A remote control system for grab ship unloader

Abstract

A remote control system for a grab ship unloader, the system includes a GIS monitoring and management platform, a client, an operating console, a fixed base station, a ship unloader monitoring system, and a bow and stern positioning device; the GIS monitoring and management platform is connected to the client and the operating console respectively through a fourth switch; the GIS monitoring and management platform is connected to the ship unloader monitoring system through a 5G communication module; the ship unloader monitoring system is connected to an on-site remote control receiver and a fixed base station respectively; the ship unloader monitoring system and the bow and stern positioning devices are all connected to the fixed base station. The remote control system for a grab ship unloader of the present invention can not only solve the problem of remote operation and control of the ship unloader; it can also enable one person to operate multiple ship unloaders, and can communicate with the production scheduling system through networking. It realizes unmanned operation of the dock, reduces the operating cost of the grab ship unloader, and improves work efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of grab ship unloader control, and in particular to a remote control system for a grab ship unloader. Background Art

[0002] When the grab ship unloader is working, it often works continuously for 24 hours a day or 72 hours a day, depending on the size of the ship. The operators are easily fatigued. In addition, the window glass cannot be closed during operation, so the operators are very hard-working in the hot summer and cold winter. Each ship unloader needs to be equipped with two operators, and the labor cost is also high. Summary of the invention

[0003] In order to reduce the labor intensity of operators, improve the working efficiency of grab ship unloaders and reduce costs. The present invention provides a remote control system for grab ship unloaders, which can not only solve the problem of remote operation and control of ship unloaders, but also enable one person to operate multiple ship unloaders, and can communicate with the production scheduling system through networking. It realizes unmanned operation of the dock, reduces the operating cost of grab ship unloaders, and improves work efficiency.

[0004] The technical solution adopted by the present invention is:

[0005] A remote control system for a grab ship unloader, the system comprising:

[0006] GIS monitoring and management platform, client T5820, operating console CX-LHJBB03, fixed base station M300, ship unloader monitoring system, bow and stern positioning device;

[0007] The GIS monitoring and management platform is connected to the client T5820 and the operation console CX-LHJBB03 through the switch 4HI-08;

[0008] The GIS monitoring and management platform is connected to the ship unloader monitoring system through the 5G communication module CPEPRO;

[0009] The ship unloader monitoring system is connected to the local remote control receiver JT-KP and the fixed base station M300 respectively;

[0010] The ship unloader monitoring system and the bow and stern positioning devices are all connected to the fixed base station M300.

[0011] The switch 4HI-08 is connected to the streaming media server DVSCAR-51, and the streaming media server DVSCAR-51 is connected to the splicing screen CB5503S.

[0012] The ship unloader monitoring system comprises a monitoring terminal host part, a trolley monitoring part, a grab bucket monitoring part and a ship monitoring part. The monitoring terminal host part is respectively connected to the trolley monitoring part, the grab bucket monitoring part, the ship monitoring part and the bow and stern positioning devices.

[0013] The host part of the monitoring terminal includes: PLC controller S7-1500, touch screen TCP7062Ti, 3D laser scanner CX-JS800, mobile base station 2CX-E728;

[0014] The PLC controller S7-1500 is connected to the crane operating handle, crane working mode selection switch, touch screen TCP7062Ti, and switch 3HI-08 respectively;

[0015] The PLC controller S7-1500 is connected to the wind speed sensor YS-CF, grab height encoder, and trolley amplitude encoder respectively;

[0016] The PLC controller S7-1500 is connected to the anti-sway module CX-FY400, the left trolley travel inverter, the right trolley travel inverter, and the lifting inverter respectively. The anti-sway module CX-FY400 is connected to the trolley amplitude variable frequency inverter.

[0017] The switch 3HI-08 is connected to the 5G communication module CPEPRO, the mobile base station 2CX-E728, the lifting weight limiter CQA01, the stress and strain collector DH3820, and the scanner controller CX-S8000;

[0018] The mobile base station 2CX-E728 is connected to the positioning antenna 2AT300 and the digital radio 4SZ02 respectively, the lifting weight limiter CQA01 is connected to the weight sensor JZ-1, the stress strain collector DH3820 is connected to the stress strain sensor DH1101, and the scanner controller CX-S8000 is connected to the 3D laser scanner CX-JS800;

[0019] The PLC controller S7-1500 is connected to the digital radio 3SZ02 and the local remote control receiver JT-KP respectively.

[0020] PLC controller S7-1500 is connected to switch 2HI-08, switch 2HI-08 is connected to video recorder DS-7808N-K2, video recorder DS-7808N-K2 is connected to monitor E1715Sc, and switch 2HI-08 is connected to switch 3HI-08.

[0021] The trolley monitoring part includes: power cat 3WD-200M, hysteresis power reel 2MH1800-28 / 180, switching power supply 2LRS-250-12, switch 11005, power cat 2WD-200M, hysteresis power reel 1MH1800-28 / 180;

[0022] The AC220V power supply is connected to the powerline 2WD-200M, the switching power supply 2LRS-250-12, the hysteresis power reel 2MH1800-28 / 180, the hysteresis power reel 1MH1800-28 / 180, and the powerline 3WD-200M respectively;

[0023] The switching power supply 2LRS-250-12 is connected to the powerline cat 2WD-200M, the powerline cat 2WD-200M is connected to the switch 11005, the switch 11005 is connected to the car camera; the powerline cat 3WD-200M is connected to the switch 2HI-08.

[0024] The grab bucket monitoring part includes: powerline modem 1WD-200M, switch 5005, mobile base station 1CX-E728, GPS antenna 1AT300, digital radio 1SZ02, grab bucket camera, switching power supply 1LRS-350-24, power manager CX-DY02, digital radio 2SZ02, grab bucket searchlight;

[0025] The AC220V power supply is connected to the powerline cat 1WD-200M and the switching power supply 1LRS-350-24 respectively. The powerline cat 1WD-200M is connected to the switch 5005. The switch 5005 is connected to the mobile base station 1CX-E728 and the grab bucket camera respectively. The mobile base station 1CX-E728 is connected to the GPS antenna 1AT300 and the digital radio 1SZ02 respectively.

[0026] The switching power supply 1LRS-350-24 is connected to the power manager CX-DY02, the power manager CX-DY02 is connected to the grab searchlight, and the power manager CX-DY02 is connected to the data transmission radio 2SZ02;

[0027] The ship monitoring part includes the all-round monitoring ball camera DHK-EX300, the left trolley monitoring camera BS-CA33-IP, the right trolley monitoring camera BS-CA33-IP, and the automatic tracking camera;

[0028] The all-round surveillance dome camera DHK-EX300, the left trolley surveillance camera BS-CA33-IP, the right trolley surveillance camera BS-CA33-IP, and the automatic tracking camera are all connected to the switch 2HI-08.

