A remote control system for portal crane

Abstract

A remote control system for a gantry crane, the system includes a cloud server platform, a client, a remote control console, a fixed base station, a gantry monitoring terminal, a grab monitoring part, and a bow and stern positioning device. The cloud server platform is connected to the client and the remote control console respectively through a fifth switch. The cloud server platform is connected to the gantry monitoring terminal through a 5G communication module, and the gantry monitoring terminal is connected to the grab monitoring part. The gantry monitoring terminal, the grab monitoring part, and the bow and stern positioning devices are all connected to the fixed base station for communication. A remote control system for a gantry crane of the present invention realizes remote control of the gantry crane, and can communicate and network with a production scheduling system, providing technical support for unmanned operation, cost reduction and efficiency improvement at the terminal.

Description

Technical Field

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

[0002] A gantry crane is also called a boom crane with a rotatable lifting device (referred to as the rotating part) mounted on a gantry frame. The four legs of the gantry frame form four "doorways" for railway vehicles and other vehicles to pass through. Most gantry cranes run along the crane tracks on the ground or on buildings to carry out lifting and loading and unloading operations. At present, gantry cranes are mainly used for port machinery operations. The bridge is supported on the ground track or foundation by the legs on both sides. It has the characteristics of running along the ground track and allowing railway vehicles or other ground vehicles to pass underneath. The gantry crane is also gradually promoted and applied to slipways and hydropower station sites where the operating conditions are similar to those of ports. The control part of the gantry crane is an important part of it, which is directly related to safe production and work efficiency. However, due to the special working environment of the gantry crane, there is no advanced control system in the existing technology to meet the increasingly precise needs of the current gantry crane.

[0003] The document "Application of PLC Remote Monitoring System on Gantry Cranes" (Automation Control, Rao Laiqing) records the remote monitoring scheme of gantry cranes, which has certain drawbacks, as shown in the following aspects: ①. This scheme is for remote monitoring of gantry equipment failures, but does not mention improving productivity and reducing the labor intensity of operators. ②. This scheme is transmitted through GPRS, the data channel is relatively small, and the amount of wirelessly transmitted data is small, which objectively limits its remote transmission function. ③. This scheme does not have GPS positioning function, image recognition function, and grab anti-sway function. How to improve the working efficiency of gantry cranes, reduce the labor intensity of drivers, reduce costs, and improve work efficiency is the goal of gantry crane control. Summary of the invention

[0004] In order to improve the working efficiency of gantry cranes, reduce the labor intensity of drivers, reduce costs and increase efficiency, the present invention provides a gantry crane remote control system, which realizes remote control of gantry cranes and can communicate and network with the production scheduling system, providing technical support for the dock to realize unmanned operation, reduce costs and increase efficiency.

[0005] The technical solution adopted by the present invention is:

[0006] A remote control system for a portal crane, the system comprising:

[0007] Cloud server platform, client T5820, remote control console CX-LHJBB03, fixed base station M300, portal monitoring terminal, grab monitoring part, bow and stern positioning device;

[0008] The cloud server platform is connected to the client T5820 and the remote control console CX-LHJBB03 through the switch 5HI-08;

[0009] The cloud server platform is connected to the gate monitoring terminal through the 5G communication module CPEPRO, and the gate monitoring terminal is connected to the grab monitoring part;

[0010] The gantry monitoring terminal, grab monitoring part, and bow and stern positioning devices are all connected to the fixed base station M300.

[0011] The switch 5HI-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 gate landline monitoring terminal includes a PLC controller S7-1500 and a touch screen VMC1100; the touch screen VMC1100 is connected to the PLC controller S7-1500, the PLC controller S7-1500 is connected to the switch 2HI-08, the switch 2HI-08 is respectively connected to the 5G communication module CPEPRO, the data transmission radio 3SZ02, the scanner controller, the GPS positioning mobile base station 2CX-E728, and the anti-collision signal collector; the scanner controller is connected to the 3D laser scanner CX-JS800, the GPS positioning mobile base station 2CX-E728 is respectively connected to the data transmission radio 4SZ02, the GPS positioning antenna 2AT300, and the GPS directional antenna 3AT300; the anti-collision signal collector is connected to the anti-collision sensor CX-HB100;

[0013] The PLC controller S7-1500 is connected to the wind speed sensor YS-CF, height encoder 1GM58S10K6MA12WN, height encoder 2GM58S10K6MA12WN, grab support inverter ATV930, grab opening and closing inverter ATV930, and left and right trolley travel inverters respectively;

[0014] The PLC controller S7-1500 is connected to the anti-sway module 1CX-FY400, the anti-sway module 2CX-FY400, and the anti-sway module 3CX-FY400 respectively; the anti-sway module 1CX-FY400, the anti-sway module 2CX-FY400, and the anti-sway module 3CX-FY400 are connected to the left-turn frequency converter, the right-turn frequency converter, and the amplitude variable frequency converter respectively;

[0015] The PLC controller S7-1500 is connected to the torque limiter CX-AV, and the torque limiter CX-AV is connected to the weight sensor 1JZ-1, the weight sensor 2JZ-1, and the angle sensor CX-JD90 respectively;

[0016] PLC controller S7-1500 is connected to remote control receiver JT-KP.

[0017] The grab monitoring part includes hysteresis power reel MH1800-28 / 180, powerline cat 2WD-200M, powerline cat 1WD-200M;

[0018] The AC220V power supply is connected to the hysteresis power reel MH1800-28 / 180, the hysteresis power reel MH1800-28 / 180 is connected to the switching power supply 1LRS-350-24, the switching power supply 1LRS-350-24 is respectively connected to the switch 1005, the grab camera 1BS-CA33-IP, the grab camera 2BS-CA33-IP, the mobile base station 1CX-E728, the power manager CX-DY02, the mobile base station 1CX-E728 is respectively connected to the GPS antenna 1AT300, the digital radio 1SZ02, the power manager CX-DY02 is respectively connected to the digital radio 2SZ02, the grab searchlight 1SM-2009, the grab searchlight 2SM-2009;

[0019] Grab camera 1BS-CA33-IP and grab camera 2BS-CA33-IP are connected to switch 1005, switch 1005 is connected to powerline modem 1WD-200M, and powerline modem 1WD-200M is connected to hysteresis power reel MH1800-28 / 180;

[0020] The hysteresis power reel MH1800-28 / 180 is connected to the powerline cat 2WD-200M, the powerline cat 2WD-200M is connected to the switch 2HI-08, and the switch 2HI-08 is connected to the switch 3HI-08.

