Automatic control system and control method for steel plate loading and unloading bridge

Abstract

The present invention provides an automatic control system and control method for a steel plate loading and unloading bridge. The system includes a first scanning device, a second scanning device, a display device, a remote control mobile terminal, an onboard PLC control system, a main control device, a remote control receiver, a server, a first switch, and a second switch. The first scanning device, the second scanning device, and the display device are all electrically connected to the second switch, which is electrically connected to the server. The onboard PLC control system, the main control device, and the remote control receiver are all electrically connected to the first switch, which is electrically connected to the server. The present invention can automatically guide trucks to their docking positions, improving loading efficiency; achieve fully automated loading and stacking of steel, reducing driver workload and improving the working environment; and reduce production and operating costs.

Description

Technical Field

[0001] The present invention relates to the technical field of port steel plate loading and unloading bridges, and in particular to an automatic control system and a control method for a steel plate loading and unloading bridge. Background Art

[0002] The steel plate loading and unloading bridge is a special finished steel loading and unloading equipment for the terminal. Currently, it is operated manually by the driver in the driver's cab.

[0003] When operating a steel plate loading and unloading bridge, the driver needs to pay attention to the on-site working environment at all times. The labor intensity is high, the working environment is poor, and the contradictions of difficulty in recruiting and employing workers are prominent. Because loading and unloading are entirely dependent on manual operation, misoperation can easily cause the hoist to collide with the truck or the hull, and to a certain extent affect the safe operation of the equipment. Summary of the Invention

[0004] To address the aforementioned technical issues, an automatic control system and method for a steel plate loading and unloading bridge are provided. This invention primarily utilizes laser scanning to scan the ship's cabin and truck, build a model, analyze, and extract the coordinates of the ship's cabin and the position of the steel loaded on the truck. This enables fully automated loading operations for the steel plate loading and unloading bridge, maximizing labor savings, reducing operating costs, and ensuring safe equipment operation.

[0005] The technical means adopted in the present invention are as follows:

[0006] An automatic control system for a steel plate loading and unloading bridge comprises: a first scanning device arranged below a cab platform, a second scanning device arranged at a door frame position, a display device installed at a sea-side trolley door beam position, a remote control mobile terminal, and an onboard PLC control system, a main control device, a remote control receiver, a server, a first switch, and a second switch installed in an electrical room. The first scanning device, the second scanning device, and the display device are all electrically connected to the second switch, and the second switch is electrically connected to the server. The first scanning device, the second scanning device, and the display device exchange data with the server via the second switch. The first scanning device is used to identify a spreader and a cabin, and the second scanning device is used to identify a truck's docking position and loaded steel. The display device is used to output the truck's target running direction and running distance. The remote control mobile terminal communicates wirelessly with the remote control receiver and is used by the driver around the equipment according to operational requirements.

[0007] The onboard PLC control system, main control device, and remote control receiver are all electrically connected to the first switch, and the first switch is electrically connected to the server. The server and the onboard PLC control system, main control device, and remote control receiver exchange data through the first switch. The server is used to synchronously receive the scanning data information of each scanning device and the lifting, trolley, and truck position information provided by the onboard PLC control system, process and establish a point cloud coordinate model of the target cabin, truck, and steel in the world coordinate system of the terminal, and further process to obtain the cabin contour coordinates and the truck and steel spatial position coordinates; the main control device is used to receive in real time the real-time cabin contour boundary position coordinates, target loading position height coordinates, truck docking direction signal, cab position coordinates, steel contour boundary and height coordinate data output by the server after processing; the driver issues an operation instruction through the remote control mobile terminal, and the system automatically generates a loading operation decomposition action instruction, and synchronously sends it to the onboard PLC control system to complete the fully automatic loading operation task from grabbing the steel from the truck to placing the steel in a fixed posture in the cabin.

[0008] Furthermore, the first scanning device includes a first laser scanner with a pan-tilt platform and a second laser scanner, the first laser scanner is installed on the trolley frame below the cab platform, and the second laser scanner is installed at the rear of the cab below the cab platform.

[0009] Furthermore, the second scanning device includes a third laser scanner.

[0010] Furthermore, the display device is an LED guide display screen.

