Remote operation simulation system, method and medium for quayside container crane

Abstract

The present invention relates to a system, method, and medium for simulating the remote operation of a shore-side container crane. The system comprises: an operation signal acquisition module for collecting remote operation signals of a virtual shore-side container crane; an operation signal processing module for acquiring the remote operation signals based on the OPC UA protocol and obtaining control signals based on control logic; a virtual simulation calculation module for obtaining the real-time speeds of the shore-side container crane's trolley, trolley, and spreader based on the control signals, taking into account wind resistance and anti-sway operation mode type, and utilizing a pre-built operation model to complete three-dimensional virtual scene rendering of the shore-side container and operating environment; and a virtual simulation presentation module for outputting the results of the three-dimensional virtual scene rendering to multiple displays in a split-screen format. Compared with existing technologies, the present invention has the advantages of high simulation realism, simple structure, and strong compatibility.

Description

Technical Field

[0001] The present invention relates to the field of simulation technology, and in particular to a system, method and medium for simulating the remote operation of a shore container crane. Background Art

[0002] With the continuous development of automation and intelligent transformation of port machinery, remote operation of port machinery has become the main operation mode to ensure the continuous growth of container shipping volume while reducing terminal labor costs, improving port operation efficiency and reducing energy consumption of loading and unloading operations. Terminal operations have changed from on-site operation by port machinery operators to remote control operation at the operating console in the monitoring room. This remote control operation has a significant effect on improving operation efficiency, reducing the labor intensity of operators and improving the economic benefits of the terminal.

[0003] Current training for remote operators in companies mainly involves theoretical training followed by practical work involving real machine operation. This training method has drawbacks such as affecting the efficiency of terminal loading and unloading operations, high operating costs for operating machinery, an inability to guarantee the safety of equipment and personnel during training, and the training being easily affected by current operating conditions.

[0004] Virtual reality technology has become both an emerging and mainstream technology for modern vocational education, and holds crucial strategic significance in the transition to intelligent vocational education. By utilizing virtual reality technology to model and simulate remote-controlled port machinery and operational scenarios, and developing virtual simulation-based training programs based on vocational skill assessment standards, we aim to rapidly cultivate highly skilled professionals proficient in remote port machinery operation.

[0005] In summary, how to realize realistic simulation of shore container cranes is an urgent problem to be solved. Summary of the Invention

[0006] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and provide a remote operation simulation system, method and medium for a shore container crane to improve the authenticity of the simulation.

[0007] The purpose of the present invention can be achieved by the following technical solutions:

[0008] One aspect of the present invention provides a remote operation simulation system for a shore container crane, comprising:

[0009] An operation signal acquisition module, used to collect remote operation signals of a virtual shore container crane;

[0010] An operation signal processing module, configured to obtain the remote operation signal based on the OPC UA protocol and obtain a control signal based on the control logic;

[0011] A virtual simulation calculation module is used to obtain the real-time speeds of the trolley, trolley, and spreader of the quayside container crane based on the control signal, taking into account wind resistance and anti-sway operation mode type, and using a pre-built operation model to complete a three-dimensional virtual scene rendering of the quayside container and operating environment;

[0012] The virtual simulation presentation module is used to output the results of three-dimensional virtual scene rendering to multiple displays in split screen.

[0013] As a preferred technical solution, the operation signal acquisition module includes:

[0014] The first master handle is connected to a first independent button and a second independent button for switching between two control modes of the spreader's forward and backward, left and right tilt angles and the CCTV camera's vertical, horizontal, and vertical rotation, thereby realizing functional reuse of the first master handle;

[0015] The second master handle is used to control the movement of the trolley. The second master handle is connected to the third and fourth independent buttons for controlling the start and stop of the anti-sway and anti-twist function of the spreader, and the fifth and sixth independent buttons for controlling the extension and retraction of the spreader lock;

[0016] The third master handle is used to control the left and right movement of the trolley and the lifting and lowering of the spreader. The third master handle is connected to the seventh and eighth independent buttons for controlling the opening and closing of the spreader rotary lock, and the ninth and tenth independent buttons for controlling the rotation of the spreader guide plate;

[0017] HMI touch screen, used to simulate operation task instructions, CCTV camera selection instructions and realize operation ship map display.

