill drilling process and correction and adjust, but not only cost is higher for the supervisory system of closed of building based on the Industrial Personal Computer (IPC) software platform, and the reliability under abominable condition of work also is difficult to guarantee; On the other hand, the guide instrument itself that uses on a lot of horizontal directional drills is the system of a sealing, it is infeasible that its sensor number output analog input module direct and on the PLC is linked to each other, namely allow to realize both being connected, PLC with the guide instrument image data again by the RS232 communication to Industrial Personal Computer (IPC) neither be best scheme.
Therefore, the transformation of horizontal directional drill control system is very important, it is significant how Design and implementation has the horizontal directional drill of automatic orbit planning and service ability.
Summary of the invention
In order to overcome the deficiencies in the prior art: the object of the present invention is to provide a kind of operation of simplifying horizontal direction finder, make it reliable, and can the Effective Raise operating efficiency and the horizontal directional drill control device based on embedded system of quality.
Technical scheme of the present invention is:
Horizontal directional drill control device based on embedded system is characterized in that, comprising:
Be used for obtaining current bit location information, and bit location information fed back to the guide instrument of embedded system;
Be used for automatic planning level Directional Drilling running orbit, according to the bit location information of guide instrument feedback running orbit is rectified a deviation, is sent control command to programmable logic controller (PLC) (PLC) and receives the packet of the work information of programmable logic controller (PLC), work information is shown to operating personnel's embedded system;
Be communicated with by the CAN bus with embedded system, and be used for driving the horizontal directional drill operation, and the programmable logic controller (PLC) of the work information of level monitoring Directional Drilling each several part.
Further, described embedded system comprises for the core processor of the processing of trajectory planning and correction, is used for and CAN communication interface that programmable logic controller (PLC) or guide instrument carry out data interaction, and be used for the man-machine interface that operating personnel check the relevant parameter that moves with the input level Directional Drilling, and described core processor is communicated with described CAN communication interface and man-machine interface respectively.
Wherein, described man-machine interface comprises LCD Interface, touch screen interface and keyboard interface.
In addition, described guide instrument is by input or the mode of bus automatic acquisition feed back to described embedded system with bit location information manually.
Wherein, the described manually mode of input is: described operating personnel are the current bit location information of the demonstration screen display of guide instrument, manually are input to described embedded system by the keyboard that connects on the touch-screen that connects on the described touch screen interface and the keyboard interface.
The mode of described bus automatic acquisition then is: be provided with EBI and bus protocol on the described guide instrument, and by CAN bus and described Communication in embedded system.
Further again, the information frame type of communicating by letter between described embedded system and the programmable logic controller (PLC) comprises command frame, acknowledgement frame and Frame.
Wherein, described command frame be embedded system issue that programmable logic controller (PLC) will carry out be used for adjusting the drilling direction of horizontal directional drill and action command and the parameter calibration instruction of parameter area.
Described acknowledgement frame is that programmable logic controller (PLC) is issued affirmation answer and the implementation status that the expression of embedded system receives orders and replied.
Described Frame is then issued machine work state and the instrumented data of the horizontal directional drill each several part of embedded system for programmable logic controller (PLC).
Beneficial effect of the present invention is:
1, the present invention adds a cover embedded equipment on traditional horizontal directional drill control system basis, can realize automatic planning and the correction of bit course, has improved mechanical operating efficiency and quality;
2, two kinds of positional information input forms between guide instrument and the embedded system, flexible, solved multiple different guide instrument and the communication issue of embedded system;
3. embedded system of the present invention can provide friendly man-machine interface, and the handled easily personnel input and check and relevant information reduced operation easier.
Description of drawings
Fig. 1 is the structural representation of one embodiment of the invention;
Fig. 2 is the structured flowchart of embedded system of the present invention;
Fig. 3 is the program flow diagram of embedded system of the present invention.
Main Reference numeral implication is among the figure:
101, guide instrument 102, embedded system 103, programmable logic controller (PLC)
201, core processor 202, CAN communication interface 203, man-machine interface
204, LCD Interface 205, touch screen interface 206, keyboard interface.
The specific embodiment
Below in conjunction with accompanying drawing technical solution of the present invention is elaborated, but protection scope of the present invention is not limited to described embodiment.
Fig. 1 is the structural representation of one embodiment of the invention.
As shown in Figure 1: based on the horizontal directional drill control device of embedded system, comprise guide instrument 101, embedded system 102 and programmable logic controller (PLC) (PLC) 103, guide instrument 101 is used for obtaining current bit location information, and bit location information is fed back to embedded system 102; Consider the diversity of guide instrument 101 products and the closure of internal agreement, in specific embodiment, if guide instrument 101 can not provide any interface, so just adopt manual input mode, namely operating personnel read the current bit location information of the demonstration screen display of guide instrument, manually are input in the described embedded system 102 by the keyboard that connects on the touch-screen that connects on the described touch screen interface and the keyboard interface; If guide instrument 101 is provided with EBI and bus protocol, adopt so the automatic acquisition mode more simple and easy, such as being connected with embedded system 102 by the CAN bus, send the drill bit current location according to setting agreement.