[0011] Furthermore, the main control device is a decision-making PLC.

[0012] Furthermore, the remote control receiver communicates with the remote control mobile terminal wirelessly.

[0013] Furthermore, the server is configured with dual network cards.

[0014] The present invention also provides a control method for an automatic control system of a steel plate loading and unloading bridge, comprising the following steps:

[0015] S1. After the ship docks, the driver issues a hull contour recognition command via the remote control mobile terminal. The loading and unloading bridge trolley automatically moves to the middle of the berth. Two laser scanners under the driver's cab platform recognize the hull and cabin contours. After the relevant data is processed by the server, the spatial coordinates of the hatch outline (X1, Y1, Z1), (X2, Y1, Z1), (X1, Y2, Z1), (X2, Y2, Z1) are calculated and output, and synchronously fed back to the decision-making PLC;

[0016] S2. The length L of the cargo to be loaded is entered by the driver through the remote control mobile terminal and sent to the decision-making PLC;

[0017] S3. After receiving the relevant data, the decision-making PLC calculates the cabin length A = X2-X1, the cabin width B = Y1-Y2, and takes into account the loading safety anti-collision distance. The effective range of cargo that can be loaded on the ship is A1 = A-2a in the cabin length direction and B1 = B-2b in the cabin width direction, where a is the safety distance between the left and right sides in the length direction, and b is the safety distance between the sea and land sides in the width direction.

[0018] S4. Assume that the first loading position of the ship at berthing is 1 layer and 1 position. Subsequent loading shall be based on the principle of stacking by layer and position by position. Odd-numbered layers shall be stacked from left to right with positive angles, and even-numbered layers shall be stacked from right to left with negative angles. Calculate the required rotation angle of the spreader |θ| = arcos(B1 / L). The number of steel materials that can be stacked on a single layer is N < (A1-Lsinθ) / D+1, where D is the fixed distance between two positions on a single layer.

[0019] S5. The decision-making PLC calculates and outputs the target layer and position information of the steel material to be loaded according to the loading situation, and outputs the current cycle loading target position (X, Y, Z, θ);

[0020] S6. The driver sends an automatic operation instruction to the decision-making PLC through the remote control mobile terminal. The decision-making PLC cooperates with the PLC control system on the machine to drive the loading and unloading bridge trolley to the X coordinate position of the center point of the current loaded steel;

[0021] S7. The third laser scanner scans the span of the loading and unloading bridge to see if there is a truck loaded with steel. After confirming that the truck has entered the span, the server outputs data to the LED guidance display based on the current position of the loading and unloading bridge and the truck outline position obtained by the scan. The LED guidance display displays the direction and distance that the truck needs to adjust its position. After the truck driver moves the truck to the designated position according to the data displayed on the LED guidance display, the LED guidance display shows a red in-position bar and displays the output 000;

[0022] S8. The third laser scanner identifies and confirms the positions of the truck and steel. After data processing by the server, the server outputs the outline coordinates of the truck head (XK1, YK1, K, (XK2, YK1, ZK), (XK1, YK2, ZK), XK2, K2, K) and the outline coordinates of the steel (XG1, YG1, G1, (XG2, YG1, ZG2), XG1, YG2, ZG3), (XG2, YG2, G4). Therefore, the height of the truck head is ZK, and the height of the steel is ZG = Min(ZG1, ZG2, ZG3, ZG4).

[0023] S9, the decision-making PLC cooperates with the onboard PLC control system to drive the loading and unloading bridge trolley to move above the steel loaded on the truck; drives the loading and unloading bridge to rise and fall, so that the spreader is parked at a height of 1.5 meters above the truck cab;

[0024] S10: The decision-making PLC coordinates with the onboard PLC control system to drive the loading and unloading bridge to accurately align the loaders based on the size of the spreader, the current position of the loading and unloading bridge, and the outline position of the truck and steel. This ensures that the spreader is aligned with the steel and there is no risk of collision with the truck cab.