[0021] The system also includes: hook monitoring camera CX-SXJ02, cab side camera DHK-EX300, lifting rope camera BS-CA33-IP, electrical room camera BS-CA33-IP, left trolley track camera, right trolley track camera, switch 4005, left grab bucket camera, right grab bucket camera; powerline cat 3WD-200M, powerline cat 4WD-200M;

[0022] The cameras on the left and right trolley tracks are connected to switch 4005, which is connected to powerline modem 3WD-200M.

[0023] The powerline cat 3WD-200M is connected to the switch 3HI-08, and the switch 3HI-08 is connected to the electrical room camera BS-CA33-IP, the hook monitoring camera CX-SXJ02, the driver's cab side dome camera DHK-EX300, and the lifting rope camera BS-CA33-IP;

[0024] Switch 3HI-08 is connected to the video recorder DS-7804N-K2, and the video recorder DS-7804N-K2 is connected to the monitor E1715SC;

[0025] Switch 2HI-08 is connected to switch 1HI-08, and switch 1HI-08 is connected to the left grab bucket camera and the right grab bucket camera respectively.

[0026] The bow and stern positioning device comprises:

[0027] The bow positioning device includes a mobile base station 3CX-E708, which is respectively connected to a switch power supply 1LRS-150-12, a digital radio 6SZ02, a GPS positioning antenna 4BT5630, and a digital radio 5SZ02;

[0028] The stern positioning device includes a mobile base station 4CX-E708, and the mobile base station 4CX-E708 is respectively connected to a switching power supply 2LRS-150-12, a digital radio 8SZ02, a GPS positioning antenna 5BT5630, and a digital radio 7SZ02.

[0029] The present invention provides a remote control system for a portal crane, and the technical effects are as follows:

[0030] 1) By using GIS electronic map technology and satellite positioning technology, the vector electronic map of the gantry crane terminal site and the digital modeling of the gantry crane, grab bucket, track, berth and ship are realized, so that the whole operation of the gantry crane can be digitized and visualized, and the whole process of grab bucket from grabbing - lifting - amplitude change - rotation - lowering - unloading can be realized in digital and automated operation.

[0031] 2) According to the production scheduling instructions, the operator can issue work targets and grabbing tasks to the portal monitoring terminal through the client or remote control console. The portal terminal automatically reaches the target workstation and cabin position according to the client instructions, and automatically adjusts the portal control curve and control process according to the target cargo ship number, specification and model. With the permission of the client, it can automatically or semi-automatically carry out the grabbing operation according to the control process;

[0032] 3) Through big data analysis, machine learning and simulation, an anti-sway model and an aerial bucket-swinging operation model are established to realize the automatic anti-swaying and aerial bucket-swinging functions of the grab bucket, shorten the operation time of the grab bucket, and improve the operation efficiency of the grab bucket;

[0033] 4) The present invention uses GIS vector electronic map technology and satellite positioning technology to develop an electronic safety fence for the gantry crane, which achieves safe isolation between the gantry crane grab bucket and the edge of the ship, and anti-collision between gantry cranes, etc., which can effectively prevent the grab bucket from accidentally grabbing the edge of the ship and colliding with surrounding obstacles;

[0034] 5) The present invention uses 3D laser scanning and cloud computing analysis to realize automatic material identification, automatic calculation of the size of the pile, the height of the pile, the position of the ship edge, the height of the hatch, the height of the funnel, etc., which lays an important foundation for the automatic control of the grab bucket and the bucket throwing operation;

[0035] 6) Automatic anti-collision function of the gantry crane boom. The microwave radar installed on the gantry crane boom can monitor the dynamic distance between adjacent gantry crane booms online. If it is sensed that the safety distance between the adjacent gantry crane boom and the current gantry crane boom is less than the set value, the system will automatically alarm and automatically control, prohibiting the current gantry crane boom from approaching the adjacent gantry crane, thereby avoiding the risk of collision between the two vehicle booms;

[0036] 7) Intelligent grab bucket, which has GPS positioning, automatic and efficient lighting, grab bucket video monitoring, intelligent anti-collision, weighing and metering, overload and over-torque automatic alarm, automatic protection functions, etc.

[0037] 8) Various control modes such as automatic control, manual remote control, local control, on-site wireless remote control, etc. Customers can choose according to the on-site working conditions;

[0038] 9) Video monitoring system can effectively assist operators in monitoring operations;

[0039] 10) One person can remotely control multiple gantry operators. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 The overall architecture diagram of the system of the present invention is shown in FIG.

[0041] Figure 2 Developed a flow chart for the GIS electronic map of bulk and general cargo terminals.

[0042] Figure 3 Digital workflow diagram for gantry crane travel track.

[0043] Figure 4 Create a process map for digital berths.

[0044] Figure 5 Create a process map for the digital ship.

[0045] Figure 6 Model a flow chart for a digital portal operator.

[0046] Figure 7 Model a flow chart for the digital grab.

[0047] Figure 8 Create a flow chart for the electronic safety fence of a portal crane.

[0048] Fig. 9Create a flow chart for the grab bucket electronic safety fence.

[0049] Fig.10 Create a flow chart for the electronic security fence around the building.

[0050] Fig.11 Create a flow chart for electronic security fencing of ship hatches.

[0051] Fig.12 This is a configuration diagram of a fixed base station of the present invention.

[0052] Fig.13 The figure is a working principle diagram of the system of the present invention.

[0053] Fig.14 This is a working principle diagram of the door landline monitoring terminal of the system of the present invention.

[0054] Fig.15 This is a working principle diagram of the grab monitoring part of the system of the present invention.

[0055] Fig.16 The schematic diagram of the video monitoring system of the present invention is shown in FIG.

[0056] Fig.17 This is a schematic diagram of the grab bucket anti-sway and aerial bucket swinging operation positioning functions of the system of the present invention.

[0057] Fig.18 This is a schematic diagram of the cabin position and stockpile position identification principle of the system of the present invention.