Embedded system 102 is cores of whole horizontal directional drill control device, major function is the running orbit according to the automatic planning level Directional Drilling of operating personnel's setting, and by guide instrument 101 feedback bit location information running orbit is rectified a deviation, also to send simultaneously control command to PLC 103, and the packet of the work information of reception PLC 103, work information is shown to operating personnel.
Fig. 2 is the structured flowchart of embedded system of the present invention.
As shown in Figure 2: described embedded system 102 comprises for the core processor 201 of the processing of trajectory planning and correction, is used for and CAN communication interface 202 that programmable logic controller (PLC) 103 or guide instrument 101 carry out data interaction, and be used for the man-machine interface 203 that operating personnel check the relevant parameter that moves with the input level Directional Drilling, and described core processor 201 is communicated with described CAN communication interface 202 and man-machine interface 203 respectively.And described man-machine interface 203 also comprises LCD Interface 204, touch screen interface 205 and keyboard interface 206.In the present embodiment, core processor 201 is selected Samsung S3C2440AL, and this is a powerful ARM 9 processors, extends out 64MBSDRAM, 256MB Nand Flash and 2MB Nor Flash, build embedded Linux system, select the Qt platform to carry out the exploitation of application program; CAN communication interface 202 adopt MCP2510 as CAN bus control unit and MCP2551 as the CAN bus transceiver, expand by the SPI interface of core processor 201, the maximum data transfer rate can reach 5Mb/s; Liquid crystal display adopts 8.4 inches TFT LCD Mitsubishi liquid crystal displays as image display, and size is 640 * 480 because processor S3C2440AL inner integrated lcd controller, only respective pin need to be received lcd driver can control liquid crystal display; Touch-screen is selected four-wire resistance type commonly used, 4 kinds of touch screen interface patterns that processor S3C2440AL is inner integrated, wherein (continuously) translative mode is more common with the application of waiting for interrupt mode automatically for the X/Y coordinate, this technology greatly facilitates user's operation, as long as just can realize host service function with icon or literal that finger touches on the display screen lightly, thereby make man-machine interaction more straightforward; Keyboard interface 206 mainly is that the auxiliary operation personnel input relevant information, uses custom circuit to realize getting final product.
Fig. 3 is the program flow diagram of embedded system of the present invention.
As shown in Figure 3: the functional flow diagram that embedded system 102 is finished starts from step 301, ends at step 305:
Step 301: before construction, operating personnel are input to construction plant ambient parameter and the calibration point that obtains in the embedded system 102 by man-machine interface 203;
Step 302: embedded system 102 begins to carry out automatic orbit planning after getting access to necessary information, with the operation of Guidance Levels Directional Drilling;
Step 303: embedded system 102 sends to PLC 103 with the control instruction of calculating by the CAN bus, and PLC103 is by command driven horizontal directional drill 104, until finish construction task;
Step 304: the work information of the bit location information that will obtain from guide instrument 101 and the horizontal directional drill each several part that receives from PLC 103 is presented on the liquid crystal display of embedded system 102, checks at any time condition of construction for operating personnel;
Step 305: the current bit location that embedded system 102 is measured according to guide instrument 101 is carried out the track correction, then forwards step 303 to.
In addition, programmable logic controller (PLC) among the present invention (PLC) 103 is connected with embedded system 102 by the CAN bus on the one hand, be used for the reception of control instruction and the transmission of status information, drive on the other hand horizontal directional drill 104 operations, and monitor the work information of its each several part.The information frame type of communicating by letter between PLC 103 and the embedded system 102 mainly comprises command frame, acknowledgement frame and Frame.Command frame refers to that embedded system 102 issues action command and parameter calibration instruction that PLC 103 will carry out, be used for adjusting drilling direction and the parameter area of horizontal directional drill, in specific embodiment, the ID of command frame number is 0x231-0x250, and its information content is referring to table 1.
The information content of table 1 command frame
Acknowledgement frame refers to that PLC 103 issues affirmation answer and the implementation status that embedded system 102 expression receives orders and replys, and in specific embodiment, the ID of acknowledgement frame number be 0x103, and with its first byte, 0x00 represents that frame correctly carries out; 0x01 represents mistake, need resend; 0x02 represents complete; 0x03 represents to carry out unsuccessfully.
Frame refers to that PLC 103 issues horizontal directional drill each several part machine work state and the instrumented data of embedded system 102, and in specific embodiment, the information content of Frame is referring to table 2.