[0025] S11, the decision-making PLC cooperates with the onboard PLC control system to drive the spreader down to the ZG height according to the steel profile position, and then continues to lift and descend at a low speed to the loose rope state;

[0026] S12, the decision-making PLC cooperates with the onboard PLC control system to control the magnetization of the spreader and absorb the steel;

[0027] S13: The decision-making PLC coordinates with the PLC control system on the machine to control the hoist to slowly rise, so that the lower surface of the steel is 1.5 meters above the truck cab. Then the spreader protection device is locked, and the LED guidance display outputs information to guide the truck to leave.

[0028] S14, the decision-making PLC cooperates with the PLC control system on the machine to control the operation of the hoist, trolley, and carriage mechanisms, so that the spreader moves to 1.5 meters above the current target position for loading steel, and controls the spreader to rotate to the target angle;

[0029] S15, the decision-making PLC cooperates with the PLC control system on the machine to open the spreader protection device and control the lifting and lowering to 100mm above the target height. The spreader is demagnetized so that the steel can be loaded into the cabin;

[0030] S16: The scanner under the cab platform identifies the current loading situation and updates the loading profile in the cabin. The data is processed by the server and sent to the decision-making PLC. The matching confirms that the loading information is valid and updates the next loading target position information.

[0031] S17, the decision-making PLC coordinates the PLC control system on the machine to drive the loading and unloading bridge to rise to a safe height and the trolley to run to the parking position, ending the loading task of this cycle;

[0032] S18. The driver issues the operation task through the remote control mobile terminal according to the ship loading situation and the terminal operation arrangement. If the operation needs to continue, repeat steps S4-S17 to automatically load the steel. If the operation is stopped, the PLC control system on the decision-making PLC collaborative machine drives the loading and unloading bridge to the anchoring position.

[0033] Compared with the prior art, the present invention has the following advantages:

[0034] 1. The automatic control system and control method of the steel plate loading and unloading bridge provided by the present invention can realize automatic guidance of the truck docking position, improve loading efficiency, realize fully automatic loading and stacking of steel, reduce the labor intensity of drivers, improve the working environment, and reduce production and operation costs.

[0035] 2. The automatic control system and control method for the steel plate loading and unloading bridge provided by the present invention uses two pan-tilt laser scanners below the cab platform to identify the spreader and the ship's hold. A laser scanner at the gantry position identifies the truck's docking position and loaded steel. The target truck travel direction and distance are displayed on an LED guidance display. The server simultaneously receives scanning data from each laser scanner and the position information of the lift, trolley, and truck provided by the onboard PLC control system. This data is then processed and constructed into a point cloud coordinate model of the target ship's hold, truck, and steel in the terminal's world coordinate system. Further processing yields the ship's outline coordinates and the spatial position coordinates of the truck and steel. The decision-making PLC receives, in real time, the server's processed output of the real-time ship's outline boundary position coordinates, target loading position height coordinates, truck docking direction signals, cab position coordinates, and steel outline boundary and height coordinates. The driver issues operation commands via a remote control, and the system automatically generates decomposed loading operation instructions, which are then transmitted to the onboard PLC control system, completing the fully automated loading task, from grabbing steel from the truck to placing it in a fixed position within the ship's hold.

[0036] Based on the above reasons, the present invention can be widely promoted in the fields of steel loading and unloading at docks. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0038] Figure 1 This is a schematic diagram of the installation positions of components within the system of the present invention.

[0039] Figure 2 This is a side view of the installation position of the components within the system of the present invention.

[0040] Figure 3 Schematic diagram of network connection within the system of the present invention.

[0041] Figure 4 This is a dimension diagram of the loading space of the present invention.

[0042] In the figure: 1. First laser scanner; 2. Second laser scanner; 3. Third laser scanner; 4. LED guide display; 5. Remote control mobile terminal; 6. On-board PLC control system; 7. Decision-making PLC; 8. Remote control receiver; 9. Server; 10. First switch; 11. Second switch. DETAILED DESCRIPTION

[0043] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0044] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0045] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0046] Unless otherwise specifically stated, the relative arrangement of the parts and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be clear that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, and therefore, once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0047] In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention: the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0048] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below their position devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0049] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0050] The present invention provides an automatic control system and control method for a steel plate loading and unloading bridge, which is suitable for loading threaded steel bars or slabs on ships moored in inland rivers. Laser scanning is used to scan the ship's cabin and truck, establish a model, analyze and extract the coordinates of the ship's cabin and the coordinates of the cargo loaded on the truck, thereby realizing fully automatic loading operations of the steel plate loading and unloading bridge.

