Centralized control method and system for self-adaptive field bridge equipment

Abstract

The invention discloses a self-adaptive field bridge equipment centralized control method, which comprises the following steps of: performing virtual marshalling on an operation platform and equipment, performing control through two ROCSs (Remote Operating Control Systems), and under a normal working state, participating in a production task of the self-adaptive field bridge equipment by using only one ROCS; and in an abnormal working state, switching to another ROCS to participate in the production task of the self-adaptive field bridge equipment according to different conditions. The invention further discloses a centralized control system for the self-adaptive field bridge equipment. According to the self-adaptive field bridge equipment centralized control method and system, centralized management and risk reduction are facilitated, sudden faults or accidents can be dealt with conveniently, the stability of the RCCS is higher, the risk is low, the safety performance of the system and the stability of the RCCS are improved, and centralized control over the self-adaptive field bridge equipment is facilitated.

Description

Technical Field

[0001] The present invention relates to the technical field of port automation control, and more specifically, to an adaptive yard crane equipment centralized control method and system. Background Art

[0002] The adaptive yard crane equipment is a yard crane with adaptive capabilities, that is, a gantry crane, usually used for handling containers or other goods in ports. The remote central control node RCCS (Remote Central Control System) of the yard crane is a remote central control system for yard crane equipment. The remote central control node RCCS of the yard crane is responsible for connecting each operation console slave station and each crane, and receiving the allocation of the remote operation control system ROCS (Remote Operator Control System), and binding the idle operation console to the crane that requires manual intervention. Currently, with the continuous increase in the scale of port equipment and the continuous improvement of its automation level, new challenges have been posed to the performance and stability of the remote central control node RCCS of the centralized control method. Whether the RCCS is stable is related to the production control of the adaptive yard crane equipment. How to achieve the stability of the higher-level RCCS is crucial. In the face of sudden failures or accidents, there may be some drawbacks in the control method of the remote central control node RCCS of the yard crane. Therefore, it is necessary to upgrade the existing RCCS control method to make it meet the continuous increase in the scale of port equipment and the improvement of its automation level. Summary of the Invention

[0003] The purpose of the present invention is to provide an adaptive yard crane equipment centralized control method and system, which solves the technical problems of the unstable performance of the RCCS and the possible drawbacks of the RCCS control method caused by the continuous increase in the scale of port equipment and the continuous improvement of its automation level in the prior art, upgrades the existing RCCS control method, and realizes the centralized control of the adaptive yard crane equipment.

[0004] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0005] As an aspect of the present invention, there is provided an adaptive yard crane equipment centralized control method, including the following steps:

[0006] S1. The operation console and the equipment are virtually grouped and controlled by two ROCSs. Under normal working conditions, only one ROCS participates in the production tasks of the adaptive yard crane equipment;

[0007] S2. Under abnormal working conditions, according to different situations, switch to another ROCS to participate in the production tasks of the adaptive yard crane equipment.

[0008] As an adaptive central control method for yard crane equipment in the above aspects of the present invention, S1 includes the following steps:

[0009] S11. The operation station performs virtual grouping to form a virtual combination of operation stations;

[0010] S12. The equipment performs virtual grouping to form a virtual combination of equipment stations, and the virtual combination of equipment stations issues operation tasks through the yard crane equipment management controller BMS;

[0011] S13. The virtual combination of operation stations and the virtual combination of equipment stations are controlled by two ROCSs, and one ROCS operates under normal working conditions.

[0012] As an adaptive central control method for yard crane equipment in the above aspects of the present invention, S2 includes the following steps:

[0013] S21. When a fault or abnormal condition occurs in the equipment, a switching request is sent to the RCCS to initiate the RCCS switching process;

[0014] S22. The equipment establishes a communication connection with the RCCS;

[0015] S23. When the equipment receives the switching packet from the RCCS, the operation task sequence being executed is paused orderly, and it waits for the new RCCS to go online;

[0016] S24. After the new RCCS goes online, the RCCS sends a switching success communication packet to the equipment. After the equipment receives the above switching success communication packet, it continues the previously paused operation task sequence and operates normally.

[0017] As an adaptive central control method for yard crane equipment in the above aspects of the present invention, S21 includes the following steps:

[0018] S211. During the RCCS switching process, the switching method is automatically initiated by the upper controller or manually through the human-machine interface;

[0019] S212. When the RCCS is being switched, the equipment in production in the virtual combination of equipment stations is informed.

