Control system of port machinery and port automation system

Abstract

The application provides a control system of a port machine and a port automation system, wherein a remote control device is in communication connection with an automatic control device of the port machine, and is used for sending a control instruction to a target automatic control device. The automatic control device comprises a first control device and a second control device, and the first control device has higher real-time requirement in operation. The first control device is in communication connection with a corresponding front-end processing device; the second control device comprises multiple types, and second control devices of the same type share a same back-end processing device, so that the target automatic control device can determine whether to execute the control instruction under the control of the connected front-end or back-end processing device. In the application, the second control devices of the same type share the same back-end processing device, which can avoid the case that each second control device is configured with a back-end processing device, effectively saves the cost, and meets the real-time requirement of the first control device in the operation process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of remote control, and particularly relates to a control system of a port machine and a port automation system. BACKGROUND

[0002] Port machinery can be operated through remote control. In the process of remote control, a remote control device generally sends operation instructions to various automatic control devices of a port machine through ground optical fiber or wireless mode, and the various automatic control devices cooperatively control the operation of the port machine. However, due to the great difference between the various automatic control devices, most of the various automatic control devices use their own controllers separately, which is high in cost. SUMMARY

[0003] Therefore, the present application provides a control system of a port machine and a port automation system to solve the problem that most of the various automatic control devices use their own controllers separately in the prior art, which is high in cost.

[0004] The technical scheme provided by the present application is as follows:

[0005] In a first aspect, the present application provides a control system of a port machine, comprising: a remote control device arranged on a remote control side, a back-end processing device, and a front-end processing device arranged on a port machine side;

[0006] The remote control device is in communication connection with automatic control devices of the port machine; wherein the automatic control devices comprise a first control device and a second control device, and the real-time requirement of the first control device in operation is higher than that of the second control device;

[0007] The first control device is in communication connection with a corresponding front-end processing device; the second control device comprises multiple types, and second control devices of the same type are in communication connection with a same back-end processing device;

[0008] The remote control device is configured to send a control instruction to a target automatic control device to be controlled, so that the target automatic control device determines whether to execute the control instruction under the control of a target front-end processing device or a target back-end processing device; the target front-end processing device is a front-end processing device in communication connection with the target automatic control device, and the target back-end processing device is a back-end processing device in communication connection with the target automatic control device.

[0009] In a second aspect, the present application provides a port automation system, comprising: an operation device and the control system of the port machine according to any one of the above.

[0010] The control system of the port machine is in communication connection with an automatic control device of the operation device.

[0011] The control system of the port machine provided in the application comprises a remote control device, a backend processing device arranged on the remote control side, and a front-end processing device arranged on the port machine side. The remote control device is in communication connection with an automatic control device of the port machine, and is configured to send a control instruction to the target automatic control device. The automatic control device comprises a first control device and a second control device, and the first control device has higher real-time requirements during operation. The first control device is in communication connection with the corresponding front-end processing device. The second control device comprises multiple types, and second control devices of the same type are in communication connection with the same backend processing device, i.e., second control devices of the same type share the same backend processing device, so that the target automatic control device can determine whether to execute the control instruction under the control of the connected front-end processing device or backend processing device. The technical solution provided in the application sets second control devices of the same type to share the same backend processing device, which can avoid the case that each second control device is configured with a backend processing device, effectively saving costs, and the front-end processing device is arranged on the port machine side, meeting the real-time requirements of the first control device during operation. BRIEF DESCRIPTION OF DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the provided drawings.

[0013] Figure 1 is a structural schematic diagram of a remote control operation system in the prior art;

[0014] Figure 2 is a structural schematic diagram of a control system of a port machine provided by an embodiment of the application;

[0015] Figure 3 is a structural schematic diagram of another control system of a port machine provided by an embodiment of the application;

[0016] Figure 4 is a schematic diagram of an industrial switch scheme provided by an embodiment of the application;

[0017] Figure 5 is a schematic diagram of an F5G scheme provided by an embodiment of the application;

[0018] Figure 6 is a structural schematic diagram of another control system of a port machine provided by an embodiment of the application;

[0019] Figure 7 is a structural schematic diagram of a port automation system provided by an embodiment of the application;

[0020] Figure 8 is a structural schematic diagram of a working device of a port machine provided by an embodiment of the present application;

[0021] Figure 9 is a structural schematic diagram of another port automation system provided by an embodiment of the present application. DETAILED DESCRIPTION

[0022] Port machinery is also called port machine, including shore cranes, yard cranes and other equipment. The port machine can be operated in a remote control manner. Figure 1 is a structural schematic diagram of a remote control operation system in the prior art, as shown in Figure 1 The remote control device is connected with each automatic control device in the port machine through ground optical fiber or wireless manner. It should be noted that the automatic control device connected with the remote control device can be the automatic control device of one port machine, or the automatic control devices of multiple port machines, which is not limited in the embodiment.