[0051] This design is for a steel plate loading and unloading bridge (hereinafter referred to as the loading and unloading bridge), which is particularly suitable for loading threaded steel bars or slabs (hereinafter referred to as steel) on open mooring ships in inland rivers.

[0052] The automatic control system of the steel plate loading and unloading bridge mainly includes a remote control, an on-board PLC control system 6, a decision-making PLC 7, a laser scanner, a server 9, an LED guide display screen 4, etc.

[0053] Two laser scanners with pan / tilts (i.e., the first laser scanner 1 and the second laser scanner 2) are installed under the cab platform to identify the spreader and the cabin; a third laser scanner 3 is installed at the gantry position to identify the truck's docking position and the loaded steel; an LED guide display 4 is installed at the sea side trolley door beam position to output the truck's target running direction and running distance; a server 9 is installed in the electrical room to synchronously receive the scanning data information of each laser scanner and the lifting, trolley and truck position information provided by the on-board PLC control system 6, process and establish the target cabin, truck and steel in the terminal world The point cloud coordinate model in the coordinate system can be further processed to obtain the cabin contour coordinates and the spatial position coordinates of the truck and steel; the electrical room is equipped with a decision-making PLC7, which can receive the real-time cabin contour boundary position coordinates, target loading position height coordinates, truck docking direction signal, cab position coordinates, steel contour boundary and height coordinate data output by the server 9 after processing. The driver issues an operation instruction through the remote control, and the system automatically generates the loading operation decomposition action instruction, which is synchronously sent to the on-board PLC control system 6 to complete the fully automatic loading operation task from grabbing the steel from the truck to placing the steel in a fixed posture in the cabin.

[0054] The installation position of the components in the system is as follows: Figure 1-2 As shown:

[0055] The first laser scanner 1 is installed on the trolley frame below the cab platform; the second laser scanner 2 is installed on the rear of the cab below the cab platform; the third laser scanner 3 is installed on the door frame; the LED guide display screen 4 is installed on the sea side trolley door beam; the on-board PLC control system 6, decision PLC 7, remote control receiver 8, server 9, first switch 10, and second switch 11 are installed in the electrical room of the machine room, and the remote control mobile terminal 5 is stored or used by the driver around the equipment according to work requirements.

[0056] The network connection within the system is as follows Figure 3 As shown:

[0057] The first laser scanner 1, second laser scanner 2, third laser scanner 3, and LED guide display 4 exchange data with the server 9 via the second switch 11. The server 9 exchanges data with the remote control receiver 8, decision-making PLC 7, and onboard PLC control system 6 via the first switch 10. The server 9 is equipped with dual network cards. The remote control receiver 8 communicates with the remote control mobile terminal 5 wirelessly.

[0058] During actual production operations, according to the actual production process of the loading and unloading bridge, the present invention provides an automatic loading control method, which is as follows:

[0059] 1. After the ship docks, the driver issues a hull contour recognition command via the remote control mobile terminal 5. The loading and unloading bridge trolley automatically moves to the middle of the berth. Two laser scanners under the driver's cab platform recognize the hull and cabin contours. After the relevant data is processed by the server 9, the spatial coordinates of the hatch outline (X1, Y1, Z1), (X2, Y1, Z1), (X1, Y2, Z1), (X2, Y2, Z1) are calculated and output, and synchronously fed back to the decision-making PLC 7;

[0060] 2. The length L of the cargo to be loaded is entered by the driver via the remote control mobile terminal 5 and sent to the decision-making PLC 7;

[0061] 3. After receiving the relevant data, the decision-making PLC7 calculates the cabin length A = X2-X1, the cabin width B = Y1-Y2, and takes into account the loading safety anti-collision distance. The effective range of cargo that can be loaded on the ship is A1 = A-2a in the cabin length direction and B1 = B-2b in the cabin width direction, where a is the safety distance on the left and right sides in the length direction, and b is the safety distance on the land and sea sides in the width direction. The loading space size is as follows: Figure 4 shown.