[0029] The bow and stern positioning device comprises a bow mobile base station and a stern mobile base station;

[0030] The bow mobile base station includes a switching power supply 1LRS-150-12, the AC220V power supply is connected to the switching power supply 1LRS-150-12, the switching power supply 1LRS-150-12 is connected to the mobile base station 3CX-E728, and the mobile base station 3CX-E728 is respectively connected to the GPS positioning antenna 3BT5630, the digital radio 5SZ02, and the digital radio 6SZ02;

[0031] The stern mobile base station includes a switching power supply 2LRS-150-12, the AC220V power supply is connected to the switching power supply 2LRS-150-12, the switching power supply 2LRS-150-12 is connected to the mobile base station 4CX-E728, and the mobile base station 4CX-E728 is respectively connected to the GPS positioning antenna 4BT5630, the digital radio 7SZ02, and the digital radio 8SZ02.

[0032] The invention provides a remote control system for grab ship unloader, and the technical effects are as follows:

[0033] 1) By using GIS electronic map technology and satellite positioning technology, the electronic map of the grab ship unloader terminal and the digital modeling of the ship unloader, grab, track, berth and ship are realized, making the digitization and intelligentization of the ship unloader terminal possible;

[0034] 2) Use AI technology to make the ship unloader intelligent. The ship unloader can automatically find the workstation according to the remote control operation instructions, and automatically adjust the trolley amplitude and grab bucket height according to the cabin position and high tide height, and automatically go to the cabin to grab coal;

[0035] 3) Remote control / on-site control function: The operator can issue the grabbing and transportation task to the ship unloader monitoring terminal through the cloud service platform on the client or console. The ship unloader terminal can automatically operate according to the control process, or can be controlled by manual remote operation. It is equipped with on-site remote control and on-board manual control functions, and the operator can adjust the operation mode according to the on-site working conditions;

[0036] 4) Using GIS vector electronic map technology, satellite positioning technology and AI artificial intelligence, a digital model for ship unloader anti-sway and an aerial bucket-swinging operation model have been developed, which can effectively suppress the swing amplitude of the ship unloader grab bucket, realize automatic anti-sway and precise positioning of the ship unloader grab bucket, effectively shorten the grab bucket operation time and improve the ship unloader operation efficiency;

[0037] 5) The present invention uses GIS vector electronic map technology and satellite positioning technology to develop electronic safety fences for ship unloaders and grab buckets. Through the development of electronic safety fence technology, safe isolation between the grab bucket of the ship unloader and the edge of the ship, and anti-collision between ship unloaders are achieved, which can effectively prevent the safety risks of the grab bucket accidentally grabbing the edge of the ship and the ship unloader colliding with surrounding obstacles;

[0038] 6) The grab bucket has an all-weather, uninterrupted and efficient lighting device, which can realize remote high-definition monitoring of the working conditions under the grab bucket at any time, thus realizing remote visual operation;

[0039] 7) The intelligent monitoring terminal of the ship unloader can automatically identify the position of the ship edge, the height of the hatch, the position of the funnel, and automatically calculate the size and height of the pile, making the intelligent operation of the grab bucket a reality;

[0040] 8) Intelligent video tracking and monitoring of grab bucket operation function. The video monitoring system can automatically track and monitor any operating condition of the grab bucket, and fully assist the operator in safe operation;

[0041] 9) Using CAE online acquisition and analysis technology, online monitoring and early warning of fatigue of key mechanical structures of ship unloaders are realized, which can effectively improve the scientificity of ship unloader maintenance;

[0042] 10) One person controls multiple ship unloaders, reducing costs and increasing efficiency;

[0043] 11) Hysteresis power reel ensures reliable transmission of power to the trolley monitoring equipment and grab monitoring equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 Schematic diagram of the overall architecture of the system of the present invention.

[0045] Figure 2 Developed a flow chart for the ship unloader terminal GIS electronic map.

[0046] Figure 3 Digital workflow diagram for ship unloader travel track.

[0047] Figure 4 Modeling a flow chart for a digital berth.

[0048] Figure 5 Establish a process map for ship digitization.

[0049] Figure 6 Digitally model a flow chart for a ship unloader.

[0050] Figure 7 Flowchart for digital modeling of grab bucket.

[0051] Figure 8Flow chart for establishing electronic safety fence for ship unloader.

[0052] Fig. 9 Create a flow chart for the grab bucket electronic safety fence.

[0053] Fig.10 Create a flow chart for building electronic security fencing.

[0054] Fig.11 Create a flow chart for electronic security fencing of ship hatches.

[0055] Fig.12 This is a configuration diagram of a fixed base station of the present invention.

[0056] Fig.13 This is a schematic diagram of the composition of the remote control system of the ship unloader of the present invention.

[0057] Fig.14 This is a hardware connection diagram of the remote control system of the ship unloader of the present invention.

[0058] Fig.15 This is the working principle diagram of the trolley and grab monitoring part.

[0059] Fig.16 This is the working principle diagram of bow positioning;

[0060] Fig.17 This is the schematic diagram of the stern positioning work.

[0061] Fig.18 This is the schematic diagram of the trolley and grab monitoring.

[0062] Fig.19 This is the schematic diagram of the video monitoring of the ship unloader.

[0063] Fig. 20 This is the schematic diagram of the anti-sway control system of the ship unloader.

[0064] Fig.21 This is the schematic diagram for identifying the position of the cabin and the stockpile. DETAILED DESCRIPTION

[0065] 1. System Principle:

[0066] According to the working characteristics and working condition requirements of the grab ship unloader, the present invention adopts SOA technical architecture and B / S structure to build an automated GIS monitoring and management platform for the grab ship unloader, and uses GIS electronic information technology, big data and AI technology to provide digital and visual monitoring for the automatic control of the grab ship unloader; and then adopts GPS positioning, 3D digital scanning, CAE online monitoring and analysis, 5G communication and other advanced means to achieve grab anti-sway, space anti-collision, material identification, obstacle identification, mechanical structure fatigue predictive maintenance, etc., so as to realize remote control of the grab ship unloader, and can communicate and network with the production scheduling system, providing advanced technical support for the grocery terminal to realize unmanned operation, reduce costs and increase efficiency. The overall system architecture is as follows Figure 1 As shown in the figure, the system is divided into three parts: data acquisition and control part, cloud service part, and management and scheduling part; the data acquisition and control part is mainly composed of various sensors, PLC, frequency converter, touch screen, etc., and is mainly responsible for the information collection and control of the grab ship unloader; the cloud service part is mainly composed of GIS electronic map, cloud server, database, etc., and is mainly responsible for providing GIS electronic map support and cloud computing, AI computing support services for the grab ship unloader terminal, and the management and scheduling part is mainly responsible for the task arrangement and remote control of the grab ship unloader.

[0067] 2. Implementation of various functions of the system:

[0068] 2.1. Design of GIS electronic map of ship unloader terminal:

[0069] First, the client provides CAD maps of the ship unloader terminal, equipment, etc. On this basis, we use the MO (Map Objects) component GIS software of the American ESRI company to organize and manage vector data and image data in the form of files, so as to display multi-source spatial data in the same environment and realize the operation function of geographic spatial data. Then, we establish an Oracle database, connect graphics and attribute data with ID, and realize the comprehensive application of spatial information and attribute information. Using Microsoft VB (Visual Basic) Enterprise Edition as a software development tool, combined with the GIS function of MO and the Oracle relational database management function, we establish a system user interface, provide spatial and attribute data browsing, query, statistics, call, mapping and other system tools, and realize the real-time and dynamic navigation positioning, display, storage and release application platform of various equipment in the terminal, so as to create conditions for digital support for remote control of ship unloaders. The development process of GIS electronic map of ship unloader terminal is as follows: Figure 2 shown.