[0058] Fig.19 This is a schematic diagram of the bow positioning working principle of the system of the present invention.

[0059] Fig. 20 This is a schematic diagram of the stern positioning working principle of the system of the present invention. DETAILED DESCRIPTION

[0060] A remote control system for a gantry crane takes into account the working characteristics and working conditions of the gantry crane. It adopts the SOA technology architecture and B / S structure to build an automatic monitoring and management platform for the gantry crane. It uses GIS electronic information technology, big data and AI technology to provide a digital and visual basis for the automatic control of the gantry crane. Then it uses GPS positioning, 3D digital scanning, CAE online monitoring and analysis, 5G communication and other advanced means to achieve anti-swaying of the gantry crane, spatial anti-collision, material identification, obstacle identification, and predictive maintenance of mechanical structure fatigue.

[0061] (I): The overall system architecture is as follows Figure 1 As shown:

[0062] 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 controller S7-1500, frequency converter, touch screen VMC1100, etc., and is mainly responsible for the information collection and control of the gate phone; the cloud service part is mainly composed of GIS electronic map, cloud server platform, database, etc., and is mainly responsible for providing GIS electronic map support and cloud computing, AI computing support services for the gate phone terminal, etc. The management and scheduling part is mainly responsible for the task arrangement and remote control of the gate phone.

[0063] (II): Implementation of various functions of the system:

[0064] 2.1. Design of GIS electronic map for bulk and general cargo terminals:

[0065] First, the customer provides CAD maps of bulk cargo terminals, 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 site, so as to create conditions for digital support for gate machine control. The development process of GIS electronic map of bulk cargo terminals is as follows: Figure 2 shown.

[0066] 2.2. Equipment digital modeling processing: After the electronic map design is completed, the electronic map can be used to model the gantry crane's travel track, berth, gantry crane, grab, and ship, and then solidify and number them and store them in the database.

[0067] 2.2.1. Digital track modeling of portal machine:

[0068] The establishment of digital tracks can provide a visual basis for large vehicles to find ship berthing places and grab bucket positioning, laying the foundation for system automation control. Figure 3 shown.

[0069] 2.2.2. Digital modeling of ship berths:

[0070] 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.

[0071] 2.2.3.Ship digital modeling:

[0072] Through the establishment of digital ships, a digital foundation can be established for gantry crane positioning, grab bucket operation, electronic fence setting, and 3D digital scanners, providing a visual basis for large vehicles to find ships, electronic fences, and grab bucket positioning. The digital establishment process of ships is as follows: Figure 5 shown.

[0073] 2.2.4. Digital modeling of door operator:

[0074] Through the establishment of digital gantry crane, a digital foundation can be established for grab bucket operation, gantry crane anti-collision, and 3D digital scanner, providing a visual basis for large vehicles to find berths and grab bucket positioning. The digital modeling process of gantry crane is as follows: Figure 6 shown.

[0075] 2.2.5. Grab bucket digital modeling:

[0076] 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.

[0077] 2.2.6. Establishment of electronic safety fence at gate machine:

[0078] System composition: The system consists of GIS electronic map, database, 5G communication module CPEPRO, switch 2HI-08, PLC controller S7-1500, touch screen VMC1100, portal mobile base station 2CX-E728, GPS positioning antenna 2AT300, GPS positioning antenna 3AT300, grab mobile base station 1CX-E728, GPS positioning antenna 1AT300, portable ship mobile base station 3CX-E728, GPS positioning antenna 4AT300, portable ship mobile base station 4CX-E728, GPS positioning antenna 5AT300, etc.

[0079] Working principle: The electronic safety fence function of the gantry crane is to define the operating coordinate range of the gantry crane trolley, gantry crane boom, gantry crane grab and the prohibited coordinate range of the ship edge and funnel on the GIS electronic map through the on-site GIS electronic map and database technology; once the gantry crane trolley, boom and grab drive out of or enter this coordinate range, it will trigger the alarm system of the GIS monitoring platform; the cloud service monitoring platform sends the alarm information to the touch screen VMC1100 of the PLC controller S7-1500 of the gantry crane monitoring terminal through the 5G communication module CPEPRO, and the touch screen VMC1100 will command the PLC controller S7-1500 to stop the trolley from moving or the inverter ATV930 or the variable amplitude inverter ATV930 to continue to run in the dangerous direction, thereby protecting the gantry crane trolley, boom or grab from colliding with surrounding obstacles. Establish a process such as Figure 8 shown.

[0080] 2.2.7. The establishment of grab bucket electronic safety fence, the establishment process is as follows Fig. 9 shown.

[0081] 2.2.8. Establishment of electronic safety fences around surrounding buildings, obstacles and hatches:

[0082] System composition: The system consists of GIS electronic map, database, 5G communication module CPEPRO, switch 2HI-08, PLC controller S7-1500, touch screen VMC1100, portal mobile base station 2CX-E728, GPS positioning antenna 2AT300, GPS positioning antenna 3AT300, portable ship mobile base station 3CX-E728, GPS positioning antenna 4AT300, portable ship mobile base station 4CX-E728, GPS positioning antenna 5AT300, etc.

[0083] Working principle: The electronic safety fence function for buildings, obstacles, and hatches around the gantry crane 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 the coordinate range. Once the satellite positioning antenna 3AT300 on the trunk of the gantry crane or the grab bucket GPS positioning antenna 1AT300 enters or exits this range, it will trigger the alarm of the GIS monitoring platform. The GIS platform will use the 5G communication module CPEPRO to send an alarm to the touch screen VMC1100 of the PLC controller S7-1500 of the gantry crane monitoring terminal. The touch screen VMC1100 will command the PLC controller S7-1500 to stop the rotation frequency converter ATV930 or the amplitude converter ATV930 to continue running, thereby protecting the gantry crane trolley, boom or grab bucket from colliding with surrounding buildings, obstacles, hatches, etc. The flow chart is as follows Fig.10 shown.

[0084] 2.2.9. The establishment of electronic safety fences at each ship hatch, the establishment process is as follows: Fig.11 shown.

[0085] 2.3. Establish cloud server:

[0086] In order to effectively utilize cloud resources for door operator automation services, the cloud server configuration is as follows:

[0087]

[0088] 2.4. Fixed base station installation:

[0089] 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 fixed base station configuration is as follows: Fig.12 shown.