[0023] Specifically, the user can issue an operation instruction through the remote control device, and the remote control device sends the operation instruction to each automatic control device in the port machine through ground optical fiber or wireless manner, and each automatic control device cooperatively controls the operation of the port machine. However, due to the great difference between each automatic control device, most of the automatic control devices use their own controllers, such as OCR controller, access control controller, trolley vision anti-collision controller, CPS controller, bottom lock detection controller, etc., which has high cost.

[0024] Based on this, the present application provides a control system of a port machine and a port automation system, which sets the same type of automatic control devices to share the same back-end processing device, which can avoid the case that each automatic control device is configured with a back-end processing device, thereby solving the problem that each automatic control device in the prior art mostly uses its own controller, which has high cost.

[0025] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0026] An embodiment of the present application provides a control system of a port machine, as shown in Figure 2As shown, the system comprises a remote control device 10 arranged at a remote control side, a back-end processing device 11, and a front-end processing device 12 arranged at a port machine side. The remote control side refers to a side where a remote control room is located, various control components are arranged in the remote control room to realize remote control of the port machine, and the remote control device 10 and the back-end processing device 11 can be arranged at the remote control room. The port machine side refers to a side where the port machine is located, and the front-end processing device 12 can be arranged at the port machine.

[0027] The remote control device 10 is in communication connection with an automatic control device of the port machine. A user can issue a work instruction through the remote control device 10, and the remote control device 10 can select a target automatic control device to be controlled from the automatic control devices having a connection relationship by analyzing the work instruction, so as to send the work instruction to the target automatic control device.

[0028] The automatic control device is an automatic control equipment on the port machine, which can control the port machine to perform automatic work. For example, the automatic control device can include an automatic box picking and placing system, a box number identification system, a truck guiding and positioning system, etc.

[0029] The real-time requirement refers to that the output work instruction needs to be responded within a set time length. Specifically, due to signal transmission and data processing, a certain time delay is caused, so that the output work instruction cannot be responded immediately at the time of instruction output, but will be responded after a certain time length. Some devices with high real-time requirement will limit the time length of the interval. The higher the real-time requirement of the device, the shorter the set time length.

[0030] In this embodiment, the automatic control device includes a first control device and a second control device, and the real-time requirement of the first control device during work is higher than that of the second control device. That is, the first control device is a device with high real-time requirement during work of the port machine, for example, an industrial computer, a processor or a controller on a system with high real-time requirement such as an automatic box picking and placing system, a box area scanning system, a ship type scanning system, etc. can be arranged as the first control device; and the second control device is a device with low real-time requirement during work of the port machine, for example, an industrial computer, a processor or a controller on a system with low real-time requirement such as a box number identification system, a truck number identification system, a truck guiding and positioning system, a video monitoring system, a personnel detection system, a whole machine access control system, etc. can be arranged as the second control device.

[0031] Since the first control device has high real-time requirement during operation, the processing device of the first control device should be arranged at the port machine side to shorten the distance between the first control device and the processing device of the first control device and reduce the delay caused in the signal transmission process. Based on this, the first control device in the embodiment is in communication connection with the corresponding front-end processing device 12. Each first control device can be provided with a front-end processing device to improve the processing efficiency of the front-end processing device and further meet the real-time requirement.

[0032] Since the first control device has low real-time requirement during operation, the processing device of the second control device can be arranged at the remote control side, and the same type of second control device can share the same processing device to further save costs. Specifically, the second control device can be divided into multiple types, for example, the second control devices produced by the same supplier can be regarded as the same type, or the second control devices with the same operating system can be regarded as the same type, which is not limited in the embodiment. For example, the second control devices produced by the same supplier and having the same operating system can be classified as the same type.