[0070] 2.2. Equipment digital modeling: After the electronic map design is completed, the electronic map can be used to model the ship unloader's track, berth, ship unloader, grab, and ship, and then solidify and number them and store them in the database.

[0071] 2.2.1. Establishment of virtual digital track of ship unloader:

[0072] The establishment of virtual digital track can provide visual basis for large vehicles to find ship berthing places and grab bucket positioning, laying the foundation for system automation control; the digital workflow of ship unloader walking track is shown in the figure below: Figure 3 shown.

[0073] 2.2.2. Digital modeling of ship berths:

[0074] By establishing a digital berth, a digital foundation can be established for ships to berth, and a visual basis can be provided for large vehicles to find berths and grab positioning. The digital establishment process of berths is as follows: Figure 4 shown.

[0075] 2.2.3.Ship digital modeling:

[0076] Through the establishment of virtual digital ships, a digital foundation can be established for ship unloader positioning, grab bucket operation, electronic fence setting, and 3D digital scanners, providing a visual basis for large vehicles to find ships, electronic fences, grab bucket positioning, etc. The digital establishment process of ships Figure 5 shown.

[0077] 2.2.4. Digital modeling of ship unloader:

[0078] Through the establishment of digital ship unloader, a digital foundation can be established for grab operation, ship unloader anti-collision, and 3D digital scanner, providing a visual basis for large vehicles to find berths and grab positioning. The digital modeling process of ship unloader is as follows: Figure 6 shown.

[0079] 2.2.5. Grab bucket digital modeling:

[0080] Through the establishment of digital grab, a digital foundation can be established for the precise operation of grab, anti-swaying, anti-misgrabbing of the edge of the ship, entering and exiting the cabin, and bucket throwing operations, providing a visual basis for the operation and precise positioning of the grab. The digital modeling process of the grab is as follows: Figure 7 shown.

[0081] 2.2.6. Establishment of electronic safety fence for ship unloader:

[0082] System composition: The system is composed of GIS electronic map, oracle database, 5G communication module CPEPRO, switch 3HI-08, PLC controller S7-1500, touch screen TCP7062Ti, ship unloader mobile base station 2CX-E728, GPS positioning antenna 2AT300, grab mobile base station 1CX-E728, GPS positioning antenna 1AT300, etc. Working principle:

[0083] The electronic safety fence function of the ship unloader is to use the on-site GIS electronic map and database technology to circle the coordinate range that the ship unloader trolley and grab bucket are prohibited from entering or leaving on the GIS electronic map. Once the GPS positioning antenna 2AT300 of the ship unloader mobile base station 2CX-E728 or the GPS positioning antenna 1AT300 of the grab bucket mobile base station 1CX-E728 enters or leaves this range, it will trigger the alarm of the GIS monitoring platform. The GIS platform will then alarm through the 5G communication module CPEPRO, switch 3HI08, PLC controller S7-1500 of the ship unloader monitoring terminal, and touch screen TCP7062Ti. The touch screen TCP7062Ti will then command the PLC controller S7-1500 to stop the trolley travel inverter ATV930 or the variable amplitude inverter ATV930 from continuing to run, thereby protecting the ship unloader trolley or grab bucket from colliding with surrounding obstacles. Create a flow chart as shown below Figure 8 shown.

[0084] 2.2.7. Grab bucket electronic safety fence establishment flow chart as follows Fig. 9 shown.

[0085] 2.2.8. Establishment of electronic safety fences around surrounding buildings, obstacles and hatches:

[0086] System composition: The system is composed of GIS electronic map, database, 5G communication module CPEPRO, switch 3HI-08, PLC controller S7-1500, touch screen TCP7062Ti, ship unloader mobile base station 2CX-E728, GPS positioning antenna 2AT300, grab mobile base station 1CX-E728, GPS positioning antenna 1AT300, portable ship mobile base station 3CX-E728, GPS positioning antenna 3AT300, portable ship mobile base station 4CX-E728, GPS positioning antenna 4AT300, etc. Working principle:

[0087] The electronic safety fence function for buildings, obstacles, and hatches around the ship unloader is also achieved through on-site GIS electronic maps and database technology. On the GIS electronic map, buildings, obstacles, hatches, etc. are prohibited from entering or exiting the coordinate range. Once the GPS positioning antenna 2AT300 of the ship unloader mobile base station 2CX-E728 or the GPS positioning antenna 1AT300 of the grab mobile base station 1CX-E728 enters or exits this range, it will trigger the alarm of the GIS monitoring platform. The GIS platform will then alarm through the 5G communication module CPEPRO, switch 3HI08, PLC controller S7-1500 of the ship unloader monitoring terminal, and touch screen TCP7062Ti. The touch screen TCP7062Ti will then command the PLC controller S7-1500 to stop the trolley inverter ATV930 or the variable amplitude inverter ATV930 from continuing to run, thereby protecting the ship unloader trolley or grab from colliding with surrounding buildings, obstacles, hatches, etc. The flow chart is as follows Fig.10 , Fig.11 shown.

[0088] 3. Establish a cloud server:

[0089] In order to effectively utilize cloud resources for ship unloader automation services, the cloud server configuration is as follows:

[0090]

[0091] 4. Fixed Base Station M300 Installation:

[0092] The fixed base station is an important device for real-time calibration of the Beidou satellite mobile receiving base station. It is impossible to perform high-precision positioning control without a fixed base station. Therefore, the system must set up a fixed base station within 75KM. The configuration of the fixed base station M300 is as follows: Fig.12 shown.

[0093] 5. Realization of remote control function of ship unloader:

[0094] 5.1. Working principle of ship unloader remote control system:

[0095] 5.1.1 Composition of ship unloader remote control system:

[0096] The system is composed of GIS monitoring and management platform (cloud service), 5G communication CPEPRO, client T5820, operating console CX-LHJBB03, streaming media server DVSCAR-51, splicing screen CB5503S, GPS fixed base station M300, local remote control JT-KP, video monitoring system CX-SXJ03, 3D laser scanner CX-S8000, ship unloader monitoring terminal S7-1500, trolley monitoring part CX-SXJ02, grab monitoring part CX-E728, bow portable mobile base station CX-E728, stern portable mobile base station CX-E728, etc. The schematic diagram is as follows Fig.13 shown.