[0090] 2.5. Realization of remote control function of door station:

[0091] 2.5.1. Working principle of the door operator remote control system:

[0092] 2.5.1.1 Composition of the door station remote control system:

[0093] The system is composed of a cloud server platform (GIS monitoring and management platform), a 5G communication module CPEPRO, a client T5820, a remote control console CX-LHJBB03, a streaming media server DVSCAR-51, a splicing screen CB5503S, a GPS fixed base station M300, a local remote control JT-KP, a video monitoring system CX-SXJ03, a 3D laser scanner CX-X8000, a door landline monitoring terminal S7-1500, a grab monitoring part CX-E728, a bow portable mobile base station CX-E728, a stern portable mobile base station CX-E728, etc. The schematic diagram is as follows Fig.13 shown.

[0094] 2.5.1.2. System working principle:

[0095] When working, the operator first conducts a video inspection of the gantry crane working environment on the splicing screen CB5503S through the remote control console CX-LHJBB03 to check whether the on-site environment is suitable for remote control operations. If there is no abnormality, the client T5820 will be used to issue various control instructions to the S7-1500 of the gantry crane monitoring terminal according to the location of the electronic map. The cloud platform forwards the command to the S7-1500 of the gantry crane monitoring terminal through the 5G communication module CPEPRO, and the S7-1500 of the gantry crane monitoring terminal executes according to the client T5820 command; when the grab bucket reaches the designated position, the 3D laser scanner CX-X8000 scans the cabin grabbing scene, and then sends the scanning results to the gantry crane monitoring terminal. The monitoring terminal adjusts the gantry crane arm posture according to the 3D laser scanner CX-X8000 to put the grab bucket in place and start operation.

[0096] When the GPS fixed base station M300 is working, it uses the satellite positioning information it receives to continuously communicate with the mobile base stations 1CX-E728, 2CX-E728, 3CX-E728 and 4CX-E728 of the portal control system, and continuously sends its own coordinates to these mobile base stations, which continuously correct their own coordinates, thereby improving the accuracy of the portal position, grab position and cabin position for the portal control system to use for positioning; if it is a non-standard environment, the operator can perform manual operation and control through the operating console.

[0097] 2.5.2. Working principle of door machine monitoring terminal:

[0098] The composition of the gantry crane monitoring terminal: It is composed of a crane operating handle, a crane working mode selection switch (automatic / semi-automatic), a PLC controller S7-1500, a touch screen VMC1100, a 3D laser scanner CX-JS800, a GPS positioning mobile base station 2CX-E728, a GPS positioning antenna 2AT300, a GPS directional antenna 3AT300, a digital radio 4SZ02, a torque limiter CX-AV, a wind speed sensor YS-CF, a rotation angle sensor (provided by the GPS directional antenna 3AT300), and a height encoder 1GM58S10K6MA12W N, height encoder 2GM58S10K6MA12WN, anti-collision sensor CX-HB100, anti-collision signal collector, grab support inverter ATV930, grab opening and closing inverter ATV930, left slew inverter ATV930, right slew inverter ATV930, amplitude variable inverter ATV930, trolley left travel inverter ATV930, trolley right travel inverter ATV930, anti-sway module 1CX-FY400, anti-sway module 2CX-FY400, anti-sway module 3CX-FY400, 5G communication module CPEPRO, etc.

[0099] The working principle diagram of the door landline monitoring terminal is as follows Fig.14 As shown, when working, the touch screen VMC1100 will receive the GIS electronic map, ship ID number, berth, ship satellite positioning coordinate information, target workstation coordinate information, preset unloading point coordinate information, electronic safety fence information, etc. sent by the cloud server platform through the 5G communication module CPEPRO; the gantry crane touch screen VMC1100 will automatically retrieve the ship performance parameters stored in the hard disk according to the ship ID number. According to the ship coordinates and other information, the PLCS7-1500 automatically starts the trolley left travel inverter ATV930 and the trolley right travel inverter ATV930 to the berth according to the client T5820 instruction. After the trolley is in place, the gantry crane touch screen VMC1100 control system adjusts the arm posture and working range according to the starting point set by the program. At this time, the 3D laser scanner CX-JS800 starts working and scans the specified area according to the program settings to indicate the direction for the grab bucket to work; the gantry crane The touch screen VMC1100 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 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 VMC1100 will position the trolley at the first piece on the left, and then lower the grab bucket from 1 to grab 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, the grab bucket will be close to the edge of the ship. At this time, the red electronic fence protection information will appear on the touch screen VMC1100, and the 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 boom posture to automatically avoid the edge of the ship that may be touched, thereby preventing accidental grabbing.

[0100] When the grab is full of materials, the touch screen VMC1100 control system will determine whether the grab has left the hatch according to the cabin height provided by the GPS mobile base station 3CX-E728 and GPS mobile base station 4CX-E728 currently installed on the ship. When the grab leaves the hatch, the portal machine touch screen VMC1100 will drive the lifting support inverter ATV930 to accelerate the lifting through PLCS7-1500. At the same time, the PLCS7-1500 controller will automatically drive the variable amplitude inverter ATV930 to perform variable amplitude operation. When the grab height reaches the set value, the PLCS7-1500 control system will Start the slewing inverter ATV930, and according to the preset unloading location, automatically start the anti-sway module CX-FY400 module to enter the anti-sway control curve. When the boom rotates to the predetermined location, the slewing inverter ATV930 automatically decelerates until the unloading point stops rotating. At this time, the 3D laser scanner CX-JS800 will send the material pile information of the unloading area, and the PLCS7-1500 control system will automatically select the low position of the material pile as the unloading point, and then start to lower it at a uniform speed. When it reaches the set height, the system automatically decelerates until it stops lowering at the height of the unloading point (which can be set), and then open the grab bucket to unload, and repeat this cycle.