[0033] In the embodiment, the same type of second control device is in communication connection with the same back-end processing device 11, that is, the same type of second control device shares the same back-end processing device 11. The back-end processing device 11 adopts a hyper-converged architecture server and a high-performance controller redundancy to ensure the ability of multiple port machines to be used together. In this way, it can be avoided that each second control device is configured with a back-end processing device 11, thereby effectively saving costs.

[0034] For example, Figure 2 In the embodiment shown, the front-end processing device 12 includes a first front-end device B1 and a second front-end device B2, and the back-end processing device 11 includes a first back-end device A1 and a second back-end device A2.

[0035] The automatic control device C1 and the automatic control device C2 are both first control devices, and have high real-time requirement during operation. Therefore, the automatic control device C1 can be arranged in communication connection with the first front-end device B1, and the automatic control device C2 can be arranged in communication connection with the second front-end device B2.

[0036] The automatic control device C3 and the automatic control device C4 are of the same type, and can be arranged to share the second back-end device A2, that is, the automatic control device C3 and the automatic control device C4 are both in communication connection with the back-end processing device A2; the automatic control device C5 to the automatic control device C8 are of the same type, and can be arranged to share the back-end processing device A1, that is, the automatic control device C5 to the automatic control device C8 are all in communication connection with the back-end processing device A1.

[0037] Moreover, the automatic control devices C1 to C8 can be automatic control devices on the same port machine or automatic control devices on different port machines, and the present embodiment is not limited in this regard.

[0038] It should be noted that, Figure 2 The embodiments shown are merely one specific example of the present technical solution, and do not limit the number of groups of front-end processing devices, the number of groups of back-end processing devices, and the number of groups of automatic control devices that can be connected.

[0039] Further, after the remote control device 10 sends the operation instruction to the target automatic control device, the target automatic control device can determine whether to control the port machine to execute the control instruction under the control of the target front-end processing device or the target back-end processing device, wherein the target front-end processing device is a front-end processing device in communication connection with the target automatic control device, and the target back-end processing device is a back-end processing device in communication connection with the target automatic control device.

[0040] For example, as shown in FIG. 2, if the remote control device 10 determines that the automatic control device C1 is the target automatic control device to be controlled, it is determined that the device in communication connection with the automatic control device C1 is a front-end processing device, and the target front-end processing device is the first front-end device B1. The remote control device 10 sends the control instruction to the automatic control device C1, and the automatic control device C1 determines whether to execute the control instruction under the control of the first front-end device B1. If the remote control device 10 determines that the automatic control device C3 is the target automatic control device to be controlled, it is determined that the device in communication connection with the automatic control device C3 is a back-end processing device, and the target back-end processing device is the second back-end device A2. The remote control device 10 sends the control instruction to the automatic control device C3, and the automatic control device C3 determines whether to execute the control instruction under the control of the second back-end device A2.

[0041] The control system of the port machine in the above embodiment can avoid the case where each second control device is configured with one back-end processing device by configuring the same type of second control device to share the same back-end processing device, effectively saving costs, and by arranging the front-end processing device on the port machine side, the real-time requirement of the first control device in the operation process is met.

[0042] As an optional embodiment, the port machinery control system of the above embodiment further comprises a cloud processing device 13 arranged in the cloud. The automatic control device of the port machinery further comprises a third control device, the real-time requirement of the third control device in operation is lower than that of the second control device, that is, the third control device has the lowest real-time requirement in operation compared with the first control device and the second control device. For example, the industrial computer, processor or controller on the system with the lowest real-time requirement such as intelligent situation system, crane management system and data analysis system can be arranged as the third control device.

[0043] Since the third control device has the lowest real-time requirement in operation, it is not necessary to limit the distance between the third control device and the processing device of the third control device, and the processing device of the third control device can be arranged in the cloud to control and manage the third control device by using cloud computing power. Based on this, the third control device and the cloud processing device 13 are in communication connection in the embodiment. Figure 3 As shown in the embodiment, the automatic control device C0 and the automatic control device C9 are the third control devices, and the automatic control device C0 and the automatic control device C9 are in communication connection with the cloud processing device 13.

[0044] It should be noted that, Figure 3 The embodiment shown in the figure is only a specific example of the technical solution, and does not limit the arrangement of only two groups of front-end processing devices, two groups of back-end processing devices, one group of cloud processing devices, and only ten groups of automatic control devices.