[0018] As a preferred technical solution, the operation signal processing module includes:

[0019] A PLC device, configured to obtain the remote operation signal and obtain a control signal based on control logic;

[0020] The POE switch is used to send the control signal to the virtual simulation computing module based on the OPC UA protocol.

[0021] As a preferred technical solution, the simulation calculation module includes:

[0022] An OPC UA server, integrated with multiple PLC communication drivers, for obtaining the control signal;

[0023] The computer host is used to complete the three-dimensional virtual scene rendering of the shore container and the operating environment based on the control signal.

[0024] As a preferred technical solution, the virtual simulation presentation module includes:

[0025] A video matrix, connected to the virtual simulation computing module via a single HDMI interface, for performing split-screen processing on the output of the virtual simulation computing module;

[0026] The console display screen includes multiple displays, which are connected to the video matrix through multiple HDMI interfaces. The console display screen is used to display three-dimensional virtual scene images and two-dimensional supervision images from multiple different perspectives.

[0027] Another aspect of the present invention provides a method for simulating remote operation of a shore container crane, comprising the following steps:

[0028] Collect remote operation signals of virtual quayside container cranes;

[0029] Acquire the remote operation signal based on the OPC UA protocol, and obtain the control signal based on the control logic;

[0030] Based on the control signal, taking into account wind resistance and anti-sway operation mode type, a pre-built operation model is used to obtain the real-time speeds of the quayside container crane trolley, car, and spreader, and complete a three-dimensional virtual scene rendering of the quayside containers and operating environment;

[0031] Based on the results of 3D virtual scene rendering, the split screen is output to multiple displays.

[0032] As a preferred technical solution, in the operation model, the crane trolley is modeled as:

[0033] a g =F g / (m g +m r +m s +m c )

[0034]

[0035] GV y =0

[0036] GV z =0

[0037] Among them, a g 、F g , t g 、m g 、u g 、GV max They are the acceleration of the crane trolley, the motor driving force,

[0038] Motor starting time, mass, initial speed and maximum speed, mr 、m s 、m c are the masses of the trolley, spreader and container respectively, GV x 、GV y 、GV z are the velocity components of the vehicle in the x, y, and z directions, respectively, and g is the acceleration due to gravity.

[0039] As a preferred technical solution, in the operation model, the crane trolley is modeled as:

[0040] a r =F r / (m r +m s +m c )

[0041] RV x =GV x

[0042]

[0043] RV z =0

[0044] Among them, a r 、F r , t r 、m r 、u r RV max are the acceleration, motor driving force, motor starting time, mass, initial speed and maximum speed of the crane trolley, m s 、m c are the masses of the spreader and container, RV x RV y RV z are the velocity components of the car in the x, y, and z directions respectively, and g is the acceleration due to gravity.

[0045] As a preferred technical solution, in the operation model, the crane spreader is modeled as:

[0046] a s =F s / (m s +m c )

[0047]

[0048]

[0049]

[0050]

[0051]

[0052] Among them, a s 、F s , t s 、m s 、u s SV max are the acceleration, motor driving force, motor starting time, mass, initial speed and maximum speed of the crane spreader, m c For the quality of the container, RV x RV y RV z are the velocity components of the spreader in the x, y, and z directions, respectively. are the initial phase angles of the spreader in the x and y directions, θ x ,θ y are the real-time swing angles of the spreader in the x and y directions, A x 、A y are the windward areas of the spreader in the x and y directions, C d is the air resistance coefficient, ρ is the air density, g is the acceleration due to gravity, and L is the length of the wire rope.

[0053] As a preferred technical solution, under normal operation mode, A x =A y =30°, in anti-sway operation mode, A x =A y =5°.

[0054] Compared with the prior art, the present invention has at least one of the following beneficial effects:

[0055] (1) Improving the authenticity of simulation: Taking into account the wind resistance and anti-sway operation mode type, the present invention uses a pre-built operation model to obtain the real-time speeds of the shore container crane trolley, car and spreader, and completes the three-dimensional virtual scene rendering of the shore container and the operating environment. By introducing the windward area, air resistance coefficient and air density, the realism and effect of the simulation of remote operation of the simulated crane are increased. In addition, the virtual crane operation simulation module can simulate the swing effect of the spreader in the conventional operation mode and the anti-sway operation mode by adjusting the amplitude of the spreader, thereby improving the operator's remote control ability of the spreader in different operation modes.