[0101] If the grab bucket of the gantry crane is replaced with a hook to lift other debris, during operation, the operator of the control center can set the coordinates of the starting point, end point, hook height, etc. of the debris to be dropped, and then the gantry crane will start to the starting point of the lifting object. After the hook is lowered to the set height, it will wait for the on-site crane operator to use the on-site remote control JT-KP to lower the hook to the appropriate position to hook it, and then, after lifting to the set height, it will enter the automatic mode, the gantry crane will automatically rotate, automatically lift the object to the end position, and then lower the hook to the set height, waiting for the end crane operator to use the remote control JT-KP to lower the object to the ground, and repeat the cycle;

[0102] If the system is overloaded or exceeds the torque during lifting, the torque limiter CX-AV system will automatically alarm and automatically control to ensure the safety of the crane.

[0103] 2.5.3. Realization of intelligent grab monitoring function:

[0104] System composition: The system is composed of hysteresis power reel MH1800-28 / 180, power cat 2WD-200M, power cat 1WD-200M, switch 1005, grab camera 1BS-CA33-IP, grab camera 2BS-CA33-IP, mobile base station 1CX-E728, GPS antenna 1AT300, digital radio 1SZ02, power manager CX-DY02, grab searchlight 1SM-2009, grab searchlight 2SM-2009, digital radio 2SZ02, switching power supply 1LRS-350-24, etc. The schematic diagram is as follows Fig.15shown.

[0105] During operation, the AC220V power supply of the portal machine sends power to the hysteresis power reel MH1800-28 / 180, and the output end of the power reel sends the AC220V power to the switching power supply 1LRS-350-24, which then converts it into DC24V to supply the switch 1005, grab camera 1BS-CA33-IP, grab camera 2BS-CA33-IP, mobile base station 1CX-E728, GPS antenna 1AT300, digital radio 1SZ02, power manager CX-DY02, digital radio 2SZ02, grab searchlight 1SM-2009, grab searchlight 2SM-2009, etc.

[0106] Grab camera 1BS-CA33-IP, grab camera 2BS-CA33-IP will collect video signals, mobile base station 1CX-E728, GPS antenna 1AT300 will collect grab positioning signals and send them to powerline cat 1WD-200M through switch 1005, powerline cat 1WD-200M will convert it into carrier signals and send them to powerline cat 2WD-200M through hysteresis power reel MH1800-28 / 180, powerline cat 2WD-200M will decode the received signals and send them to switch 2HI-08, switch 2HI-08 will send the video signals to recorder DS-7808N-K2 through switch 3HI-08 for storage and then send them to display E1715SC for display; switch 2HI-08 will send the video signals to streaming media server DVSCAR-51 through 5G communication module CPEPRO, and streaming media server DVSCAR-51 will send them to splicing screen CB5503S for display and monitoring;

[0107] The grab positioning signal is sent to the PLC controller S7-1500 through the switch 2HI-08 and then to the touch screen VMC1100 for calculation, control and positioning;

[0108] The power control and management of grab searchlight 1SM-2009 and grab searchlight 2SM-2009 is performed by client T5820 or remote control console CX-LHJBB03. When working, the remote control operator issues a command through client T5820 or remote control console CX-LHJBB03, which is sent to switch 2HI-08 through 5G communication module CPEPRO, and then wirelessly transmitted to digital radio 2SZ02 through digital radio 3SZ02. Digital radio 2SZ02 sends the command to power manager CX-DY02, and power manager CX-DY02 controls the power switch of searchlight 1SM-2009 and searchlight 2SM-2009.

[0109] 2.5.4. Realization of video surveillance function:

[0110] System composition: The system consists of a hook monitoring camera CX-SXJ02 with anti-sway shock absorption function, a full-range monitoring ball camera DHK-EX300 installed under the trunk beam and next to the cab, a lifting wire rope monitoring camera BS-CA33-IP installed in the equipment room, a camera BS-CA33-IP installed in the electrical room to monitor electrical equipment, a camera BS-CA33-IP installed next to the platform to monitor the left trolley track, a camera BS-CA33-IP installed next to the platform to monitor the right trolley track, a switch 4005 powerline cat 1WD-200M, a powerline cat 2WD -200M, camera BS-CA33-IP installed on the left side of the grab pulley block, camera BS-CA33-IP installed on the right side of the grab pulley block, switch 1005, switch 2HI-08, powerline cat 3WD-200M, powerline cat 4WD-200M, hysteresis power reel MH1800-28 / 180, switch 3HI-08, video recorder DS-7804N-K2, display E1715SC, 5G communication module CPEPRO, streaming media server DVSCAR-51, splicing screen CB5503S, etc. The working principle diagram is shown in Figure 16.

[0111] When working, the left trolley walking monitoring camera BS-CA33-IP, the right trolley walking monitoring camera BS-CA33-IP, etc. send the video signal to the powerline cat 3WD-200M through the switch 4005. The powerline cat 3WD-200M converts it into a microwave signal and sends the video signal to the powerline cat 4WD-200M through the upper and lower car power slip ring. The powerline cat 4WD-200M, the hook monitoring camera CX-SXJ02, the all-round monitoring ball camera DHK-EX300, the lifting wire rope monitoring camera BS-CA33-IP, the electrical room equipment monitoring camera BS-CA33- IP, etc. enter the switch 3HI-08 together, and then send the video signal to the recorder DS-7804N-K2 for storage and then to the monitor E1715SC for display; switch 3HI-08 sends the video signal to switch 2HI-08 another way, and together with the video signals of grab camera 1BS-CA33-IP and grab camera 2BS-CA33-IP, it is sent to the streaming media server DVSCAR-51 through the 5G communication module CPEPRO, and the streaming media server DVSCAR-51 is sent to the splicing screen CB5503S for display for operator monitoring.

[0112] 2.5.5. Realization of boom anti-collision monitoring and alarm function:

[0113] System composition: It is composed of microwave radar sensor CX-HB100 installed on both sides of the boom, anti-collision signal collector CX-KC16, PLCS7-1500 controller, touch screen VMC1100, 5G communication module CPEPRO, GIS platform server, etc.