[0045] The cloud processing device 13 can obtain the information of the third control device and store it. When the information display instruction of the user is obtained, the corresponding information can be displayed. As shown in the figure, Figure 3 The cloud processing device 13 can also be connected to a user terminal, which can be a mobile terminal device such as a smart phone, a tablet computer or a smart watch. The user can send an information display instruction to the cloud processing device 13 through the user terminal. After obtaining the information display instruction, the cloud processing device 13 can send the corresponding information to the user terminal to display the corresponding information to the user through the user terminal. In this way, even if the user is not in the control room of the port machinery, he can also view the working state of the port machinery in real time.

[0046] As an optional implementation, the target automatic control device is configured to perceive environment information based on the control instruction and feed back the environment information to the target front-end processing device or the target back-end processing device; the target front-end processing device or the target back-end processing device is configured to determine a control result based on the control instruction and the environment information, so that the target automatic control device determines whether to execute the control instruction according to the control result.

[0047] Specifically, after obtaining the control instruction from the remote control device, the target automatic control device can perceive the environment information based on the control instruction. The environment information can include image information of the surroundings of the port machine, pressure information of the port machine, etc., and is used to assist in determining whether the port machine is in a safe working environment. The target automatic control device can feed back the perceived environment information to the target front-end processing device or the target back-end processing device.

[0048] After obtaining the environment information, the target front-end processing device or the target back-end processing device can determine the control result based on the control instruction and the environment information. Specifically, the control result includes that the control instruction can be executed, or the execution of the control instruction is suspended. By analyzing the control instruction and the environment information, if it is determined that the port machine will not be in a dangerous situation when executing the control instruction in the working environment reflected by the current environment information, the control result includes that the control instruction can be executed; if it is determined that the port machine can be in a dangerous situation when executing the control instruction in the working environment reflected by the current environment information, the control result includes that the execution of the control instruction is suspended. After determining the control result, the target front-end processing device or the target back-end processing device can send the control result to the target automatic control device.

[0049] According to the control result, the target automatic control device determines whether to execute the control instruction. For example, if the control result includes that the control instruction can be executed, the target automatic control device executes the control instruction; if the control result includes that the execution of the control instruction is suspended, the target automatic control device suspends the execution of the control instruction.

[0050] In the above embodiment, the situation that each second control device is configured with a back-end processing device 11 can be avoided, and the cost is effectively saved. Moreover, the front-end processing device 12 is arranged at the port machine side, and the real-time requirement of the first control device in the working process can be met.

[0051] As an optional implementation manner, as shown in Figure 3 The control system of the port machine in the above embodiment further includes a signal transmission device 14. The remote control device 10 is communicatively connected to the automatic control device through the signal transmission device 14, and the second control devices of the same type are communicatively connected to the same back-end processing device 11 through the signal transmission device 14.

[0052] The signal transmission device 14 can be a network link built by a switch through a ground optical fiber or a wireless manner, which is not limited in the embodiment.

[0053] In the above embodiment, the second control device can communicate with the back-end processing device 11 through the signal transmission device 14, so that the same type of second control devices share the same back-end processing device 11, and the cost is effectively saved.

[0054] Further, if the signal transmission device 14 uses ground optical fiber or wireless mode, it will cause high signal transmission delay. As shown in the embodiment, in addition to the core switch in the signal transmission device 14, a convergence switch, a port machine convergence switch, an access switch and a two-layer optical conversion are also needed, and the network level is 5 layers. Each layer of network will increase the delay, and the network link delay of such setting is high, and the reliability is insufficient. Figure 4

[0055] In order to reduce the delay and improve the reliability of the signal transmission device 14, as an optional implementation manner, the signal transmission device 14 includes a full optical network communication link based on the fifth generation fixed network (The 5th generation Fixed networks, F5G).

[0056] The full optical network communication link based on the F5G uses optical fiber connection between the port machine and the remote control device 10 at each level, and the flat network level can reduce the delay, and the single fiber bidirectional connection can save the optical fiber consumption.

[0057] As an optional implementation manner, as shown in Figure 5 , the full optical network communication link of the above embodiment includes a core switch 140, an optical line terminal (Optical Line Terminal, OLT) 141, a passive optical distribution network (Optical Distribution Network, ODN) 142 and an optical network unit (Optical Network Unit, ONU) 143.