The information content of table 2 Frame
Above-mentioned process shown in Figure 3 all can realize with programmed method of the prior art, not be further limited at this.The present invention is the running orbit of planning level Directional Drilling automatically, utilizes guide instrument 101 to detect bit location information, and the actual moving process of horizontal directional drill is rectified a deviation, greatly simplified the operation of horizontal directional drill, and reliable, in addition, Effective Raise of the present invention operating efficiency and quality.
As mentioned above, although represented and explained the present invention with reference to specific preferred embodiment, it shall not be construed as the restriction to the present invention self.Under the spirit and scope of the present invention prerequisite that does not break away from the claims definition, can make in the form and details various variations to it.
Claims (10)
1. based on the horizontal directional drill control device of embedded system, it is characterized in that, comprising:
Be used for obtaining current bit location information, and bit location information fed back to the guide instrument of embedded system;
Be used for automatic planning level Directional Drilling running orbit, according to the bit location information of guide instrument feedback running orbit is rectified a deviation, is sent control command to programmable logic controller (PLC) and receives the packet of the work information of programmable logic controller (PLC), work information is shown to operating personnel's embedded system;
Be communicated with by the CAN bus with embedded system, and be used for driving the horizontal directional drill operation, and the programmable logic controller (PLC) of the work information of level monitoring Directional Drilling each several part.
2. the horizontal directional drill control device based on embedded system according to claim 1, it is characterized in that, described embedded system comprises for the core processor of the processing of trajectory planning and correction, is used for and CAN communication interface that programmable logic controller (PLC) or guide instrument carry out data interaction, and be used for the man-machine interface that operating personnel check the relevant parameter that moves with the input level Directional Drilling, and described core processor is communicated with described CAN communication interface and man-machine interface respectively.
3. the horizontal directional drill control device based on embedded system according to claim 2 is characterized in that, described man-machine interface comprises LCD Interface, touch screen interface and keyboard interface.
4. the horizontal directional drill control device based on embedded system according to claim 3 is characterized in that, described guide instrument is by input or the mode of bus automatic acquisition feed back to described embedded system with bit location information manually.
5. the horizontal directional drill control device based on embedded system according to claim 4, it is characterized in that, the described manually mode of input is: described operating personnel are the current bit location information of the demonstration screen display of guide instrument, manually are input to described embedded system by the keyboard that connects on the touch-screen that connects on the described touch screen interface and the keyboard interface.
6. the horizontal directional drill control device based on embedded system according to claim 4, it is characterized in that, the mode of described bus automatic acquisition is: be provided with EBI and bus protocol on the described guide instrument, and by CAN bus and described Communication in embedded system.
7. the horizontal directional drill control device based on embedded system according to claim 1 is characterized in that, the information frame type of communicating by letter between described embedded system and the programmable logic controller (PLC) comprises command frame, acknowledgement frame and Frame.
8. the horizontal directional drill control device based on embedded system according to claim 7, it is characterized in that, described command frame be embedded system issue that programmable logic controller (PLC) will carry out be used for adjusting the drilling direction of horizontal directional drill and action command and the parameter calibration instruction of parameter area.
9. the horizontal directional drill control device based on embedded system according to claim 7 is characterized in that, described acknowledgement frame is that programmable logic controller (PLC) is issued affirmation answer and the implementation status that the expression of embedded system receives orders and replied.
10. the horizontal directional drill control device based on embedded system according to claim 7 is characterized in that, described Frame is machine work state and the instrumented data that programmable logic controller (PLC) is issued the horizontal directional drill each several part of embedded system.
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| CN201210379927.1A CN102900365B (en) | 2012-10-09 | 2012-10-09 | Embedded type system-based control device for horizontal directional drill |
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| CN201210379927.1A CN102900365B (en) | 2012-10-09 | 2012-10-09 | Embedded type system-based control device for horizontal directional drill |
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| CN102900365B CN102900365B (en) | 2014-10-29 |
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Cited By (3)
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| CN104570893A (en) * | 2014-12-09 | 2015-04-29 | 桂林市华力重工机械有限责任公司 | Intelligent integrated device and method for excavators |
| CN105003203A (en) * | 2015-07-13 | 2015-10-28 | 中国海洋石油总公司 | Top drive type drilling machine system based on dynamic control of tool surface of underground drilling tool and well drilling method |
| CN110543687A (en) * | 2019-08-02 | 2019-12-06 | 西安飞机工业（集团）有限责任公司 | airplane load design method |
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Effective date of registration: 20170120 Address after: 210096 Jiangsu city Nanjing Province four pailou No. 2 Patentee after: Dongnan Univ. Patentee after: Xuzhou Xugong Foundation Construction Machinery Co., Ltd. Address before: 210096 Jiangsu city Nanjing Province four pailou No. 2 Patentee before: Dongnan Univ. |