[0062] 4. Assume that the first loading position of the ship at berthing is 1 layer and 1 position. Subsequent loading shall be based on the principle of stacking by layer and position by position. Odd-numbered layers are stacked from left to right at a positive angle, and even-numbered layers are stacked from right to left at a negative angle. The required rotation angle of the spreader can be calculated as |θ|=arcos(B1 / L). The number of steel materials that can be stacked on a single layer is N<(A1-Lsinθ) / D+1, where D is the fixed distance between two positions on a single layer.

[0063] 5. Decision-making PLC7 calculates and outputs the target layer and position information of the steel material to be loaded according to the loading situation, and outputs the current cycle loading target position (X, Y, Z, θ);

[0064] 6. The driver sends an automatic operation instruction to the decision-making PLC 7 through the remote control mobile terminal 5. The decision-making PLC 7 cooperates with the on-board PLC control system 6 to drive the loading and unloading bridge trolley to the X coordinate position of the center point of the current loaded steel;

[0065] 7. The third laser scanner 3 of the gantry scans whether there is a truck loaded with steel in the span of the loading and unloading bridge. After confirming that the truck has entered the span, the server 9 outputs data to the LED guide display screen 4 based on the current position of the loading and unloading bridge and the outline position of the truck obtained by the scan. The LED guide display screen 4 displays the direction and distance in which the truck needs to adjust its position. After the truck driver moves the truck to the designated position according to the data displayed on the LED guide display screen 4, the LED guide display screen 4 displays a red in-position bar and displays the output 000;

[0066] 8. The third laser scanner 3 on the gantry identifies and confirms the positions of the truck and steel. After data processing by the server 9, the server outputs the truck head contour coordinates (XK1, YK1, K, (XK2, YK1, ZK), (XK1, YK2, ZK), XK2, K2, K) and the steel profile coordinates (XG1, YG1, G1, (XG2, YG1, ZG2), XG1, YG2, ZG3), (XG2, YG2, G4). Therefore, the height of the truck head is ZK, and the height of the steel is ZG = Min(ZG1, ZG2, ZG3, ZG4).

[0067] 9. Decision-making PLC 7 coordinates with the onboard PLC control system 6 to drive the loading bridge trolley to move above the steel loaded on the truck; it drives the loading bridge to rise and fall, so that the spreader is parked 1.5 meters above the truck cab;

[0068] 10. The decision-making PLC 7 coordinates with the onboard PLC control system 6 to drive the loading and unloading bridge to accurately align the loaders according to the size of the spreader, the current position of the loading and unloading bridge, the outline position of the truck and the steel, so that the spreader is aligned with the steel and there is no risk of collision with the truck cab;

[0069] 11. The decision-making PLC 7 cooperates with the onboard PLC control system 6 to drive the spreader down to the ZG height according to the steel profile position, and then continues to lower the spreader at a low speed to the rope-slack state;

[0070] 12. The decision-making PLC 7 cooperates with the onboard PLC control system 6 to control the magnetization of the spreader and adsorb the steel;

[0071] 13. The decision-making PLC 7 coordinates with the onboard PLC control system 6 to control the hoist to slowly rise until the lower surface of the steel is 1.5 meters above the truck cab. The spreader protection device is then locked, and the LED guide display 4 outputs information to guide the truck to leave.

[0072] 14. The decision-making PLC 7 cooperates with the onboard PLC control system 6 to control the operation of the hoist, trolley, and carriage mechanisms, so that the spreader moves to 1.5 meters above the current target position for loading steel, and controls the spreader to rotate to the target angle;

[0073] 15. Decision-making PLC 7 cooperates with the onboard PLC control system 6 to open the spreader protection device and control the lifting and lowering to 100 mm above the target height. The spreader is demagnetized so that the steel can be loaded into the cabin.