[0058] The OLT is the core equipment of the optical access network, which is equivalent to a switch or a router, and is also a multi-service platform. It is generally placed at the front end to provide a fiber interface of the passive optical network for users. The OLT is connected to the upper layer network to complete the uplink access of the passive optical network; and is connected to the ONU through the ODN to realize the control function of the ONU. The ODN includes optical fibers and splitters arranged on the optical fibers. The ODN is used to provide an optical transmission channel between the OLT and the ONU, complete the distribution of optical signal power and the splitting and multiplexing functions of optical signals. The ONU is divided into active ONU and passive ONU. The ONU can provide an optical-electric conversion interface, a physical interface from the user to the access network, and a user service adaptation function.

[0059] Please refer to Figure 5 , the remote control device 10 and the back-end processing device 11 are connected to one end of the optical line terminal 141 through the core switch 140; the second control device of the port machine is connected to one end of the optical network unit 143, the other end of the optical line terminal 141 and the other end of the optical network unit 143 are connected to the passive optical distribution network 142. ​

[0060] As shown in Figure 5 the embodiment, the all-optical network communication link is set up, and the optical splitter in the all-optical network communication link hardly causes delay to the signal. Therefore, the all-optical network communication link in the embodiment only includes Figure 5 the two-layer network shown in the figure, and the network delay is small, and the reliability is high.

[0061] As an optional implementation manner, as shown in Figure 6 the figure, the control system of the port machine in the above embodiment further includes a remote control room 15 which is in communication connection with the remote control device 10 through the signal transmission device 14. The remote control device 10 is further used to select a target remote control room meeting a preset condition from the remote control room 15 according to the control instruction, so as to assist the staff in the target remote control room to assist the port machine where the target automatic control device is located to work.

[0062] It should be noted that, Figure 6 the signal transmission device 14 in the embodiment adopts the all-optical network communication link based on F5G to reduce the delay generated in the signal transmission process and improve the reliability of the signal transmission. It should be noted that, Figure 6 only one example, and the signal transmission device 14 can not be limited to the all-optical network communication link based on F5G.

[0063] The remote control room 15 is provided with a manual operating device for the port machine, and the staff can control the port machine to work by using the manual operating device. Specifically, after the remote control device 15 obtains the control instruction and determines the target automatic control device based on the control instruction, the remote control device 15 can further select a target remote control room meeting a preset condition from the remote control room 15, so that the staff located in the target remote control room can assist the port machine where the target automatic control device is located to work by operating the manual operating device.

[0064] The preset condition can be set according to the actual situation, for example, the preset condition can be that the remote control room is in an idle state, the distance from the target automatic control device is less than a set distance, and the remote control room is in a normal state without failure.

[0065] In the above embodiment, by setting the remote control room 15, the port machine where the target automatic control device is located can be assisted to work, and the work efficiency is improved.

[0066] Further, as shown in Figure 6 the figure, the all-optical network communication link based on F5G can also be used between the remote control room 15 and the remote control device 10, so as to reduce the delay between the remote control device 10 and the remote control room 15 and improve the information transmission efficiency.

[0067] Further, the third control device and the cloud processing device 13 can be connected in communication through a wireless network; the first control device and the front-end processing device 12 can be connected by a bus, can be connected in communication through a wireless network, and can also be connected through an all-optical network communication link based on F5G, which is not limited in the embodiment.

[0068] As an optional implementation manner, as shown in Figure 6 The remote control device 10 in the above embodiment includes a remote operation device 100 and a remote device management device 101 connected in communication.

[0069] The remote operation device 100 is configured to acquire a control instruction, and the remote device management device 101 is further connected in communication with an automatic control device of the port machine; the remote device management device 101 is configured to determine a control content and a target automatic control device to be controlled based on the control instruction, and send the control content to the target automatic control device. The control content includes specific content for the target automatic control device to execute, for example, a moving position coordinate of the port machine where the target automatic control device is located.