[0097] 5.1.2. Working principle of ship unloader remote control system:

[0098] When working, the operator first remotely controls the all-round monitoring ball camera through the client, and conducts a video inspection of the working environment of the ship unloader through the splicing screen to check whether the on-site environment is suitable for the remote control operation standards. After meeting the remote operation standards, the operator starts to issue various control instructions to the ship unloader monitoring terminal through the client according to the location of the electronic map. The cloud platform forwards the command to the ship unloader monitoring terminal through 5G communication, and the ship unloader monitoring terminal executes according to the client command; when the grab bucket reaches the designated position, the 3D laser scanner scans the cabin grabbing scene, and then sends the scanning result to the ship unloader monitoring terminal. The monitoring terminal adjusts the position of the ship unloader trolley according to the 3D laser scanner, so that the grab bucket is in place and starts operation; when the GPS fixed base station is working, it continuously communicates the satellite positioning information it receives with the mobile base station of the ship unloader control system, and continuously sends its own coordinates to the mobile base station, and the mobile base station continuously corrects its own coordinates, thereby improving the positioning accuracy of the ship unloader and grab bucket for the positioning operation of the ship unloader control system;

[0099] If the video inspection finds that the site does not meet the conditions for automated operation, the operator can perform manual operation and control through the operating console.

[0100] 5.2. Working principle of ship unloader monitoring terminal:

[0101] The composition of the ship unloader monitoring terminal: It consists of four parts: the host part of the ship unloader monitoring terminal, the trolley monitoring part, the grab monitoring part, and the ship monitoring part;

[0102] The host part of the ship unloader monitoring terminal is composed of a crane operating handle, a crane working mode selection switch (automatic / semi-automatic), a PLC controller S7-1500, a touch screen TCP7062Ti, a 3D laser scanner CX-JS800, a Beidou satellite positioning mobile base station 2CX-E728, a Beidou satellite positioning antenna 2AT300, a digital radio 4SZ02, a lifting weight limiter CQA01, a wind speed sensor YS-CF, a grab bucket height encoder 1GM58S10K6MA12WN, Grab bucket height encoder 2GM58S10K6MA12WN, trolley amplitude encoder 3GM58S10K6MA12WN, stress strain sensor DH1101, stress strain collector DH3820, lifting inverter 1ATV930, lifting inverter 2ATV930, trolley amplitude inverter ATV930, anti-sway module CX-FY400, left trolley travel inverter ATV930, right trolley travel inverter ATV930, 5G communication module CPEPRO, etc.

[0103] The car monitoring part is mainly composed of the following equipment:

[0104] It consists of powerline 3WD-200M, hysteresis power reel 2MH1800-28 / 180, switching power supply 2LRS-250-12, switch 11005, grab camera 1CX-SXJ02, grab camera 2CX-SXJ02, powerline 2WD-200M, hysteresis power reel 1MH1800-28 / 180, etc.

[0105] The grab bucket is mainly composed of the following equipment:

[0106] It consists of powerline cat 1WD-200M, switch 5005, mobile base station 1CX-E728, GPS antenna 1AT300, digital radio 1SZ02, grab camera 1BS-CA33-IP, grab camera 2BS-CA33-IP, switching power supply 1LRS-350-24, power manager CX-DY02, digital radio 2SZ02, grab searchlight 1SM-2009, grab searchlight 2SM-2009, etc.

[0107] The ship monitoring part is mainly composed of the following equipment:

[0108] Switching power supply 1LRS-150-12, mobile base station 4CX-E728, GPS positioning antenna 4BT5630, digital radio 6SZ02, digital radio 7SZ02; switching power supply 2LRS-150-12, mobile base station 5CX-E728, GPS positioning antenna 5BT5630, digital radio 8SZ02, digital radio 9SZ02, etc.;

[0109] The working principle diagram of the ship unloader remote control terminal is as follows: Fig.14 The working principle diagram of the trolley and grab monitoring part is shown in Fig.15 The working principle diagram of bow positioning is shown in Fig.16 , Fig.17 shown.

[0110] When working, the ship unloader touch screen TCP7062Ti will receive the GIS electronic map, ship ID number, berth, GPS positioning antenna 3BT-5630C of the ship mobile base station 3CX-E728, and GPS positioning antenna 4BT-5630C of the mobile base station 4CX-E728 from the GIS monitoring platform through the 5G communication module CPEPRO, so as to obtain the position information of each cabin and ship edge, the coordinate information of the preset grabbing and unloading points, work tasks, electronic safety fences and other information; the ship unloader touch screen TCP7062Ti will automatically retrieve the ship performance parameters stored in the hard disk according to the ship ID number, ship coordinates and other information, and the ship unloader PLCS7-1500 will automatically start the trolley inverter ATV930 according to the platform instructions to move the ship unloader to the berth. After the trolley is in place, the ship unloader touch screen TCP7062Ti control system adjusts the amplitude trolley and the working amplitude according to the starting point set by the program. At this time, the 3D laser scanner CX-JS800 starts working. Press Scan the designated area according to the program settings to indicate the direction for the grab bucket to work; the ship unloader touch screen TCP7062Ti control system automatically determines the starting position of the work according to the material pile information provided by the 3D laser scanner CX-JS800 and the height of the material pile, and grabs and transports the materials piece by piece from left to right or from right to left according to the axis direction of the ship. If the program setting is to grab and transport the materials piece by piece from left to right during work, the ship unloader touch screen TCP7062Ti will position the trolley at the first piece on the left, and then lower the grab bucket from 1 to start grabbing the materials according to the program setting from front to back or from back to front, because the first bucket generally starts from position 1 of the first piece. At this time, the grab bucket will be close to the edge of the ship. At this time, red electronic fence protection information will appear on the touch screen TCP7062Ti, and virtual grab bucket movement information will appear at the same time. If the virtual grab bucket is close to the electronic fence, an alarm will be triggered. During the lowering of the grab bucket, the PLCS7-1500 control system will automatically adjust the position of the trolley to automatically avoid the edge of the ship that may be touched, thereby preventing accidental grabbing;

[0111] When the grab is full of materials, the ship unloader touch screen TCP7062Ti control system will determine whether the grab has left the cabin based on the cabin position and height provided by the GPS antenna 3BT-5630C and GPS antenna 4BT-5630C of the Beidou satellite mobile base station 3CX-E728 and mobile base station 4CX-E728 installed on the ship, and the grab height information provided by the GPS antenna 1AT300 of the Beidou satellite mobile base station 1CX-E728 installed on the grab. When the grab leaves the cabin, the ship unloader touch screen TCP7062Ti will drive the lifting inverter ATV930 to accelerate the lifting through the PLCS7-1500, and the PLCS7-1500 controller It will automatically drive the trolley variable amplitude inverter ATV930 to perform variable amplitude operation on the trolley. When the grab bucket height reaches the set value, the anti-sway module CX-FY400 module will be automatically started according to the preset funnel position to enter the anti-sway control curve. When the trolley reaches the predetermined unloading location, the variable amplitude inverter ATV930 will automatically decelerate until the set funnel position stops the trolley variable amplitude. At this time, the 3D laser scanner CX-JS800 will send the information of the material pile in the funnel. If the material pile is full, the PLCS7-1500 control system will automatically stop and wait for unloading. If the funnel is flat or half-stored, the PLCS7-1500 control system will automatically choose to unload, and then start to open the grab bucket to unload, and repeat over and over again.

[0112] If the system is overloaded during lifting, the lifting weight limiter CQA01 system will automatically alarm and automatically control to ensure the safety of the crane.