[0020] As an adaptive central control method for yard crane equipment in the above aspects of the present invention, S22 includes the following steps:

[0021] S221. The yard crane equipment management controller BMS is used to search for tasks of the equipment. When the equipment has a work task, the equipment and the RCCS communicate through a breathing communication method;

[0022] S222. When the equipment has no work task, the equipment and the RCCS communicate through an intermittent communication method.

[0023] As an aspect of an adaptive yard crane equipment centralized control method of the present invention, the S221 includes the following steps:

[0024] S2211. The BMS conducts task search for the equipment, discovers task jump stations, and performs automatic switching and caching according to the daily task volume;

[0025] S2212. When dealing with bursty volume tasks, form task sequences and task optimization priorities for automatic sequencing.

[0026] As an adaptive yard crane equipment centralized control method of the above aspect of the present invention, the S23 includes the following steps:

[0027] S231. The equipment receives the switching packet from the RCCS, and pauses and moves the equipment that is in production;

[0028] S232. The job task sequence enters the pause sequence and waits for the successful switching of the RCCS.

[0029] As another aspect of the present invention, there is provided an adaptive yard crane equipment centralized control system, which is applied to the above-mentioned adaptive yard crane equipment centralized control method, and includes two ROCS controllers, two RCCS main controllers, an operation station virtual combination, an equipment station virtual combination, and a yard crane equipment management controller BMS; the ROCS controller and the RCCS main controller are interconnected for data exchange, and the two RCCS controllers respectively perform remote operation control on the operation station virtual combination and the equipment station virtual combination; the yard crane equipment management controller BMS issues job task management to the equipment station virtual combination.

[0030] As an adaptive yard crane equipment centralized control system of the above aspect of the present invention, which is applied to the above-mentioned adaptive yard crane equipment centralized control method, one of the RCCS main controllers is interconnected with one of the ROCS controllers, and the other RCCS main controller is interconnected with the other ROCS controller 2, and the two ROCS controllers are interconnected with each other.

[0031] As an adaptive yard crane equipment centralized control system of the above aspect of the present invention, which is applied to the above-mentioned adaptive yard crane equipment centralized control method, the operation station virtual combination includes multiple operation stations, namely operation station 1, operation station 2, operation station 3.... operation station N, and the equipment station virtual combination includes multiple equipment, namely equipment 1, equipment 2, equipment 3.... equipment N; the operation station virtual combination and the equipment station virtual combination respectively receive the control of the two RCCS main controllers.

[0032] Adopting the above technical solutions, the present invention has the following advantages:

[0033] The present invention provides a method and system for centralized control of adaptive yard crane equipment. Only one ROCS participates in the production task in the normal working state. When an abnormal working state occurs, another ROCS is switched on and enabled. In addition, the operation console and the equipment are virtually grouped to facilitate centralized management and risk reduction, and to cope with sudden failures or accidents. The RCCS has stronger stability performance and lower risk, improves the system safety performance and the stability of the RCCS, and facilitates the centralized control of the adaptive yard crane equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Other features, objects, and advantages of the present invention will become more apparent by reading the detailed description of the non-limiting embodiments with reference to the following drawings.

[0035] Figure 1 is a structural block diagram of the centralized control system for adaptive yard crane equipment of the present invention;

[0036] Figure 2 is a logical flow block diagram of the method for centralized control of adaptive yard crane equipment of the present invention;

[0037] Figure 3 is a working principle diagram of the method for centralized control of adaptive yard crane equipment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0038] The technical solutions of the present invention will be specifically described below in conjunction with the drawings of the specification. The detailed features and advantages of the present invention are described in detail in the specific embodiments, and the content is sufficient to enable any person skilled in the art to understand the technical content of the present invention and implement it accordingly. According to the specification, claims, and drawings disclosed in this specification, those skilled in the art can easily understand the related purposes and advantages of the present invention.

[0039] Figure 1 shows a structural block diagram of the centralized control system for adaptive yard crane equipment of the present invention. A centralized control system for adaptive yard crane equipment is specifically as Figure 1 shown, including two ROCSs, two RCCSs, a virtual combination of operation stations, a virtual combination of equipment stations, and a yard crane equipment management controller BMS; the ROCS and the RCCS are interconnected for data exchange, and the two RCCSs respectively perform remote operation control on the virtual combination of operation stations and the virtual combination of equipment stations; the yard crane equipment management controller BMS performs management of issuing operation tasks with the virtual combination of equipment stations.