[0070] After the target automatic control device acquires the control content, the target automatic control device first senses environmental information, and feeds back the environmental information to a target front-end processing device or a target back-end processing device based on the signal transmission device 14. The target front-end processing device or the target back-end processing device determines a control result based on the control instruction and the environmental information, and the control result is that the control instruction can be executed or the execution of the control instruction is suspended, and the control result is sent to the target automatic control device through the signal transmission device. The target automatic control device determines whether to execute the control instruction according to the control result. Specifically, if the control result is that the control instruction can be executed, the target automatic control device can control the port machine to execute the control content, for example, to move according to the moving position coordinate, and if the control result is that the execution of the control instruction is suspended, the target automatic control device suspends the execution of the control content.

[0071] In the above embodiment, the remote operation device 100 can acquire a control instruction, and the remote device management device 101 can analyze the control instruction and determine a target automatic control device to be controlled, so as to realize the control of the port machine.

[0072] As an optional implementation manner, the remote device management device 101 is further connected in communication with the remote control room 15 in the above embodiment through the signal transmission device 14. The remote device management device 101 is configured to select a target remote control room that meets a preset condition from the remote control room 15 according to the control instruction, so as to enable a staff in the target remote control room to assist the port machine where the target automatic control device is located to work, and realize the purpose of improving work efficiency.

[0073] The embodiment of the present application also proposes a port automation system, as shown inFigure 7 As shown in the figure, the system comprises the working equipment 20 and the control system 21 of the port machine of the above embodiment, and the control system 21 of the port machine is in communication connection with the automatic control device 200 of the working equipment 20.

[0074] The specific structure of the control system 21 of the port machine and the effects produced can refer to the description of the above embodiment, which will not be repeated here.

[0075] As an optional implementation manner, as shown in the figure, Figure 8 As shown in the figure, in another embodiment of the present application, it is disclosed that the automatic control device 200 in the port automation system of the above embodiment comprises a control component, a sensing component and an electric control component. The sensing component and the control component of the same type of second control device are connected to the same backend processing equipment, and the control component and the electric control component of the same automatic control device are in communication connection.

[0076] The sensing component is used for sensing environmental information based on the control instruction and feeding back the environmental information to the target front-end processing equipment or the target backend processing equipment, so that the target front-end processing equipment or the target backend processing equipment determines a control result based on the control instruction and the environmental information; the control component is used for determining whether to control the electric control component to execute the control instruction according to the control result.

[0077] Specifically, the sensing component is a specific sensor component, such as a visual sensor, a pressure sensor, an infrared sensor, etc., the control component is an automatic control device such as a programmable logic controller, and the electric control component is an electric control component in the working equipment 20, which is composed of a plurality of electric elements and can directly control the working of the working equipment 20. Among them, as shown in the figure, Figure 8 The working equipment 20 can also comprise a working component 201, which is in communication connection with the corresponding electric control component, and the working component 201 can realize automatic working under the control of the electric control component.

[0078] Figure 8 As shown in the figure, in the embodiment, the target automatic control device is the second control device. The sensing component in the target automatic control device senses the environmental information based on the above control instruction, and feeds back the environmental information to the target backend processing equipment in the control system 21 of the port machine based on the signal transmission equipment 14 in the control system 21 of the port machine. The target backend processing equipment determines a control result according to the control instruction and the environmental information. Then, the target backend processing equipment sends the control result to the control component in the target automatic control device based on the signal transmission equipment 14. If the control result is to execute the control instruction, the control component controls the electric control component to execute the control instruction, and the electric control component can control the working component 201 of the working equipment 20 to work after determining to execute the control instruction; if the control result is to suspend the execution of the control instruction, the control component controls the electric control component to suspend the execution of the control instruction.

[0079] In the above embodiment, by setting the control component, the sensing component and the electric control component, the purpose of automatically controlling the operation equipment 20 can be achieved.

[0080] As an optional implementation, in another embodiment of the present application, the automatic control device of the above embodiment comprises a first control device, a second control device and a third control device; the real-time requirement of the first control device in operation is higher than that of the second control device, and the real-time requirement of the second control device in operation is higher than that of the third control device.

[0081] The control system of the port machine comprises a back-end processing device arranged at the remote control side, a front-end processing device arranged at the port machine side and a cloud-end processing device arranged at the cloud end, the first control device is in communication connection with the corresponding front-end processing device, the second control device comprises multiple types, the second control devices of the same type are in communication connection with the same back-end processing device, and the third control device is in communication connection with the cloud-end processing device.

[0082] In a specific embodiment, as shown in Figure 9 , the port automation system comprises a server room, a core convergence layer, a passive convergence layer, a remote control room access layer and a plurality of port machine access layers.