[0113] 6. Realization of visualization and intelligent monitoring functions of trolley and grab bucket:

[0114] System composition: The trolley part consists of powerline cat 3WD-200M, hysteresis power reel 2MH1800-28 / 180, powerline cat 2WD-200M, switch 1005, trolley camera 1CX-SXJ02, trolley camera 2CX-SXJ02, switching power supply 2LRS-250-12;

[0115] The grab part is composed of hysteresis power reel 1MH1800-28 / 180, power cat 1WD-200M, switch 5005, mobile base station 1CX-E728, GPS antenna 1AT300, digital radio 1SZ02, grab camera 1BS-CA33-IP, grab camera 2BS-CA33-IP, grab searchlight 1SM-2009, grab searchlight 2SM-2009, power manager CX-DY02, digital radio 2SZ02, switching power supply 1LRS-350-24, etc. The working principle diagram is as follows Fig.18 shown.

[0116] When working, the ship unloader provides AC220V power supply, and the AC220V power supply enters the hysteresis power reel 2MH1800-28 / 180. The output end of the hysteresis power reel 2MH1800-28 / 180 is divided into two paths. One path passes through the hysteresis power reel 1MH1800-28 / 180 to the grab bucket, and the output end of the hysteresis power reel 1MH1800-28 / 180 passes through the power cat 1WD-200M to the switch 5005 and then to the mobile base station 2CX-E728; the other path passes through the switching power supply 1LRS-350-24 to the power supply Manager CX-DY02, when the power manager CX-DY02 is in the closed state, the grab searchlight 1SM-2009 and grab searchlight 2SM-2009 are powered on, and the grab searchlight 1SM-2009 and grab searchlight 2SM-2009 are lit, irradiating the cabin from the left and right directions of the grab, so that the operator can see the important information such as the material stacking information in the cabin, the cabin position, and the funnel position through the grab camera 1BS-CA33-IP and grab camera 2BS-CA33-IP, which can effectively prevent the grab from mistakenly grabbing the hatch;

[0117] When the grab is not working, the client T8520 issues a control command to control the grab power manager CX-DY02 through the 5G communication module CPEPRO---switch 3HI-08---wireless data transmission radio 3SZ02---wireless data transmission radio 2SZ02 to turn on / off the power of the grab searchlight 1SM-2009 and grab searchlight 2SM-2009, so as to extend the service life of the searchlight grab searchlight 1SM-2009 and grab searchlight 2SM-2009.

[0118] The grab bucket GPS antenna 1AT300 sends the acquired satellite positioning signal to the mobile base station 1CX-E728. After calculation, the mobile base station 1CX-E728 sends the current position coordinates of the grab bucket to the receiving end of the power cat 3WD-200M through the microwave communication of the power cat 1WD-200M through the hysteresis power reel 1MH1800-28 / 180 and the hysteresis power reel 2MH1800-28 / 180. The power cat 3WD-200M converts the grab bucket position signal into TCP / IP protocol and then sends it to the ship unloader control terminal PLCS7-1500 through the switch 2HI008. The PLCS7-1500 forwards it to the touch screen TCP7062Ti for anti-sway and bucket throwing operations. The digital radio 1SZ02 communicates with the fixed base station M300 to calibrate the grab bucket position. The trolley cameras 1CX-SXJ02 and 2CX-SXJ02 are responsible for monitoring the operation of the grab bucket on the sea side and the land side, as well as the video information of the ship edge and the outer edge of the funnel. They send the collected monitoring video information to the switch 1005, and the switch 1005 sends it to the powerline cat 2WD-200M, which converts it into microwave communication through the AC220V power line of the hysteresis power reel 2MH1800-28 / 18 to send the information to the receiving end of the powerline cat 3WD-200M. The powerline cat 3WD-20 0M analyzes the microwave signal and sends it to the switch 2HI-08 through TCP / IP communication. The switch 2HI-08 divides the signal into three channels. One channel of the video signal is sent to the recorder DS-7816N-K2 for storage and query, and then sent to the display E1715SC for display. The other channel of the video signal is sent to the streaming media server DVSCAR-51 by the switch 3HI-08 through the 5G communication module CPEPRO, and sent to the splicing screen CB5503S by the streaming media server DVSCAR-51 for display and monitoring by the operator. The third channel of the grab bucket position signal is sent to the ship unloader control terminal PLCS7-1500 through the switch 2HI-08, and then forwarded to the touch screen TCP7062Ti by the touch screen TCP7062Ti for anti-sway and bucket throwing operations.

[0119] The switch power supply 2LRS-250-12 provides power to the switch 1005, grab camera 1CX-SXJ02, grab camera 2CX-SXJ02, etc. The switch power supply 1LRS-350-24 provides power to the mobile base station 1CX-E728, GPS antenna 1AT300, data radio 1SZ02, power manager CX-DY02, searchlight 1SM-2009, searchlight 2SM-2009, etc. Working principle of hysteresis power reel 2MH1800-28 / 180: The hysteresis power reel 2MH1800-28 / 180 uses a hysteresis coupling as a synchronous differential mechanism, and uses the principle of magnetic coupling to ensure that the speed of the cable reel to retract and release the cable is always synchronized with the speed of the mobile trolley and the lifting speed of the grab. The hysteresis cable reel 2MH1800-28 / 180 transmits power to the hysteresis coupling through the motor, and transmits the amplified torque to the cable reel after the speed change of the reduction box. When the cable reel is working, the motor of the hysteresis power reel 2MH1800-28 / 180 always rotates in the direction of cable collection. When the ship unloader trolley or grab moves away from the power supply point, the cable is dragged to overcome the magnetic field torque on the hysteresis coupling, so that the magnetic field between the permanent magnet inside the hysteresis coupling and the induction disk produces a slip difference, and the cable on the reel is lowered. Due to the effect of magnetic coupling, the cable is always in a tensioned state during the cable release process; when the ship unloader trolley or grab moves toward the power supply point, the cable reel automatically rotates in the set winding direction to collect the cable.

[0120] 7. Realization of ship plane height and cabin position positioning function:

[0121] System composition: The system consists of a portable bow mobile base station 4 and a portable stern mobile base station 5;

[0122] The portable bow mobile base station is composed of a switching power supply 1LRS-150-12, a mobile base station 3CX-E728, a GPS positioning antenna 3BT-5630, a digital radio 5SZ02, a digital radio 6SZ02, etc. The portable main box is placed at the bow, and the GPS positioning antenna 3BT-5630 is fixed at a designated position on the central axis of the bow.

[0123] The portable stern mobile base station is composed of a switching power supply 2LRS-150-12, a mobile base station 4CX-E728, a GPS positioning antenna 4BT-5630, a digital radio 7SZ02, a digital radio 8SZ02, etc. The portable main box is placed at the stern, and the GPS positioning antenna 4BT-5630 is fixed at a designated position on the central axis of the stern; the schematic diagram is as follows Fig.16 , Fig.17 shown.