[0056] (2) Simple structure: The present invention uses a video matrix to split the HDMI screen of a computer host and output it to all displays, replacing the traditional technology that requires one display to correspond to one computer host or one GPU unit. The system architecture is simpler and more stable. At the same time, the main control handle of the operating console is reused, and the front, back, left, and right tilt control functions of the spreader and the up, down, left, and right rotation control functions of the CCTV camera are integrated into one main control handle. The functions can be quickly switched through independent buttons on the handle, simplifying the design of the operating console.

[0057] (3) Strong technical adaptability and compatibility: The present invention supports PLC communication drivers from different manufacturers by setting up an OPC UA server, which can achieve system compatibility with PLC devices from different manufacturers in the port's existing remote operation consoles, allowing the system software part to be quickly integrated with the port's existing remote operation consoles, thereby improving the applicability of the system.

[0058] (4) Reduced training costs and risks: By using virtual simulation for operator training, the costs and potential risks of using real equipment can be significantly reduced. The simulation system allows crane operators to learn and make mistakes in an environment without the risks of physical machinery, which is key to improving the safety and effectiveness of training.

[0059] (5) Flexible training scenarios and evaluation system: The virtual simulation computing module can render a variety of shore container operation environments and working conditions, supporting the training needs of multiple levels from beginners to advanced operators. In addition, the system can record and evaluate operator performance, providing quantitative feedback for education and training.

[0060] (6) Multi-perspective monitoring and display function: The virtual simulation presentation module can display different perspectives through multi-display split screens, including three-dimensional virtual scenes and two-dimensional monitoring images, which provides operators with a comprehensive field of view and helps improve the accuracy and response speed of operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 Schematic diagram of the structure of the remote operation simulation system of the shore container crane in the embodiment;

[0062] Figure 2 This is a functional architecture diagram of the quayside container crane remote operation simulation system in the embodiment;

[0063] Figure 3 Flowchart of the simulation method for remote operation of a shore container crane in an embodiment;

[0064] Figure 4 Schematic diagram of the operating table in the embodiment;

[0065] Figure 5This is a schematic diagram of a remote operation scenario in an embodiment.

[0066] Among them, 1. HMI touch screen, 2. operating table, 3. electrical cabinet, 4. operating table status indicator light, 5. operating table lifting mechanism, 6. operating table display screen, 7. trolley, 8. small car, 9. lifting equipment. DETAILED DESCRIPTION

[0067] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0068] Example 1

[0069] Regarding the problems existing in the above-mentioned prior art, see Figure 1 This embodiment provides a remote operation simulation system for a shore container crane, which is applied to Figure 5 The remote operation scenario shown in FIG. 1 shows a shore container crane comprising a trolley 6 , a trolley 7 and a spreader 8 .

[0070] The simulation system includes an operation signal acquisition module, an operation signal processing module, a virtual simulation calculation module, and a virtual simulation presentation module. The operation signal processing module is connected to the operation signal acquisition module and the virtual simulation calculation module via a PLC device, while the virtual simulation calculation module is connected to the virtual simulation presentation module. A detailed description of each component is provided below.

[0071] The operation signal acquisition module is used to collect remote operation signals of the virtual shore container crane. The operation signal acquisition module includes the console master handle, console control buttons and HMI touch screen. The following describes each part:

[0072] The main control handle of the operating console is connected to the digital input point of the PLC device through a wire, and is used to send speed control signals of the crane trolley travel, car travel, and spreader lifting and lowering, as well as CCTV camera rotation and zoom control signals to the PLC device.

[0073] Specifically, three master control handles are designed, each with an integrated independent button to achieve functional expansion. Among them:

[0074] The left-hand main control handle is a four-way handle used to control the front, back, left, and right tilt of the spreader, as well as the up, down, left, and right rotation of the CCTV camera. Two independent buttons 1 and 2 on the handle can switch between two control modes, thus achieving functional reuse of the handle.

