CN102900365B - 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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- CN102900365B CN102900365B CN201210379927.1A CN201210379927A CN102900365B CN 102900365 B CN102900365 B CN 102900365B CN 201210379927 A CN201210379927 A CN 201210379927A CN 102900365 B CN102900365 B CN 102900365B
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- directional drill
- programmable logic
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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 for realizing under the condition of excavating earth surface face not, to lay multiple underground installation, and as the engineering machinery of pipeline, cable etc., this form of construction work is not only cost-saving 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 the operation of horizontal directional drill is adopted to manual mode mostly, operator need to complete work progress according to the technical level of self and experience, and labour intensity is large, and efficiency is low.Therefore, improve the control system of horizontal directional drill, realizing automatic orbit planning and correction is problem in the urgent need to address.
Because the domestic existing horizontal directional drill controller overwhelming majority, from external introduction, does some technological improvements and has larger difficulty in existing level.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 by predetermined the automatic guide system for horizontal positioning drill that track automatic guide, work information automatically gather and manage, formed by Industrial Personal Computer (IPC), PLC, field monitoring sensor and gauge tap.Although such scheme can be realized to a certain extent real-time location and the correction of horizontal directional drill drilling process and adjust, but the supervisory system of closed of building based on Industrial Personal Computer (IPC) software platform not only cost is higher, and the reliability under severe condition of work is also difficult to guarantee; On the other hand, the guide instrument itself using 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 PLC is connected, allow to realize both being connected the scheme that PLC again neither be best to Industrial Personal Computer (IPC) by RS232 communication by guide instrument image data.
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 effectively increase work 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;
For the running orbit of automatic planning level Directional Drilling, running orbit is rectified a deviation, sent control command to programmable logic controller (PLC) (PLC) and receives the packet of the work information of programmable logic controller (PLC) according to the bit location information of guide instrument feedback, work information is shown to operating personnel's embedded system;
Be communicated with by CAN bus with embedded system, and for driving 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, CAN communication interface for carrying out data interaction with programmable logic controller (PLC) or guide instrument, and the man-machine interface of checking the relevant parameter moving with input level Directional Drilling for operating personnel, 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 inputting manually or the mode of bus automatic acquisition feeds back to described embedded system by bit location information.
Wherein, the described mode of input is manually: described operating personnel, by the current bit location information of the demonstration screen display of guide instrument, are manually input to described embedded system by the touch-screen connecting on described touch screen interface and the keyboard being connected on keyboard interface.
The mode of described bus automatic acquisition is: on described guide instrument, be provided with EBI and bus protocol, 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 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 for adjusting the drilling direction of horizontal directional drill and the action command of parameter area and parameter calibration instruction.
Described acknowledgement frame is that programmable logic controller (PLC) is issued confirmation reply and the implementation status that the expression of embedded system receives orders and replied.
Described Frame is 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, on traditional horizontal directional drill control system basis, adds a set of embedded equipment, 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 embedded system, flexibly and easily, have solved the communication issue of multiple different guide instrument and embedded system;
3. embedded system of the present invention can provide friendly man-machine interface, and handled easily personnel input and check and relevant information reduced operation easier.
Accompanying drawing explanation
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.
In figure, main Reference numeral implication is:
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: the horizontal directional drill control device based on embedded system, comprise guide instrument 101, embedded system 102 and programmable logic controller (PLC) (PLC) 103, guide instrument 101 is 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, by the touch-screen connecting on described touch screen interface and the keyboard being connected on keyboard interface, are manually input in described embedded system 102; If guide instrument 101 is provided with EBI and bus protocol, adopt so automatic acquisition mode more simple and easy, such as being connected with embedded system 102 by CAN bus, according to setting agreement, send drill bit current location.
Embedded system 102 is cores of whole horizontal directional drill control device, major function is according to the running orbit of the automatic planning level Directional Drilling of operating personnel's setting, and by guide instrument 101, feed back bit location information running orbit is rectified a deviation, also to send control command to PLC 103 simultaneously, and receive the packet of the work information of 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, CAN communication interface 202 for carrying out data interaction with programmable logic controller (PLC) 103 or guide instrument 101, and the man-machine interface 203 of checking the relevant parameter moving with input level Directional Drilling for operating personnel, 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 Qt platform to carry out the exploitation of application program; CAN communication interface 202 adopt MCP2510 as CAN bus control unit and MCP2551 as CAN bus transceiver, by the SPI interface of core processor 201, expand, the maximum data transfer rate can reach 5Mb/s; Liquid crystal display adopts 8.4 inches of TFTLCD 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 to lcd driver can control liquid crystal display; Touch-screen is selected conventional four-wire resistance type, 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 X/Y coordinate, this technology greatly facilitates user's operation, as long as just can realize host service function with icon or word that finger touches on display screen lightly, thereby make man-machine interaction more straightforward; Keyboard interface 206 is mainly that auxiliary operation personnel input relevant information, uses custom circuit to realize.
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 completes starts from step 301, ends at step 305:
Step 301: before construction, operating personnel are input to the construction plant ambient parameter of obtaining and calibration point in embedded system 102 by man-machine interface 203;
Step 302: embedded system 102 starts to carry out automatic orbit planning after getting necessary information, with the operation of Guidance Levels Directional Drilling;
Step 303: embedded system 102 sends to PLC 103 by the control instruction of calculating by CAN bus, PLC103 is by command driven horizontal directional drill 104, until complete construction task;
Step 304: the work information of the bit location information of obtaining from guide instrument 101 and the horizontal directional drill each several part that receives from PLC 103 is presented at 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 track correction, then forwards step 303 to.