[0040] Among them, the two ROCSs include ROCS Controller 1 and ROCS Controller 2, and the two RCCSs include RCCS Master Controller 1 and RCCS Master Controller 2. RCCS Master Controller 1 is interconnected with ROCS Controller 1, RCCS Master Controller 2 is interconnected with ROCS Controller 2, and ROCS Controller 1 and ROCS Controller 2 are interconnected.

[0041] The virtual combination of operator stations includes Operator Station 1, Operator Station 2, Operator Station 3... Operator Station N, and the virtual combination of equipment stations includes Equipment 1, Equipment 2, Equipment 3... Equipment N. The operation consoles in the equipment are virtually grouped with the equipment for centralized management and risk reduction. That is, if a fault (such as a network loop) occurs in the virtually grouped equipment, it only affects the equipment within the virtual group and does not affect the global equipment. The virtual combination of operator stations and the virtual combination of equipment stations are respectively controlled by the two RCCSs (RCCS Master Controller 1 and RCCS Master Controller 2). The yard crane equipment management controller BMS is respectively connected to Equipment 1, Equipment 2, Equipment 3... Equipment N and manages and controls them.

[0042] Figure 2 The logical flow block diagram of the adaptive yard crane equipment centralized control method of the present invention is shown. Figure 3 The working principle diagram of the adaptive yard crane equipment centralized control method of the present invention is shown. A specific adaptive yard crane equipment centralized control method is as follows Figure 2 、 Figure 3 shown, and includes the following steps:

[0043] S1. The operation console is virtually grouped with the equipment and controlled by two ROCSs (ROCS Controller 1 and ROCS Controller 2). In a specific embodiment, in the normal working state, only one ROCS (ROCS Controller 1) participates in the production task of the adaptive yard crane equipment.

[0044] Among them, S1 includes the following specific steps:

[0045] S11. The operator stations are virtually grouped to form a virtual combination of operator stations.

[0046] S12. The equipment is virtually grouped to form a virtual combination of equipment stations, and the virtual combination of equipment stations issues operation tasks through the yard crane equipment management controller BMS.

[0047] S13. The virtual combination of operator stations and the virtual combination of equipment stations are controlled by two ROCSs (ROCS Controller 1 and ROCS Controller 2), and one ROCS (ROCS Controller 1) runs in the normal working state.

[0048] S2. In the abnormal working state, according to different situations, switch to another ROCS to participate in the production task of the adaptive yard crane equipment.

[0049] Among them, S2 includes the following specific steps:

[0050] S21. When the device fails or is in an abnormal working condition, a switching request can be sent to a ROCS (ROCS Controller 1) to perform the RCCS switching process and switch to another ROCS (ROCS Controller 2).

[0051] S21 includes the following specific steps:

[0052] S211. During the RCCS switching process, the switching method can be automatically initiated by the upper controller or manually performed by the operator through the human-machine interface;

[0053] S212. When performing the RCCS switching process, that is, switching from Figure 2 the RCCS main controller 1 (abbreviated as RCCS1) in to the RCCS main controller 2 (abbreviated as RCCS2), during the RCCS switching process, the devices that are in production in the virtual combination of the device station will be informed, that is, the devices N (N = 1, 2....) that issue job tasks through the yard crane equipment management controller BMS.

[0054] S22. The device establishes a communication connection with the RCCS;

[0055] Among them, S22 includes the following specific steps specifically as Figure 3 shown:

[0056] S221. The yard crane equipment management controller BMS searches for tasks for the device. When the device has a work task, the device and the RCCS communicate through a breathing communication method;

[0057] Among them, S221 includes the following specific steps:

[0058] S2211. The yard crane equipment management controller BMS searches for tasks for the device. When a task jump is found, automatic switching and caching can be performed according to the daily task volume;

[0059] S2212. When dealing with burst volume tasks, a task sequence and task optimization priority are formed for automatic sequence adjustment.

[0060] S222. When the device has no work task, the device and the RCCS communicate through an intermittent communication method.

[0061] S23. After the device receives the switching packet from the RCCS, the job task sequence being executed is paused orderly and waits for the new RCCS to go online;

[0062] Among them, S23 includes the following specific steps:

[0063] S231. The device receives the switching packet from the RCCS and slowly stops the movement of the device in production or the mobile gantry crane.

[0064] S232. The device operation task enters the pause sequence and waits for the successful switching of the RCCS.

[0065] S24. After the new RCCS is put into operation, the RCCS sends a successful switching communication packet to the device. After the device receives the above-mentioned successful switching communication packet, it continues the previous paused device operation task sequence and the device starts normal operation.