[0114] When working, the microwave radar sensor CX-HB100 continuously detects the movement information of the adjacent gantry machine arms on both sides of the arm, and sends the information to the anti-collision collector CX-KC16. After processing, the collector CX-KC16 sends it to the switch 2HI-08, and then to the gantry machine remote control terminal PLCS7-1500. PLCS7-1500 sends it to the touch screen VMC1100, which analyzes and processes it. When the distance between the local arm and the adjacent gantry machine arm is less than the set value, the touch screen VMC1100 A control command will be immediately issued to PLCS7-1500, instructing the rotary inverter ATV930 to prohibit rotation, thereby avoiding the risk of collision between the two gantry crane arms; at the same time, the touch screen VMC1100 sends the anti-collision information to the 5G communication module CPEPRO through PLCS7-1500 and switch 2HI-08, and the 5G communication module CPEPRO sends the anti-collision alarm information to the GIS platform server, which then sends it to the switch 5HI-08 through the network and then to the client T5820 to display the alarm.

[0115] 2.5.6. Realization of automatic control function of gate machine:

[0116] System composition: It consists of the client T5820, the GIS electronic map of the cloud platform, the fixed satellite positioning base station M300 installed on the outdoor roof of the bulk terminal center, the satellite positioning antenna AT300 of the fixed base station, the digital radio SZ02 of the fixed base station, the portal GPS mobile base station 2CX-E728 and GPS antenna 2AT300, GPS antenna 3AT300, digital radio 4SZ02, the grab GPS mobile base station 1CX-E728 and GPS antenna 1AT300, digital radio 1SZ02, the portable ship mobile base station 3CX-E728 and GPS antenna 4AT300, digital radio 5SZ02, digital radio 6SZ02 and the portable ship mobile base station 4CX-E728 and GPS antenna 5AT300, digital radio 7SZ02, digital radio 8SZ02, etc.

[0117] During work, the operator sets the starting point coordinates of the portal machine, the berth coordinates, the ship grabbing position coordinates, the unloading point coordinates, etc. on the GIS electronic map of the client T5820 according to the task of the day. After setting, the command is sent to the portal machine touch screen VMC1100 through the 5G communication module CPEPRO. After receiving the command, the portal machine touch screen VMC1100 will command PLCS7-1500 to start the truck to move to the designated berth coordinates (the position is provided by the rotation center GPS antenna 3AT300 of the portal machine mobile base station 2CX-E728). After arriving at the designated berth, the portal machine touch screen VMC1100 will then use the portable ship mobile base station 3CX-E728 and GPS Antenna 4AT300, portable ship mobile base station 4CX-E728 and GPS antenna 5AT300 are wirelessly sent to digital radio 3SZ02 through digital radio 6SZ02 and digital radio 8SZ02, and then sent to S7-1500 through switch 2HI-08. The coordinate difference between GPS antenna 3AT300 on the trunk beam and the center axis of the ship (grabbing position) is calculated, and then PLCS7-1500 is commanded to drive rotary inverter ATV930 to align the boom with the target cabin position, and then the variable amplitude inverter ATV930 is commanded to adjust the coordinates of GPS antenna 3AT300 on the trunk beam to the target coordinates (center axis of the ship) to start working.

[0118] 2.5.7. Realization of grab bucket anti-sway and aerial bucket swinging operation positioning function:

[0119] System composition: It is composed of GIS management platform, switch 5HI-08, client T5820, remote control console CX-LHJBB03, 5G communication module CPEPRO, touch screen VMC1100, PLC controller S7-1500, switch 2HI-08, mobile base station 2CX-E728, GPS positioning antenna 2AT300 (installed at the slewing center of the door machine), GPS positioning antenna 3AT300 (installed on the trunk bridge), data transmission radio 3SZ02, data transmission radio 4SZ02, 3D laser scanner CX-JS800, image controller CX-X8000, torque limiter CX-AV, weight sensor 1JZ-1, weight sensor 2JZ-1, angle sensor CX -JD90, left operating handle, right operating handle, wind speed sensor YS-CF, height encoder 1GM58S10K6MA12WN, grab support inverter ATV930, left slew inverter ATV930, right slew inverter ATV930, amplitude inverter ATV930, anti-sway module 1CX-FY400, anti-sway module 2CX-FY400, anti-sway module 3CX-FY400 and grab mobile base station 1CX-E728, GPS positioning antenna 1AT300, portable ship mobile base station 3CX-E728, GPS positioning antenna 4AT300, portable ship mobile base station 4CX-E728, GPS positioning antenna 5AT300, etc. The schematic diagram is as follows Fig.17 shown.

[0120] When working, sampling must be carried out first. The touch screen VMC1100 collects the rotation and swing position of the gantry crane grab under different weights, different heights, different speeds, and different wind speeds, and then uploads it to the GIS management platform through the 5G communication module CPEPRO for calculation and simulation. Then the simulated program is sent to the touch screen VMC1100 through the 5G communication module CPEPRO. After sorting, the touch screen VMC1100 solidifies the rotation anti-sway program to the left rotation anti-sway module CX-FY400, the right rotation anti-sway module CX-FY400 and the variable amplitude anti-sway module CX-FY400. When working, under different working conditions, the touch screen VMC1100 commands different anti-sway modules to adjust the inverter according to the control parameters under different weights, different heights, different speeds, and different wind speeds, so as to achieve the purpose of suppressing the swing of the grab;

[0121] In order to further explain the anti-sway working principle of the gantry crane, an example of the working condition of the gantry crane is as follows: coal is grabbed from the cabin and transported to the retractable coal unloading funnel under the gantry crane, and then unloaded from the funnel to the belt conveyor, and the belt conveyor transports the coal to the coal yard.

[0122] In this way, the height of the grab bucket to the coal unloading funnel is relatively fixed each time, and the coal grabbing route is: the grab bucket (feedback by the GPS antenna 1AT300 of the grab bucket mobile base station 1CX-E708) is lifted vertically from the cabin---through the hatch (feedback by the GPS antenna 4BT5630 and GPS antenna 5BT5630 of the portable ship mobile base station) ---- accelerated lifting (speed is fed back by the operating handle) + amplitude change (feedback by the angle sensor CX-JD90) ---- higher than the appropriate position of the coal unloading funnel (feedback by the height encoder 1GM58S10K6MA12WN), the amplitude change anti-sway module CX-FY400 works ---- close to the appropriate position above the coal unloading funnel (feedback by the angle sensor CX-JD90) Feedback) PLC controller S7-1500 commands grab bucket opening and closing inverter ATV930 to open grab bucket to unload coal (feedback from weight sensor 1JZ-1 and weight sensor 2JZ-1). When grab bucket reaches the center point of coal unloading funnel by impact speed, coal in grab bucket has been unloaded (feedback from weight sensor 1JZ-1 and weight sensor 2JZ-1). Variable amplitude anti-sway module CX-FY400 finishes working. When grab bucket speed is zero (feedback from GPS antenna 1AT300 of grab bucket mobile base station 1CX-E708), PLCS7-1500 immediately shifts gears and commands variable amplitude inverter ATV930 to move in the opposite direction, thus completing the aerial anti-sway and aerial bucket throwing operation process, and realizing efficient operation of grab bucket.