In addition, programmable logic controller (PLC) in the present invention (PLC) 103 is connected with embedded system 102 by CAN bus on the one hand, 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 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, for adjusting drilling direction and the parameter area of horizontal directional drill, in specific embodiment, command frame be for No. ID 0x231-0x250, its information content is referring to table 1.
The information content of table 1 command frame
Acknowledgement frame refers to that PLC 103 issues embedded system 102 and represents that the confirmation reply and the implementation status that receive orders reply, in specific embodiment, acknowledgement frame be for No. ID 0x103, by 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
Process shown in above-mentioned Fig. 3 all can realize with programmed method of the prior art, at this, is not further limited.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, the present invention has effectively improved 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.Not departing under the spirit and scope of the present invention prerequisite of claims definition, can make in the form and details various variations to it.
Claims (8)
1. the horizontal directional drill control device based on embedded system, it is characterized in that, comprise the core processor (201) with trajectory planning and deviation-correcting function, there is the CAN communication interface (202) of carrying out data interaction with programmable logic controller (PLC) or guide instrument, and check the man-machine interface (203) with input level Directional Drilling operational factor for operating personnel, operating personnel input described embedded system (102) by construction plant ambient parameter and calibration point, embedded system (102) is planning drilling rod running orbit automatically, and the current bit location of measuring according to described guide instrument (101) is carried out correction calculations, by CAN bus protocol, send to described programmable logic controller (PLC) (103) to carry out, described programmable logic controller (PLC) (103) also returns to described embedded system (102) by the work information of described horizontal directional drill (104) by CAN bus protocol simultaneously, offering operating personnel checks.
2. the horizontal directional drill control device based on embedded system according to claim 1, it is characterized in that, described guide instrument (101) is by inputting manually or the mode of bus automatic acquisition feeds back to described embedded system (102) by bit location information.
3. the horizontal directional drill control device based on embedded system according to claim 2, it is characterized in that, the described mode of input is manually: described operating personnel, by the current bit location information of the demonstration screen display of guide instrument (101), are manually input to described embedded system (102) by man-machine interface (203).
4. the horizontal directional drill control device based on embedded system according to claim 2, it is characterized in that, the mode of described bus automatic acquisition is: described guide instrument is provided with EBI and bus protocol on (101), and communicates by letter with described embedded system (102) by CAN bus.
5. the horizontal directional drill control device based on embedded system according to claim 1, it is characterized in that, between described embedded system (102) and programmable logic controller (PLC) (103), the information frame type of communication comprises command frame, acknowledgement frame and Frame.
6. the horizontal directional drill control device based on embedded system according to claim 5, it is characterized in that, described command frame be embedded system (102) issue that programmable logic controller (PLC) (103) will carry out for adjusting the drilling direction of horizontal directional drill and the action command of parameter area and parameter calibration instruction.
7. the horizontal directional drill control device based on embedded system according to claim 5, it is characterized in that, described acknowledgement frame is that programmable logic controller (PLC) (103) is issued confirmation reply and the implementation status that the expression of embedded system (102) receives orders and replied.
8. the horizontal directional drill control device based on embedded system according to claim 5, it is characterized in that, described Frame is machine work state and the instrumented data that programmable logic controller (PLC) (103) is issued the horizontal directional drill each several part of embedded system (102).
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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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| CN102900365A CN102900365A (en) | 2013-01-30 |
| CN102900365B true CN102900365B (en) | 2014-10-29 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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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 |
| CN105003203B (en) * | 2015-07-13 | 2017-03-15 | 中国海洋石油总公司 | Drive churn system and boring method in top based on down-hole equipment tool-face dynamic control |
| 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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| CN200940444Y (en) * | 2006-05-23 | 2007-08-29 | 中国石油天然气管道局 | Automatic guide system for horizontal positioning drill |
| CN101182755A (en) * | 2007-12-24 | 2008-05-21 | 大庆油田有限责任公司 | Down-hole horizontal boring machine distribution control method and device thereof |
| US7413031B2 (en) * | 2000-07-18 | 2008-08-19 | The Charles Machine Works, Inc. | Apparatus and method for maintaining control of a drilling machine |
| CN101343995A (en) * | 2008-08-08 | 2009-01-14 | 大庆油田有限责任公司 | Control device of down-hole horizontal boring machine |
| CN101864897A (en) * | 2010-05-18 | 2010-10-20 | 中国海洋石油总公司 | Method for controlling eccentric displacement vector of rotary steering tool |
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| US7810584B2 (en) * | 2006-09-20 | 2010-10-12 | Smith International, Inc. | Method of directional drilling with steerable drilling motor |
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| US7413031B2 (en) * | 2000-07-18 | 2008-08-19 | The Charles Machine Works, Inc. | Apparatus and method for maintaining control of a drilling machine |
| CN200940444Y (en) * | 2006-05-23 | 2007-08-29 | 中国石油天然气管道局 | Automatic guide system for horizontal positioning drill |
| CN101182755A (en) * | 2007-12-24 | 2008-05-21 | 大庆油田有限责任公司 | Down-hole horizontal boring machine distribution control method and device thereof |
| CN101343995A (en) * | 2008-08-08 | 2009-01-14 | 大庆油田有限责任公司 | Control device of down-hole horizontal boring machine |
| CN101864897A (en) * | 2010-05-18 | 2010-10-20 | 中国海洋石油总公司 | Method for controlling eccentric displacement vector of rotary steering tool |
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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. |