[0066] Finally, it should be noted that although the present invention has been described with reference to the current specific embodiments, those of ordinary skill in the art should recognize that the above embodiments are only used to illustrate the present invention and are not intended to limit the present invention. Various equivalent changes or substitutions can be made without departing from the inventive concept. Therefore, as long as the changes and modifications of the above embodiments are within the scope of the spirit of the present invention, they will fall within the scope of the claims of the present invention.

Claims

1. A centralized control method for adaptive field bridge equipment, characterized in that: The following steps are involved: S1. The operating console and the equipment are virtually grouped and controlled by two ROCS. Under normal working conditions, only one ROCS is used to participate in the production task of the adaptive field bridge equipment; S2. In abnormal working state, according to different situations, switch to another ROCS to participate in the production task of adaptive field bridge equipment.

2. The method for centralized control of adaptive field bridge equipment according to claim 1, characterized in that: The S1 comprises the following steps: S11. The operation station is virtually grouped to form a virtual combination of operation stations; S12. The equipment is virtually grouped to form a virtual combination of equipment stations, and the virtual combination of equipment stations issues operation tasks through the field bridge equipment management controller BMS; S13. The virtual combination of the operation station and the virtual combination of the equipment station are controlled by two ROCSs, and one ROCS is operated in normal working state.

3. The method for centralized control of adaptive field bridge equipment according to claim 1, characterized in that: The S2 comprises the following steps: S21. When the equipment fails or operates abnormally, a switching request is initiated to the RCCS to switch the RCCS process; S22. The device establishes a communication connection with the RCCS; S23. The device receives the switching package from RCCS and suspends the ongoing task sequence in an orderly manner, waiting for the new RCCS to come online; S24. When the new RCCS comes online, the RCCS sends a successful switching communication packet to the device. After receiving the successful switching communication packet, the device continues the previously suspended task sequence and operates normally.

4. The method for centralized control of adaptive field bridge equipment according to claim 3, characterized in that: The S21 comprises the following steps: S211. During the switching process of RCCS, the switching mode is automatically initiated by the upper controller or manually switched through the human-computer interaction interface; S212. When the RCCS is being switched, the equipment station is informed of the equipment being produced in the virtual combination.

5. The method for centralized control of adaptive field bridge equipment according to claim 3, characterized in that: The S22 comprises the following steps: S221. Search the equipment for tasks through the field bridge equipment management controller BMS. When the equipment has a work task, the equipment and RCCS communicate and connect through breathing communication; S222. When the device has no work task, the device communicates with the RCCS through intermittent communication.

6. The method for centralized control of adaptive field bridge equipment according to claim 5, characterized in that: The S221 includes the following steps: S2211. BMS searches for tasks on the equipment and finds that the task has jumped. It automatically switches and caches the tasks according to the task volume of the day. S2212. When it is necessary to process burst-volume tasks, a task sequence and task optimization priorities are formed for automatic sequencing.

7. The method for centralized control of adaptive field bridge equipment according to claim 3, characterized in that: The S23 comprises the following steps: S231. The equipment receives the switching package from RCCS and moves the equipment in production slowly; S232. The job task enters the pause sequence, waiting for the RCCS to be switched successfully.

8. An adaptive field bridge equipment centralized control system, applied to an adaptive field bridge equipment centralized control method according to any one of claims 1 to 7, characterized in that: It includes two ROCS controllers, two RCCS main controllers, an operation station virtual combination, an equipment station virtual combination and a field bridge equipment management controller BMS; the ROCS controller and the RCCS main controller are interconnected to exchange data, and the two RCCS controllers remotely control the operation station virtual combination and the equipment station virtual combination respectively; the field bridge equipment management controller BMS and the equipment station virtual combination issue operation task management.

9. The adaptive field bridge equipment centralized control system according to claim 8 is applied to the adaptive field bridge equipment centralized control method according to any one of claims 1 to 7, characterized in that: One of the RCCS main controllers is interconnected with one of the ROCS controllers, another of the RCCS main controllers is interconnected with another of the ROCS controllers 2, and two of the ROCS controllers are interconnected.

10. The adaptive field bridge equipment centralized control system according to claim 9 is applied to the adaptive field bridge equipment centralized control method according to any one of claims 1 to 7, characterized in that: The virtual combination of operation stations includes a plurality of operation stations, and the virtual combination of equipment stations includes a plurality of equipment; The operation station virtual combination and the equipment station virtual combination are respectively controlled by the two RCCS main controllers.

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