[0124] When working, GPS positioning antenna 3BT-5630 and GPS positioning antenna 4BT-5630 send the received bow and stern satellite positioning signals and altitude signals to mobile base station 3CX-E728 and mobile base station 4CX-E728. After differential calculation, mobile base station 3CX-E728 and mobile base station 4CX-E728 send the current bow and stern position coordinates and altitude values ​​to digital radio station 3SZ02 through digital radio station 6SZ02 and digital radio station 8SZ02, and then digital radio station 3SZ02 sends them to PLC controller S7-1. 500, and then sent to the touch screen TCP7062Ti by the PLC controller S7-1500, and then the touch screen TCP7062Ti calculates the current position of each cabin and the position and height of the ship's edge according to the current bow position coordinates and height value, and then according to the instructions of the client T5820 or the remote control console CX-LHJBB03, the PLC controller S7-1500 commands the trolley inverter ATV930 to drive the trolley to the set cabin position, and the trolley inverter drives the trolley to drive the grab bucket to the cabin set coal grabbing position, ready to start coal grabbing operations. Digital radio 5SZ02 and digital radio 7SZ02 communicate with the digital radio SZ02 of the fixed base station, and are mainly used to calibrate the position accuracy of the mobile base station 3CX-E728 and the mobile base station 4CX-E728.

[0125] 8. Realization of video monitoring function of ship unloader:

[0126] System composition: It is composed of the camera BS-CA33-IP installed on the left grab, the camera BS-CA33-IP installed on the right grab, the switch 5005, the power cat 2WD-200M, the grab power reel 2MH1800-28 / 180, the front camera of the trolley CX-SXJ02, the rear camera of the trolley CX-SXJ02, the switch 1005, the power cat 1WD-200M, the power reel 1MH1800-28 / 180 of the trolley, the power cat 3WD-200M, and the camera for automatic tracking and monitoring of the grab at the middle sea side of the connecting beam at the top of the front beam. The system consists of camera 1CX-SXJ03, camera 2CX-SXJ03 installed on the land side of the middle of the ladder frame to automatically track and monitor the grab bucket, all-round monitoring ball camera DHK-EX300, left trolley monitoring camera BS-CA33-IP, right trolley monitoring camera BS-CA33-IP and switch 2HI-08, recorder DS-7816N-K2, display E1715SC, switch 3HI-08, 5G communication module CPEPRO, streaming media server DVSCAR-51, splicing screen CB5503S, etc. The schematic diagram is as follows Fig.19 shown.

[0127] When working, the left grab bucket camera BS-CA33-IP and the right grab bucket camera BS-CA33-IP continuously collect the video signal under the grab bucket and send it to the switch 5005. The switch 5005 sends the video signal to the powerline cat 2WD=200M, which is sent to the powerline cat 3WD-200M by microwave communication of the powerline cat 2WD-200M; the trolley front monitoring camera CX-SXJ02 and the trolley rear monitoring camera CX-SXJ02 send the operating condition information of the grab bucket under the trolley to the switch 1005, which is sent to the powerline cat 3WD-200M by microwave communication of the powerline cat 1WD-200M. The powerline cat 3WD-200M converts the received microwave signal into TCP / IP protocol and communicates with the all-round monitoring ball camera DHK-EX3 00. Automatic tracking monitoring grab camera 1CX-SXJ03, automatic tracking monitoring grab camera 2CX-SXJ03, left trolley walking monitoring camera BS-CA33-IP, right trolley walking monitoring camera BS-CA33-IP, etc. send video signals to switch 2HI-08, which is sent to switch 3HI-08, and then sent to recorder DS-7816N-K2 for storage and query, and sent to display E1715SC for display. Another video signal is sent from switch 3HI-08 to streaming media server DVSCAR-51 through 5G communication module CPEPRO, and sent to splicing screen CB5503S for display by streaming media server DVSCAR-51, which is used for monitoring by operators.

[0128] The automatic tracking monitoring grab bucket camera 1CX-SXJ03 and the automatic tracking monitoring grab bucket camera 2CX-SXJ03 are composed of an integrated camera and a stepper motor. The integrated camera is responsible for collecting and monitoring the operation video information of the grab bucket. It can automatically adjust the focus and distance according to the distance of the grab bucket to achieve the best video monitoring effect; the stepper motor automatically tracks the position of the grab bucket according to the PLCS7-1500 instruction;

[0129] When working, the PLC controller S7-1500 calculates the current grab position based on the grab height position information and the trolley amplitude position information sent by the grab height encoder 1GM58S10K6MA12WN and the trolley amplitude encoder 3GM58S10K6MA12WN, and then drives the stepper motor to automatically adjust the angle so that the integrated camera is always aimed at the grab for video acquisition and monitoring, thereby achieving the purpose of automatically tracking and monitoring the grab operation.

[0130] IX. Realization of fatigue monitoring and alarm function of mechanical structure in key parts of ship unloader:

[0131] System composition: It is composed of stress and strain sensors BH1101 installed at the corresponding positions of the ladder frame, tie rod, beam and door leg, stress and strain collector DH3820, PLCS7-1500 controller, touch screen TCP7062Ti, 5G communication module CPEPRO, GIS platform server and CAE analysis software;

[0132] During operation, the stress-strain sensor BH1101 sends the stress-strain information of the corresponding positions of the ladder frame, tie rod, beam and portal leg to the collector DH3820. After amplification and shaping, the collector DH3820 converts the signal into a standard signal and then sends it to the GIS platform server through the 5G communication module CPEPRO in the form of a communication protocol. The GIS platform server uses CAE analysis software to continuously monitor and analyze the structural stress and strain of the ladder frame, tie rod, beam and portal leg. When it is found that the stress and strain of the ladder frame, tie rod, beam and portal leg exceeds the set value, an alarm signal is immediately sent to the ship unloader monitoring terminal PLCS7-1500. After receiving the alarm signal, the ship unloader monitoring terminal PLCS7-1500 will immediately output a control command to prohibit the ship unloader lifting inverter ATV930 from continuing to operate, thereby avoiding major safety accidents caused by sudden brittle fracture due to structural fatigue of the ladder frame, tie rod, beam and portal leg.

[0133] 10: Realization of automatic positioning function of ship unloader:

[0134] System composition: It consists of the client, the GIS electronic map of the cloud platform, the fixed satellite positioning base station M300 installed on the outdoor roof of the center of the ship unloader terminal, the satellite positioning antenna AT300 of the fixed base station, the digital radio SZ02 of the fixed base station, the ship unloader satellite positioning mobile base station 2CX-E728, the satellite positioning antenna 2AT300, the digital radio 4SZ02, etc.

[0135] During work, the operator sets the starting point coordinates, berth coordinates, ship grabbing position coordinates and unloading point coordinates of the ship unloader on the client's cloud platform GIS electronic map according to the day's tasks. After setting, the command is sent to the ship unloader touch screen TCP7062Ti through the 5G communication module CPEPRO. After receiving the command, the ship unloader touch screen TCP7062Ti will command PLCS7-1500 to start the trolley to move to the designated berth coordinates. The position is provided by the mobile antenna 2AT300 of the ship unloader mobile base station 2CX-E728. After arriving at the designated berth, the ship unloader touch screen TCP7062Ti calculates the difference between the current position of the trolley amplitude encoder 3GM58S10K6MA12WN and the cabin grabbing position coordinates, and then commands PLCS7-1500 to drive the trolley inverter to adjust the grab bucket to the target position before starting work.