[0083] Among them, the server room is provided with a server and a controller cluster, and the server and the controller cluster comprise a remote control device and a back-end processing device; the core convergence layer is provided with a core switch and an OLT; the passive convergence layer is provided with an optical splitter, including a first-order optical splitter and a second-order optical splitter; the remote control room access layer is used for setting a remote control room, and the remote control room is provided with a remote operating system (Remote Operating System, ROS) as a manual operating device; the port machine access layer is used for setting the operation equipment of the port machine and the front-end processing device, and each port machine access layer is further provided with an ONU connected with each automatic control device of the port machine, and the ONU, the core convergence layer and the passive convergence layer form a signal transmission device, and the ONU in the port machine access layer comprises an electrical room ONU, a ladder side ONU, a ladder-free side ONU, a trolley top ONU and a spreader top ONU, etc.

[0084] In the above embodiment, by using the all-optical network communication link based on F5G, the industrial computer / processor / controller on the second control device is arranged as the back-end processing device at the back remote control center, and is commonly used by all remote control port machines, so that the physical performance of the controller is maximized and the cost is saved; and the industrial computer / processor / controller on the first control device is arranged as the front-end processing device at the operation equipment of the port machine, so as to meet the real-time requirement of the first control device in the operation process.

[0085] It should be further pointed out that the above Figure 1 , Figure 6 ,Figure 7 The ellipsis appearing in the middle indicates that the number of corresponding devices is at least one.

[0086] For each method embodiment described above, in order to simply describe, it is expressed as a series of action combinations, but those skilled in the art should know that the application is not limited to the order of the described actions, because according to the application, certain steps can be performed in other order or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the application.

[0087] It should be noted that each of the embodiments in the specification is described in a progressive manner, and each embodiment focuses on the difference from other embodiments, and the same and similar parts between each embodiment can be referred to each other. For device embodiments, since they are basically similar to method embodiments, they are described more simply, and the relevant parts refer to the part of the method embodiment.

[0088] The steps in the method of each embodiment of the application can be adjusted, combined and deleted according to actual needs, and the technical features recorded in each embodiment can be replaced or combined.

[0089] The modules and sub-modules in the device and terminal in each embodiment of the application can be combined, divided and deleted according to actual needs.

[0090] In several embodiments provided by the application, it should be understood that the disclosed terminal, device and method can be implemented by other ways. For example, the terminal embodiments described above are only schematic, for example, the division of modules or sub-modules is only a logical function division, and actual implementation can have another division manner, for example, a plurality of sub-modules or modules can be combined or integrated into another module, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the shown or discussed each other can be indirect coupling or communication connection through some interface, device or module, which can be electrical, mechanical or other forms.

[0091] The modules or sub-modules described as separate components can or can not be physically separated, and the components of the modules or sub-modules can or can not be physical modules or sub-modules, that is, they can be located in one place, or can be distributed to a plurality of network modules or sub-modules. According to actual needs, some or all of the modules or sub-modules can be selected to achieve the purpose of the embodiment.

[0092] In addition, each functional module or sub-module in each embodiment of the present application can be integrated in one processing module, or each module or sub-module can exist physically alone, or two or more modules or sub-modules can be integrated in one module. The integrated module or sub-module can be realized in the form of hardware or in the form of a software functional module or sub-module.

[0093] Those skilled in the art will further appreciate that the units and algorithm steps of the examples described in connection with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or any combination thereof. To clearly illustrate the interchangeability of hardware and software, various examples have been described generally in terms of their functionality, without limitation to the corresponding description in any particular combination of hardware and software. Those skilled in the art will recognize many modifications and variations of this example that are apparent in light of the above teachings. It is therefore intended that such modifications and variations not depart from the scope of the application.

[0094] The steps of a method or algorithm described in connection with the embodiments disclosed herein can be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module can reside in random access memory (RAM), memory, read-only memory (ROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0095] Finally, it needs to be pointed out that, in this document, the relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or sequence between the entities or operations. Moreover, the terms "include", "contain" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment. Without more limitations, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method, article or equipment including the element.