[0074] 16. The scanner under the cab platform identifies the current loading situation and updates the loading profile in the cabin. The data is processed by the server 9 and sent to the decision-making PLC 7, which matches and confirms that the loading information is valid and updates the next loading target position information;

[0075] 17. The decision-making PLC 7 cooperates with the onboard PLC control system 6 to drive the loading and unloading bridge to rise to a safe height and the trolley to run to the parking position, thus ending the loading task of this cycle;

[0076] 18. The driver issues the operation task through the remote control mobile terminal 5 according to the ship loading situation and the terminal operation arrangement. If the operation needs to continue, repeat steps 4-17 to automatically load the steel. If the operation is to be stopped, the decision-making PLC 7 cooperates with the on-board PLC control system 6 to drive the loading and unloading bridge to the anchoring position.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method for an automatic control system of a steel plate loading and unloading bridge, characterized in that: The automatic control system of the steel plate loading and unloading bridge comprises: a first scanning device arranged below the driver's cab platform, a second scanning device arranged at the door frame position, a display device installed at the door beam position of the sea side platform, a remote control mobile terminal (5), and an onboard PLC control system (6) installed in the electrical room, a main control device, a remote control receiver (8), a server (9), a first switch (10) and a second switch (11), wherein the first scanning device, the second scanning device and the display device are all electrically connected to the second switch (11), and the second switch (11) is electrically connected to the server (9), and the first scanning device, the second scanning device and the display device exchange data with the server (9) through the second switch (11), the first scanning device is used to identify the spreader and the cabin, the second scanning device is used to identify the truck's docking position and the loaded steel, and the display device is used to output the truck's target running direction and running distance; the remote control mobile terminal (5) communicates wirelessly with the remote control receiver (8), and is used by the driver around the equipment according to the operation requirements; The onboard PLC control system (6), the main control device, and the remote control receiver (8) are all electrically connected to the first switch (10), and the first switch (10) is electrically connected to the server (9). The server (9) and the onboard PLC control system (6), the main control device, and the remote control receiver (8) perform data exchange through the first switch (10). The server (9) is used to synchronously receive the scanning data information of each scanning device and the lifting, trolley, and truck position information provided by the onboard PLC control system (6), process and establish the point cloud of the target cabin, truck, and steel in the dock world coordinate system. The coordinate model is further processed to obtain the cabin outline coordinates and the spatial position coordinates of the truck and steel; the main control device is used to receive in real time the real-time cabin outline boundary position coordinates, target loading position height coordinates, truck parking direction signal, cab position coordinates, steel outline boundary and height coordinate data output by the server (9) after processing; the driver issues an operation instruction through the remote control mobile terminal (5), and the system automatically generates a loading operation decomposition action instruction, which is synchronously sent to the on-board PLC control system (6), completing the fully automatic loading operation task from grabbing the steel from the truck to placing the steel in a fixed posture in the cabin; The first scanning device comprises a first laser scanner (1) with a pan / tilt platform and a second laser scanner (2), wherein the first laser scanner (1) is installed at a small vehicle frame position below the driver's cab platform, and the second laser scanner (2) is installed at a rear position of the driver's cab below the driver's cab platform; The second scanning device comprises a third laser scanner (3); The display device is an LED guide display screen (4); The main control device is a decision-making PLC (7); The remote control receiver (8) communicates with the remote control mobile terminal (5) via wireless communication; The server (9) is equipped with dual network cards; The control method of the automatic control system of the steel plate loading and unloading bridge comprises the following steps: S1. After the ship docks, the driver issues a hull contour recognition command via the remote control mobile terminal (5). The loading and unloading bridge trolley automatically moves to the middle of the berth. Two laser scanners under the driver's cab platform recognize the hull and cabin contours. After the relevant data is processed by the server (9), the spatial coordinates of the hatch outline (X1, Y1, Z1), (X2, Y1, Z1), (X1, Y2, Z1), (X2, Y2, Z1) are calculated and output, and synchronously fed back to the decision-making PLC (7). S2, the length L of the cargo to be loaded is entered by the driver through the remote control mobile terminal (5) and sent to the decision-making PLC (7); S3, decision PLC (7) after receiving the relevant data, calculates the cabin length A = X2-X1, cabin width B = Y1-Y2, and considering the