[0075] The center main control handle is a two-way handle used to control the forward and backward movement of the trolley. It integrates four independent buttons: buttons 3 and 4 activate and deactivate the spreader's anti-sway and anti-twist functions, while buttons 5 and 6 control the extension and retraction of the spreader's center lock, enabling the spreader to simultaneously lift two 20-foot containers.

[0076] The right-hand main control handle is a four-way handle used to control the left and right movement of the trolley and the lifting and lowering of the spreader. It also integrates four independent buttons. Independent buttons 7 and 8 control the opening and closing of the spreader's rotary lock, locking the spreader to the container. Independent buttons 9 and 10 control the rotation of the spreader's guide plate, guiding the spreader to the container during loading and unloading.

[0077] The control buttons on the operating console are connected to the I / O input points of the PLC device through wires and are used to send crane control on / off, fault bypass, fault reset, remote manual / auto switching, and emergency stop signals to the PLC device.

[0078] The HMI touch screen is connected to the PLC device via a POE switch and is used to simulate operation task instructions, CCTV camera selection instructions, and operation ship diagram display.

[0079] The operation signal processing module is used to receive the master handle signal, control button signal, and HMI touch screen signal from the operation signal acquisition module, process the operation signal, and send the control signal to the virtual simulation calculation module according to the control logic to control the virtual shore container crane to perform the corresponding action. The operation signal processing module includes a PLC device and a POE switch. The components are described as follows:

[0080] The PLC device receives crane remote operation signals from the operation signal acquisition module and performs logical processing on the signals to generate operation execution control signals. Specifically, the PLC device adopts a modular structure, including a power module, a CPU module, a digital I / O module, and a network communication module. The PLC device uses a Siemens S7-1200 series CPU and communicates with the OPC UA server using the Modbus communication protocol.

[0081] The POE switch is used to send the obtained operation execution control signal to the virtual simulation computing module through the POE switch.

[0082] The virtual simulation calculation module is used to simulate the dynamics of the crane's trolley, trolley, wire rope, spreader, and container, as well as the physical characteristics of collision, friction, and swing, and to calculate the crane's status, faults, and alarm information. It also renders a three-dimensional virtual scene of the virtual shore container crane and its operating environment. It also monitors equipment status information, equipment operation task information, container truck arrival status, and equipment operation switching reminders, and renders a two-dimensional monitoring screen. By adjusting the spreader's amplitude, it can simulate the spreader's swing effects in both conventional and anti-sway operation modes. The virtual simulation calculation module includes a computer host and an OPC UA server. Each component is described below:

[0083] The computer host includes a virtual crane operation simulation unit and a virtual remote crane monitoring simulation unit. The virtual crane operation simulation unit is used to simulate the dynamics of the crane trolley, car, wire rope, spreader, and container, as well as the physical characteristics of collision, friction, and swing, and calculate the crane's status, faults, and alarm information. Simultaneously, it renders a three-dimensional virtual scene of the virtual shore container crane and its operating environment. The virtual remote crane monitoring simulation unit receives simulation calculation results from the virtual crane operation simulation unit and is used to monitor equipment status information, equipment operation task information, container truck arrival status, and equipment operation switching reminders, and renders a two-dimensional monitoring screen. The three-dimensional scene screen of the virtual crane operation simulation unit and the two-dimensional monitoring screen of the virtual remote crane monitoring simulation unit are superimposed and displayed in a block layout on a combined screen.

[0084] Among them, the virtual simulation calculation unit can simulate the swing effect of the spreader in the conventional operation mode and the anti-sway operation mode by setting the amplitude of the spreader. According to the motor driving force F of the three major mechanisms of the virtual shore container crane trolley, trolley and spreader, the virtual simulation calculation unit can simulate the swing effect of the spreader in the conventional operation mode and the anti-sway operation mode. g 、F r 、F s , motor starting time t g , t r , t s , mass m g 、m r 、m s , acceleration a g 、a r 、a s , initial velocity u g 、u r 、u s , maximum speed GV max RV max SV max And gravitational acceleration g, wire rope length L, container mass m cAnd the following parameters, calculate the real-time velocity components of different crane mechanisms in three-dimensional space coordinates. The simulation calculation formula is as follows:

[0085] (1) Truck operation model

[0086] a g =F g / (m g +m r +m s +m c )

[0087]

[0088] GV y =0

[0089] GV z =0

[0090] Among them GV x 、GV y 、GV z are the velocity components of the vehicle in the x, y, and z directions respectively.