[0096] The foregoing description of the disclosed embodiments enables a person skilled in the art to make or use the application. Modifications of these embodiments will occur to persons of skill in the art, and that the generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the application. Therefore, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control system of a port machine, characterized by, The control system comprises: a remote control device arranged on a remote control side, a backend processing device, and a front-end processing device arranged on a port machine side; the remote control device is in communication connection with an automatic control device of the port machine; wherein the automatic control device comprises a first control device and a second control device, and the real-time requirement of the first control device in operation is higher than that of the second control device; the first control device is in communication connection with a corresponding front-end processing device; the second control device comprises multiple types, and second control devices of the same type are in communication connection with a same backend processing device; the control system further comprises a cloud processing device arranged on a cloud side; the automatic control device comprises a third control device, and the real-time requirement of the third control device in operation is lower than that of the second control device; the cloud processing device is in communication connection with the third control device and a user terminal respectively; the remote control device is configured to send a control instruction to a target automatic control device to be controlled, so that the target automatic control device determines whether to execute the control instruction under the control of a target backend processing device or a target front-end processing device; the target front-end processing device is a front-end processing device in communication connection with the target automatic control device, and the target backend processing device is a backend processing device in communication connection with the target automatic control device.

2. A port machine control system according to claim 1, wherein, The target automatic control device is configured to perceive environmental information based on the control instruction and feed back the environmental information to the target front-end processing device or the target backend processing device; the target front-end processing device or the target backend processing device is configured to determine a control result based on the control instruction and the environmental information, so that the target automatic control device determines whether to execute the control instruction according to the control result.

3. A port machine control system according to claim 1, wherein, Further comprising a signal transmission device; the remote control device is in communication connection with the automatic control device through the signal transmission device; second control devices of the same type are in communication connection with a same backend processing device through the signal transmission device.

4. A port machine control system according to claim 3, wherein, Further comprising a remote control room in communication connection with the remote control device through the signal transmission device; the remote control device is further configured to select a target remote control room meeting a preset condition from the remote control room according to the control instruction, so that a staff in the target remote control room assists the target automatic control device in operation.

5. A port machine control system according to claim 3, wherein, The signal transmission device comprises an all-optical network communication link built based on a fifth-generation fixed network.

6. A port machine control system according to claim 5, wherein, The all-optical network communication link comprises a core switch, an optical line terminal, a passive optical distribution network, and an optical network unit; wherein the passive optical distribution network comprises an optical fiber and an optical splitter arranged on the optical fiber; the remote control device and the backend processing device are both connected to one end of the optical line terminal through the core switch; and the automatic control device is connected to one end of the optical network unit; the other end of the optical line terminal and the other end of the optical network unit are connected to the passive optical distribution network.

7. The control system of a port machine according to claim 1, wherein, The remote control device comprises a remote operation device and a remote device management device in communication connection; the remote operation device is configured to obtain a control instruction; The remote device management device is also in communication connection with the automatic control device of the port machine; the remote device management device is used to determine the control content and the target automatic control device based on the control instruction, and send the control content to the target automatic control device.

8. A port automation system, characterized by The control system of the port machine comprises a work equipment and the port machine of any one of claims 1-7; The control system of the port machine is in communication connection with the automatic control device of the work equipment.

9. The port automation system according to claim 8, characterized in that, The automatic control device comprises a control component, a sensing component and an electric control component; The sensing component is used to sense the environmental information based on the control instruction, and feed back the environmental information to the target front-end processing equipment or the target back-end processing equipment, so that the target front-end processing equipment or the target back-end processing equipment determines the control result based on the control instruction and the environmental information; The target front-end processing equipment is a front-end processing equipment in communication connection with the target automatic control device, and the target back-end processing equipment is a back-end processing equipment in communication connection with the target automatic control device; The control component is used to determine whether to control the electric control component to execute the control instruction according to the control result.

10. The port automation system of claim 8, wherein, The automatic control device comprises a first control device, a second control device and a third control device; the real-time requirement of the first control device in work is higher than that of the second control device, and the real-time requirement of the second control device in work is higher than that of the third control device; The control system of the port machine comprises a back-end processing equipment arranged at a remote control side, a front-end processing equipment arranged at the port machine side and a cloud-end processing equipment arranged at a cloud end; The first control device is in communication connection with the corresponding front-end processing equipment; The second control device comprises multiple types, and the second control devices of the same type are in communication connection with the same back-end processing equipment; The third control device is in communication connection with the cloud-end processing equipment.

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