[0123] The same principle applies to grabbing coal in the cabin. 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 VMC1100 and the PLC controller S7-1500 is controlled according to the coordinates of the coal pile. The high and large coal piles are grabbed and transported first. According to the convention, the zero speed of the grab bucket should be set above the edge of the ship. However, in order to grab the coal under the edge of the ship, the height of the coal pile (feedback from the 3D laser scanner CX-JS800) should be adjusted. ) and the horizontal position of the grab bucket (feedback from the GPS antenna 1AT300 of the grab bucket mobile base station 1CX-E728) using the anti-sway program of the variable amplitude anti-sway module CX-FY400, open the grab bucket at the appropriate position in the middle of the cabin (feedback from the GPS antenna 1AT300 of the grab bucket mobile base station 1CX-E728), and use the boom amplitude change speed to accurately throw the grab bucket onto the coal pile under the edge of the ship, while not causing impact on the edge of the ship and the hull, thereby realizing the functions of anti-sway in the air and throwing the bucket to grab coal.

[0124] 2.5.8. Identification of cabin location and stockpile location:

[0125] System composition: The system is composed of 3D laser scanner CX-JS800, scanner controller CX-X8000, switch HI-08, PLC controller S7-1500, touch screen VMC1100, 5G communication module CPEPRO, GIS management platform, client T8520, etc. The working principle is as follows Fig.18 shown.

[0126] 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.

[0127] 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, 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 small space and can perform three-dimensional measurement of irregular material surfaces. The detected information is then sent to the image controller CX-X8000. The image controller CX-X8000 is equipped with point cloud processing software. After processing by the point cloud processing software, a three-dimensional image of the material surface is formed, and the lowest material level, highest material level, average material level, cabin distance, cabin height, cabin width, etc. of the cabin material surface are obtained, and then sent to the communication through the protocol. The data is sent to the PLC controller S7-1500 through the switch HI-08, and the PLC controller S7-1500 sends it to the touch screen VMC1100. The touch screen VMC1100 adjusts the position of the trolley or the posture of the arm 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 VMC1100 sends it to the GIS management platform and the client T8520 through the 5G communication module CPEPRO for the client T8520 to monitor and use.

[0128] 2.5.9. Realization of cabin opening height and cabin position positioning function:

[0129] The bow and stern positioning device includes:

[0130] The bow positioning device includes a mobile base station 3CX-E708, which is respectively connected to a switch power supply 1LRS-150-12, a digital radio 6SZ02, a GPS positioning antenna 4BT5630, and a digital radio 5SZ02;

[0131] The stern positioning device includes a mobile base station 4CX-E708, which is connected to a switching power supply 2LRS-150-12, a digital radio 8SZ02, a GPS positioning antenna 5BT5630, and a digital radio 7SZ02. The schematic diagram is as follows Fig.19 , Fig. 20 shown.

[0132] When working, GPS positioning antenna 3BT5630 and GPS positioning antenna 4BT5630 send the received bow and stern satellite positioning signals and altitude signals to mobile base station 3CX-E708 and mobile base station 4CX-E708. After differential calculation, mobile base station 3CX-E708 and mobile base station 4CX-E708 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 the digital radio station 3SZ02 sends them to PLC controller S7- 1500, and then sent to the touch screen VMC1100 by the PLC controller S7-1500, and then the touch screen VMC1100 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 instructs 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 the coal grabbing operation;

[0133] Switching power supply 1LRS-150-12 and switching power supply 2LRS-150-12 provide power for the bow and stern satellite positioning systems respectively.

[0134] 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-E708 and the mobile base station 4CX-E708.

Claims

1. A remote control system for a portal crane, characterized in that The system includes: Cloud server platform, client, remote control console, fixed base station, portal monitoring terminal, grab monitoring part, bow and stern positioning device; The cloud server platform is connected to the client and the remote control console through the fifth switch; The cloud server platform is connected to the gate landline monitoring terminal through the 5G communication module, and the gate landline monitoring terminal is connected to the grab bucket monitoring part; The gantry monitoring terminal, grab monitoring part, and bow and stern positioning devices are all connected to the fixed base station; The door station monitoring terminal includes a PLC controller and a touch screen; The touch screen is connected to the PLC controller, the PLC controller is connected to the second switch, the second switch is respectively connected to the 5G communication module, the third data transmission radio, the scanner controller, the second GPS positioning mobile base station, and the anti-collision signal collector; the scanner controller is connected to the 3D laser scanner, the second GPS positioning mobile base station is respectively connected to the fourth data transmission radio, the second GPS positioning antenna, and the third GPS directional antenna; the anti-collision signal collector is connected to the anti-collision sensor; The PLC controller is connected to the wind speed sensor, height encoder, grab support inverter, grab opening and closing inverter, and left and right trolley travel inverters respectively; The PLC controller is connected to the anti-sway module, and the anti-sway module is connected to the rotary frequency converter and the amplitude variable frequency converter; The PLC controller is connected to the torque limiter, and the torque limiter is connected to the weight sensor and the angle sensor respectively; PLC controller is connected to the remote control receiver; The grab monitoring part includes a hysteresis power reel, a second power cat, and a first power cat; The AC220V power supply is connected to the hysteresis power reel, the hysteresis power reel is connected to the switching power supply 1LRS-350-24, the switching power supply 1LRS-350-24 is respectively connected to the first switch, the grab bucket camera, the first mobile base station, and the power manager, the first mobile base station is respectively connected to the first GPS antenna and the first data transmission radio, and the power manager is respectively connected to the second data transmission radio and the grab bucket searchlight; The grab bucket camera is connected to the first switch, the first switch is connected to the first powerline modem, and the first powerline modem is connected to the hysteresis power reel; The hysteresis power reel is connected to the second power cat, the second power cat is connected to the second switch, and the second switch is connected to the third switch; The system also includes: a hook monitoring camera, a dome camera next to the driver's cab, a hoisting rope camera, an electrical room camera, a camera for the left trolley track, a camera for the right trolley track, a fourth switch, a left grab bucket camera, a right grab bucket camera; a third powerline modem, a fourth powerline modem; The camera on the left trolley track and the camera on the right trolley track are both connected to the fourth switch, and the fourth switch is connected to the third power modem; The third powerline modem is connected to the third switch, which is respectively connected to the electrical room camera, the hook monitoring camera, the driver's cab side camera, and the hoisting rope camera; The third switch is connected to the video recorder, and the video recorder is connected to the display; The second switch is connected to the first switch, and the first switch is connected to the left grab bucket camera and the right grab bucket camera respectively.