[0136] 11: Realization of grab bucket anti-sway and aerial bucket swing operation positioning function:

[0137] System composition: It is composed of GIS management platform, client, 5G communication module CPEPRO, touch screen TCP7062Ti, PLC controller S7-1500, switch 2HI-08, mobile base station 1CX-E728, satellite positioning antenna 1AT300 (installed on the grab), data transmission radio 1SZ02, 3D laser scanner CX-JS800, image controller CX-X8000, lifting weight limiter CQA01, weight sensor JZ-1, wind speed sensor YS-CF, grab height encoder 2GM58S10K6MA12WN, trolley amplitude encoder 3GM58S10K6MA12WN, grab support inverter ATV930, amplitude inverter ATV930, anti-sway module CX-FY400, etc. The schematic diagram is as follows Fig. 20 shown.

[0138] When working, sampling must be carried out first. The touch screen TCP7062Ti will collect the swing amplitude of the ship unloader grab under variable amplitude conditions at different weights, heights, speeds and wind speeds, and then upload it to the GIS management platform through the 5G communication module CPEPRO for calculation and simulation. The simulated program is then sent to the touch screen TCP7062Ti through the 5G communication module CPEPRO. After sorting, the touch screen TCP7062Ti solidifies the anti-sway program into the anti-sway module CX-FY400. The anti-sway module CX-FY400 will adjust the inverter according to the control parameters at different weights, heights, speeds and wind speeds according to the working objectives given by the 3D laser scanner CX-JS800, so as to achieve the purpose of suppressing the swing amplitude of the grab.

[0139] In order to further explain the anti-sway working principle of grab bucket ship unloader, the working condition of the ship unloader is as follows: coal is grabbed from the cabin and transported to the retractable coal unloading funnel under the crotch of the ship unloader, and then unloaded from the funnel to the belt conveyor, and the belt conveyor transports the coal to the coal yard.

[0140] In this way, the height of the grab bucket to the coal unloading hopper is relatively fixed each time, and the coal grabbing route is: the grab bucket is lifted vertically from the cabin---passing the cabin door----accelerated lifting + amplitude change----higher than the appropriate position of the coal unloading hopper, horizontal amplitude change + acceleration----close to the appropriate position above the coal unloading hopper. The PLC controller S71500 commands the grab bucket opening and closing inverter ATV930 to open the grab bucket to unload coal. When the grab bucket reaches the center point of the coal unloading hopper by impact speed, the coal in the grab bucket has been unloaded. When the grab bucket speed is zero, the PLCS7-1500 immediately shifts gears to command the amplitude change inverter ATV930 to move in the opposite direction, thereby completing the air anti-sway and air bucket throwing operation process, and realizing the efficient operation of the grab bucket;

[0141] Grabbing coal in the cabin also follows this principle. In order to improve the efficiency of grabbing coal, the height and size of the coal pile in the cabin collected by the 3D laser scanner CX-JS800 are analyzed by the touch screen TCP7062Ti and then controlled by the PLC controller S7-1500 according to the coordinates of the coal pile location. The high and large coal piles are grabbed and transported first. According to convention, the zero speed of the grab should be set above the edge of the ship. However, in order to grab the coal under the edge of the ship, the grab should be opened at the appropriate position in the middle of the cabin based on the height of the coal pile and the horizontal position of the grab. The impact force of the boom speed is used to open the grab at the appropriate position in the middle of the cabin, and the grab is thrown onto the coal pile under the edge of the ship by the boom speed of the trolley. At the same time, it must not cause impact on the edge of the ship and the hull, thereby realizing the function of grabbing coal in the air.

[0142] 12. Realization of the cabin position and stockpile position identification function:

[0143] System composition: The system consists of 3D laser scanner CX-JS800, scanner controller CX-X8000, switch HI-08, PLC controller S7-1500, touch screen TCP7062Ti, 5G communication module CPEPRO, GIS management platform, client, etc. The working principle is as follows Fig.21 shown.

[0144] When working, the laser emitter in the 3D laser scanner CX-JS800 aims at the hull and emits laser pulses. When the laser wave hits the cabin hull, the laser scanner calculates the distance value from it to the cabin hull; the laser scanner CX-JS800 continuously emits laser pulse waves, which hit the high-speed rotating mirror and emit the laser pulse waves in all directions to form a two-dimensional area scan. On the basis of two-dimensional scanning, adding a pan-tilt head for orthogonal rotation can form a three-dimensional space scan. The scanner controller CX-X8000 records the three-dimensional coordinate information and reflectivity information of a large number of dense points on the surface of the hull being measured, and the three-dimensional data of various hull real scenes are completely collected into the controller CX-X8000. After being processed by the point cloud processing software, the three-dimensional model of the hull being measured and the various drawing data such as lines, surfaces, and bodies of the material pile in the cabin can be quickly reconstructed.

[0145] Since laser can penetrate glass, the 3D laser material scanner CX-JS800 can be well protected and can be used for measurement in harsh environments (high temperature, high pressure, high humidity, and high dust). Since the laser emission angle is very small (<0.2°), the 3D laser material scanner CX-JS800 can measure the material level in a narrow space and perform three-dimensional measurement of irregular material surfaces. The detected information is then sent to the image controller CX-X8000, which is equipped with point cloud processing software. The point cloud processing software forms a three-dimensional image of the material surface, and obtains the lowest material level, highest material level, average material level, cabin distance, cabin height, cabin width, etc. of the cabin material surface. The information is then sent to the PLC controller S7-1500 through the switch HI-08 through the protocol. The PLC controller S7-1500 sends the information to the touch screen TCP7062Ti, which adjusts the trolley position or arm posture according to the coal grabbing rules so that the grab bucket can accurately fall to the highest material level in the cabin. While controlling the work of the PLC controller S7-1500, the touch screen TCP7062Ti sends the information to the GIS management platform and client through the 5G communication module CPEPRO for client monitoring.