loading safety anti-collision distance, the effective range of cargo that can be loaded on the ship is A1 = A-2a in the cabin length direction and B1 = B-2b in the cabin width direction, where a is the safety distance on the left and right sides in the length direction, and b is the safety distance on the land and sea sides in the width direction; S4. Assume that the first loading position of the ship at berthing is 1 layer and 1 position. Subsequent loading shall be based on the principle of stacking by layer and position by position. Odd-numbered layers shall be stacked from left to right with positive angles, and even-numbered layers shall be stacked from right to left with negative angles. Calculate the required rotation angle of the spreader |θ| = arcos(B1 / L). The number of steel materials that can be stacked on a single layer is N < (A1-Lsinθ) / D+1, where D is the fixed distance between two positions on a single layer. S5, decision PLC (7) calculates and outputs the target layer and position information of the steel material to be loaded according to the loading situation, and outputs the current cycle loading target position (X, Y, Z, θ); S6, the driver sends an automatic operation instruction to the decision-making PLC (7) through the remote control mobile terminal (5), and the decision-making PLC (7) cooperates with the on-board PLC control system (6) to drive the loading and unloading bridge trolley to the X coordinate position of the center point of the current loaded steel; S7, the third laser scanner (3) scans the span of the loading and unloading bridge to see if there is a truck loaded with steel. After confirming that the truck has entered the span, the server (9) outputs data to the LED guide display (4) based on the current position of the loading and unloading bridge and the outline position of the truck obtained by scanning. The LED guide display (4) displays the direction and distance in which the truck needs to adjust its position. After the truck driver moves the truck to the designated position according to the data displayed on the LED guide display (4), the LED guide display (4) displays a red in-position bar and displays the output 000; S8, the third laser scanner (3) identifies and confirms the position of the truck and the steel. After the data is processed by the server (9), the server outputs the truck head contour coordinates (XK1, YK1, K, (XK2, YK1, ZK), (XK1, YK2, ZK), XK2, K2, K) and the steel contour coordinates (XG1, YG1, G1, (XG2, YG1, ZG2), XG1, YG2, ZG3), (XG2, YG2, G4). Therefore, the height of the truck head is ZK, and the height of the steel is ZG = Min (ZG1, ZG2, ZG3, ZG4). S9, the decision-making PLC (7) cooperates with the onboard PLC control system (6) to drive the loading and unloading bridge trolley to move above the steel loaded on the truck; drives the loading and unloading bridge to rise and fall, so that the spreader is parked at a height of 1.5 meters above the truck cab; S10, the decision-making PLC (7) coordinates with the onboard PLC control system (6) to drive the loading and unloading bridge to accurately align the loaders according to the size of the spreader, the current position of the loading and unloading bridge, and the outline position of the truck and the steel, so that the spreader is aligned with the steel and there is no risk of collision with the truck cab; S11, the decision-making PLC (7) cooperates with the on-board PLC control system (6) to drive the spreader down to the ZG height according to the steel profile position, and then continues to lift and descend at a low speed to the loose rope state; S12, the decision-making PLC (7) cooperates with the onboard PLC control system (6) to control the magnetization of the spreader to attract the steel; S13, the decision-making PLC (7) cooperates with the onboard PLC control system (6) to control the lifting device to slowly rise, so that the lower surface of the steel is located 1.5 meters above the truck cab. Then the sling protection device is locked, and the LED guide display (4) outputs information to guide the truck to leave; S14, the decision-making PLC (7) cooperates with the onboard PLC control system (6) to control the operation of the lifting, trolley, and carriage mechanisms, so that the spreader moves to 1.5 meters above the current target position of the loaded steel, and controls the spreader to rotate to the target angle; S15, the decision-making PLC (7) cooperates with the onboard PLC control system (6) to open the sling protection device and control the lifting and lowering to 100 mm above the target height. The sling is demagnetized so that the steel is loaded into the cabin; S16, the scanner under the cab platform identifies the current loading situation and updates the loading profile in the cabin. The data is processed by the server (9) and sent to the decision-making PLC (7), which matches and confirms that the loading information is valid and updates the next loading target position information; S17, the decision-making PLC (7) cooperates with the onboard PLC control system (6) to drive the loading and unloading bridge to rise to a safe height and the trolley to run to the parking position, thus ending the loading task of this cycle; S18. The driver issues the operation task through the remote control mobile terminal (5) according to the ship loading situation and the terminal operation arrangement. If the operation needs to be continued, repeat steps S4-S17 to automatically load the steel. If the operation is stopped, the decision PLC (7) cooperates with the on-board PLC control system (6) to drive the loading and unloading bridge to the anchoring position.

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