[0091] (2) Car operation model

[0092] a r =F r / (m r +m s +m c )

[0093] RV x =GV x

[0094]

[0095] RV z =0

[0096] RV x RV y RV z are the velocity components of the car in the x, y, and z directions respectively.

[0097] (3) Spreader operation model

[0098] a s =F s / (m s +m c )

[0099]

[0100]

[0101]

[0102]

[0103]

[0104] RV x RV y RV z are the velocity components of the spreader in the x, y, and z directions, respectively. are the initial phase angles of the spreader in the x and y directions, θ x ,θ y are the real-time swing angles of the spreader in the x and y directions, A x 、A y are the windward areas of the spreader in the x and y directions, C d is the air resistance coefficient, and ρ is the air density.

[0105] In normal operation mode, the swing amplitude of the spreader is A x =A y =30°; in anti-sway operation mode, the swing amplitude of the spreader is A x =A y =5°.

[0106] The OPC UA server interacts with the PLC devices through integrated PLC communication drivers from different manufacturers, and interacts with the computer host through the OPC UA standard communication protocol.

[0107] The virtual simulation presentation module is used to render a three-dimensional virtual scene of the virtual quayside container crane and its operating environment, display it on a split screen, and monitor the operating information of the virtual quayside container crane. The virtual simulation presentation module includes an operation console display, a video matrix, and an operation console status indicator. The following describes each component:

[0108] The console display screen is composed of multiple monitors and brackets. The multiple monitors are fixed on the console and connected to the video matrix. The console display screen is used to combine and display the three-dimensional scene images from different perspectives monitored by CCTV cameras and the two-dimensional monitoring images of the virtual remote crane supervision simulation module. Each monitor can display a part of the image.

[0109] The video matrix is connected to the virtual simulation computing module via an HDMI interface, receiving the 3D virtual images and 2D monitoring images from the module and splitting the images. It is also connected to the console display screen via multiple HDMI interfaces, sending the split images to different monitors for display.

[0110] The operating console status indicator light can reflect the fault alarm of the PLC equipment and the open and close status, box status, center lock status and 20 / 40 / 45 foot extension status of the spreader.

[0111] See also Figure 2 From a functional perspective, this system can be divided into a system simulation layer, a remote control operation layer, and an assessment and evaluation layer. The system simulation layer is used to implement virtual simulation, visual simulation, and sound simulation; the remote control operation layer is used to collect, process, and output data; and the assessment and evaluation layer is used to manage operation modes, trace operation history, and conduct assessment and evaluation.

[0112] Figure 4 The HMI touch screen 1 of the operation signal acquisition module is fixed on the left side of the operating table 2, and the operating table master handle, operating table control buttons of the operation signal acquisition module and the operating table status indicator light of the virtual simulation presentation module are fixed in the middle position of the operating table 2; the video matrix of the operation signal processing module, virtual simulation calculation module and virtual simulation presentation module are all placed in the electrical cabinet 3 under the operating table, and the virtual simulation presentation module is fixed on the operating table lifting mechanism.

[0113] Among them, the HMI touch screen 1 is connected to the POE switch of the operation signal processing module through a network cable to realize communication with the PLC device, and the console master handle and console control buttons are directly connected to the PLC device through wires; the OPC UA server and computer host of the virtual simulation calculation module are connected to the POE switch through a network cable; the computer host is connected to the video matrix through an HDMI interface to realize the output of the simulation screen, and the video matrix is connected to each console display screen 6 through multiple HDMI interfaces.

[0114] Example 2

[0115] Based on Example 1, see Figure 3 This embodiment provides a method for simulating remote operation of a shore container crane, comprising the following steps:

[0116] S1, PLC signal acquisition.

[0117] Collect control signals from trolley, car, and spreader handles, spreader guide plates, CCTV camera handles, operating buttons, and HMI touch screens.

[0118] S2, the PLC crane control program performs logic processing and interacts with the virtual environment through the OPC UA protocol.

[0119] S3 performs simulation and image rendering in a virtual environment. Specifically includes:

[0120] S301, virtual crane operation simulation.