Claims

1. A remote control system for grab ship unloader, characterized in that The system includes: GIS monitoring and management platform, client, operation console, fixed base station, ship unloader monitoring system, bow and stern positioning devices; The GIS monitoring and management platform is connected to the client and the operation console through the fourth switch; The GIS monitoring and management platform is connected to the ship unloader monitoring system through the 5G communication module; The ship unloader monitoring system is connected to the local remote control receiver and the fixed base station respectively; The ship unloader monitoring system and the bow and stern positioning devices are all connected to the fixed base station; The ship unloader monitoring system comprises a monitoring terminal host part, a trolley monitoring part, a grab bucket monitoring part, and a ship monitoring part, wherein the monitoring terminal host part is respectively connected to the trolley monitoring part, the grab bucket monitoring part, the ship monitoring part, and the bow and stern positioning devices; The host part of the monitoring terminal includes: a PLC controller, a touch screen, a 3D laser scanner, and a second mobile base station; The PLC controller is respectively connected to the crane operating handle, the crane working mode selection switch, the touch screen, and the third switch; The PLC controller is connected to the wind speed sensor, grab bucket height encoder, and trolley amplitude encoder respectively; The PLC controller is connected to the anti-sway module, the left trolley travel inverter, the right trolley travel inverter, and the lifting inverter respectively, and the anti-sway module is connected to the trolley amplitude variable inverter; The third switch is respectively connected to the 5G communication module, the second mobile base station, the lifting weight limiter, the stress and strain collector, and the scanner controller; The second mobile base station is respectively connected to the second positioning antenna and the fourth data transmission station, the lifting weight limiter is connected to the weight sensor, the stress strain collector is connected to the stress strain sensor, and the scanner controller is connected to the 3D laser scanner; The PLC controller is connected to the third data transmission radio station and the local remote control receiver respectively; The PLC controller is connected to the second switch, the second switch is connected to the video recorder, the video recorder is connected to the display, and the second switch is connected to the third switch; The trolley monitoring part includes: a third power cat, a second hysteresis power reel, a switching power supply 2LRS-250-12, a first switch, a second power cat, and a first hysteresis power reel; The AC220V power supply is connected to the second power cat, the switching power supply 2LRS-250-12, the second hysteresis power reel, the first hysteresis power reel, and the third power cat respectively; The switching power supply 2LRS-250-12 is connected to the second powerline modem, the second powerline modem is connected to the first switch, the first switch is connected to the car camera; the third powerline modem is connected to the second switch; The grab bucket monitoring part includes: a first powerline modem, a fifth switch, a first mobile base station, a first GPS antenna, a first data transmission radio, a grab bucket camera, a switching power supply 1LRS-350-24, a power manager, a second data transmission radio, and a grab bucket searchlight; The AC220V power supply is connected to the first power cat and the switching power supply 1LRS-350-24 respectively, the first power cat is connected to the fifth switch, the fifth switch is connected to the first mobile base station and the grab bucket camera respectively, and the first mobile base station is connected to the first GPS antenna and the first data transmission radio station respectively; The switch power supply 1LRS-350-24 is connected to the power manager, the power manager is connected to the grab searchlight, and the power manager is connected to the second data transmission station; The ship monitoring part includes an all-round monitoring ball camera, a left truck monitoring camera, a right truck monitoring camera, and an automatic tracking camera; The all-round monitoring dome camera, the left truck monitoring camera, the right truck monitoring camera, and the automatic tracking camera are all connected to the second switch; The bow and stern positioning device comprises a bow mobile base station and a stern mobile base station; The bow mobile base station includes a switching power supply 1LRS-150-12, the AC220V power supply is connected to the switching power supply 1LRS-150-12, the switching power supply 1LRS-150-12 is connected to the third mobile base station, and the third mobile base station is respectively connected to the third GPS positioning antenna, the fifth data transmission radio station, and the sixth data transmission radio station; The stern mobile base station includes a switching power supply 2LRS-150-12, the AC220V power supply is connected to the switching power supply 2LRS-150-12, the switching power supply 2LRS-150-12 is connected to the fourth mobile base station, and the fourth mobile base station is respectively connected to the fourth GPS positioning antenna, the seventh data transmission radio station, and the eighth data transmission radio station.

2. According to claim 1, a remote control system for grab ship unloader is characterized in that: The fourth switch is connected to the streaming media server, and the streaming media server is connected to the splicing screen.

3. A method for establishing an electronic safety fence for a ship unloader based on the remote control system for a grab ship unloader according to claim 1 or 2, characterized in that: Through the on-site GIS electronic map and database technology, the coordinate range that the ship unloader trolley and grab are prohibited from entering or exiting is circled on the GIS electronic map. Once the positioning antenna of the second mobile base station of the ship unloader or the positioning antenna of the first mobile base station of the grab enters or exits this range, the GIS monitoring and management platform will trigger an alarm. The GIS monitoring and management platform will alarm through the 5G communication module CPEPRO, the third switch, the PLC controller of the monitoring terminal host part, and the touch screen. The touch screen commands the PLC controller to stop the left trolley travel inverter or the right trolley travel inverter, or the trolley amplitude variable frequency inverter from continuing to run, thereby protecting the ship unloader trolley or grab from colliding with surrounding obstacles.

4. A remote control method for a grab ship unloader based on the remote control system for a grab ship unloader according to claim 1 or 2, characterized in that: When working, the touch screen will receive the GIS electronic map, ship ID number, berth, GPS positioning antenna of the third mobile base station, and GPS positioning antenna coordinate information of the fourth mobile base station sent by the GIS monitoring platform through the 5G communication module, so as to obtain the position information of each cabin and ship edge, the coordinate information of the preset grabbing and unloading points, the work tasks, and the electronic safety fence information; The touch screen automatically retrieves the ship's performance parameters stored in the hard disk according to the ship ID number and the ship coordinate information. The ship unloader PLC automatically starts the left trolley travel inverter or the right trolley travel inverter according to the platform instructions, and moves the ship unloader to the berth. After the trolley is in place, the touch screen control system adjusts the variable amplitude trolley and the working amplitude according to the starting point set by the program. At this time, the 3D laser scanner starts to work and scans the specified area according to the program settings to indicate the direction for the grab bucket to work; The touch screen control system automatically determines the starting position of the work according to the material pile information provided by the 3D laser scanner and the height of the material pile, and grabs and transports the materials piece by piece from left to right or from right to left according to the axis direction of the ship. If the program setting is to grab and transport the materials piece by piece from left to right during work, the touch screen will position the trolley at the first piece on the left, and then start to lower the grab bucket to grab the materials in the order from front to back or from back to front as set by the program. At this time, the grab bucket will approach the edge of the ship, and the red electronic fence protection information will appear on the touch screen, and the virtual grab bucket movement information will also appear. If the virtual grab bucket approaches the electronic fence, an alarm will be triggered. During the process of lowering the grab bucket, the PLC controller will automatically adjust the position of the trolley to automatically avoid the edge of the ship that may be touched. When the grab is full of materials, the touch screen control system will determine whether the grab has left the cabin based on the cabin position and height provided by the GPS antennas of the third and fourth mobile base stations currently installed on the ship, and the grab height information provided by the GPS antenna of the first mobile base station installed on the grab. When the grab has left the cabin, the touch screen will drive the lifting inverter to accelerate the lifting through the PLC controller, and the PLC controller will automatically drive the trolley amplitude variable frequency inverter to perform amplitude variable operation on the trolley. When the grab bucket height reaches the set value, the anti-sway module is automatically started to enter the anti-sway control curve according to the preset funnel position. When the trolley reaches the predetermined unloading location, the trolley amplitude variable frequency drive automatically decelerates until the set funnel position stops the trolley amplitude change. At this time, the 3D laser scanner will send the information of the material pile in the funnel. If the material pile is full, the PLC controller will automatically stop and wait for unloading. If the funnel is flat or half-filled, the PLC controller will automatically choose to unload, and then start to open the grab bucket to unload, and repeat this cycle.

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