2. According to claim 1, a remote control system for a portal crane is characterized in that: The fifth switch is connected to the streaming media server, and the streaming media server is connected to the splicing screen.

3. According to claim 1, a remote control system for a portal crane is characterized in that: The bow and stern positioning device comprises: The bow positioning device includes a third mobile base station, which is respectively connected to the switch power supply 1LRS-150-12, the sixth data transmission radio, the third GPS positioning antenna, and the fifth data transmission radio; The stern positioning device includes a fourth mobile base station, which is respectively connected to the switching power supply 2LRS-150-12, the eighth data transmission radio station, the fifth GPS positioning antenna, and the seventh data transmission radio station.

4. A method for monitoring a gantry crane based on the gantry crane remote control system according to claim 1, characterized in that: When working, the touch screen will receive the GIS electronic map, ship ID number, berth, ship satellite positioning coordinate information, target workstation coordinate information, preset unloading point coordinate information, and electronic safety fence information sent by the cloud server platform through the 5G communication module; the touch screen will automatically retrieve the ship's performance parameters and ship coordinate information stored in the hard disk according to the ship ID number; The PLC controller automatically starts the left and right travel inverters of the trolley according to the client's instructions and drives it to the berth. After the trolley is in place, the gantry monitoring terminal adjusts the boom posture and working range according to the starting point set by the program. At this time, the 3D laser scanner starts working and scans the designated area according to the program settings to indicate the direction for the grab bucket to work; The gantry monitoring terminal 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 lower the grab bucket from 1 to grab the materials according to the program setting from front to back or from back to front. Because the first bucket usually starts from position 1 of the first piece, the grab bucket will be close to the edge of the ship. At this time, 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 is close to the electronic fence, an alarm will be triggered. During the lowering of the grab bucket, the PLC controller will automatically adjust the arm posture to automatically avoid the edge of the ship that may be touched, thereby preventing accidental grabbing. When the grab is full of materials, the portal monitoring terminal will determine whether the grab has left the hatch according to the cabin height provided by the third GPS mobile base station and the fourth GPS mobile base station currently installed on the ship. When the grab leaves the hatch, the portal touch screen will drive the lifting support inverter to accelerate the lifting through the PLC controller. At the same time, the PLC controller will automatically drive the variable amplitude inverter to perform variable amplitude operation. When the grab height reaches the set value, the PLC controller will start the slewing inverter and automatically start the anti-sway module to enter the anti-slewing control curve according to the preset unloading location. When the boom rotates to the predetermined location, the slewing inverter automatically decelerates until the unloading point stops rotating. At this time, the 3D laser scanner will send the material pile information of the unloading area, and the PLC controller will automatically select the low position of the material pile as the unloading point, and then start to lower it at a uniform speed. When it reaches the set height, the system automatically decelerates until it stops lowering at the height of the unloading point, and then opens the grab to unload, and repeats.

5. The method for monitoring the grab bucket of a gantry crane based on the remote control system of the gantry crane according to claim 2, characterized in that: The first grab bucket camera and the second grab bucket camera collect the video signal, and the first mobile base station and the first GPS antenna collect the grab bucket positioning signal and send it to the first powerline modem through the first switch. The first powerline modem converts it into a carrier signal and sends it to the second powerline modem through the hysteresis power reel. The second powerline modem decodes the received signal and sends it to the second switch. The second switch sends the video signal to the recorder through the third switch for storage and then to the display for display. The second switch also sends the video signal to the streaming media server through the 5G communication module, and the streaming media server sends it to the splicing screen for display and monitoring. The grab positioning signal is sent to the PLC controller through the second switch and then to the touch screen for calculation, control and positioning.

6. The anti-collision monitoring method for the gantry crane boom based on the gantry crane remote control system according to claim 1 is characterized in that: The microwave radar sensor continuously detects the movement information of the adjacent gantry crane arms on both sides of the arm, and sends the information to the anti-collision collector. After processing, the collector sends the information to the second switch, and then to the PLC controller of the gantry crane monitoring terminal. The PLC controller sends it to the touch screen, which analyzes and processes it. When the distance between the local arm and the adjacent gantry crane arm is less than the set value, the touch screen will immediately issue a control command to the PLC controller, commanding the rotary frequency converter to prohibit rotation, thereby avoiding the risk of collision between the two gantry crane arms; at the same time, the touch screen sends the anti-collision information to the 5G communication module through the PLC controller and the second switch, and the 5G communication module sends the anti-collision alarm information to the GIS platform server, which then sends it to the fifth switch through the network and then to the client to display the alarm.

7. A method for preventing sway and positioning the grab bucket of a portal crane and for aerial bucket swinging operation based on the remote control system of a portal crane according to claim 1, characterized in that: First, sampling is required. The touch screen will collect the rotation and swing position of the gantry crane grab under different weights, heights, speeds, and wind speeds, and then upload it to the GIS management platform through the 5G communication module for calculation and simulation. The simulated program is then sent to the touch screen through the 5G communication module. After sorting, the touch screen will solidify the rotation anti-sway program into the left rotation anti-sway module, the right rotation anti-sway module and the variable amplitude anti-sway module. When working, under different working conditions, the touch screen commands different anti-sway modules to adjust the frequency converter according to the control parameters under different weights, heights, speeds, and wind speeds, so as to achieve the purpose of suppressing the swing of the grab.

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