[0121] Conduct dynamic simulation of the crane trolley, car, wire rope, spreader, and container; simulation of collision, friction, and swing physical characteristics; as well as simulation of the crane's status, faults, and alarms.

[0122] S302, virtual remote crane supervision simulation.

[0123] Complete equipment status information supervision, equipment operation task information supervision, container truck arrival status supervision, and equipment operation switching reminders.

[0124] S303: Overlay the operation screen and the supervision screen.

[0125] S4, screen splitting and split-screen display.

[0126] Example 3

[0127] This embodiment provides an electronic device, characterized in that it includes: one or more processors and a memory, wherein the memory stores one or more programs, and the one or more programs include instructions for executing the remote operation simulation method of the shore container crane as described in Example 2.

[0128] Example 4

[0129] This embodiment provides a computer-readable storage medium, including one or more programs for execution by one or more processors of an electronic device, wherein the one or more programs include instructions for executing the remote operation simulation method of a shore container crane as described in Example 1.

[0130] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and such modifications or substitutions are intended to be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A shore container crane remote operation simulation method for a shore container crane remote operation simulation system, characterized in that: include: An operation signal acquisition module, used to collect remote operation signals of a virtual shore container crane; An operation signal processing module, configured to obtain the remote operation signal based on the OPC UA protocol and obtain a control signal based on the control logic; A virtual simulation calculation module is used to obtain the real-time speeds of the trolley, trolley, and spreader of the quayside container crane based on the control signal, taking into account wind resistance and anti-sway operation mode type, and using a pre-built operation model to complete a three-dimensional virtual scene rendering of the quayside container and operating environment; The virtual simulation rendering module is used to output the results of 3D virtual scene rendering to multiple displays in split screen. The simulation method comprises the following steps: Collect remote operation signals of virtual quayside container cranes; Acquire the remote operation signal based on the OPC UA protocol, and obtain the control signal based on the control logic; Based on the control signal, taking into account wind resistance and anti-sway operation mode type, a pre-built operation model is used to obtain the real-time speeds of the quayside container crane trolley, car, and spreader, and complete a three-dimensional virtual scene rendering of the quayside containers and operating environment; Based on the results of 3D virtual scene rendering, the split screen is output to multiple displays. In the operation model, the crane trolley is modeled as: ， ， ， ， in, 、 、 、 、 、 They are the acceleration, motor driving force, motor starting time, mass, initial speed and maximum speed of the crane trolley, 、 、 are the masses of the trolley, spreader and container respectively, 、 、 are the velocity components of the vehicle in the x, y, and z directions, respectively. In the operation model, the crane trolley is modeled as: ， ， ， ， in, 、 、 、 、 、 are the acceleration, motor driving force, motor starting time, mass, initial speed and maximum speed of the crane trolley respectively. 、 、 are the velocity components of the car in the x, y, and z directions, respectively. In the operation model, the crane spreader is modeled as: ， ， ， ， ， ， in, 、 、 、 、 、 are the acceleration, motor driving force, motor starting time, mass, initial speed and maximum speed of the crane spreader, 、 are the initial phase angles of the spreader in the x and y directions, 、 are the real-time swing angles of the spreader in the x and y directions respectively, 、 are the windward areas of the spreader in the x and y directions respectively, is the air resistance coefficient, is the air density, is the acceleration due to gravity, The length of the wire rope.

2. The method for quayside container crane remote operation simulation system according to claim 1, characterized in that: The operation signal acquisition module includes: The first master handle is connected to a first independent button and a second independent button for switching between two control modes of the spreader's forward and backward, left and right tilt angles and the CCTV camera's vertical, horizontal, and vertical rotation, thereby realizing functional reuse of the first master handle; The second master handle is used to control the movement of the trolley. The second master handle is connected to the third and fourth independent buttons for controlling the start and stop of the anti-sway and anti-twist function of the spreader, and the fifth and sixth independent buttons for controlling the extension and retraction of the spreader lock; The third master handle is used to control the left and right movement of the trolley and the lifting and lowering of the spreader. The third master handle is connected to the seventh and eighth independent buttons for controlling the opening and closing of the spreader rotary lock, and the ninth and tenth independent buttons for controlling the rotation of the spreader guide plate; HMI touch screen, used to simulate operation task instructions, CCTV camera selection instructions and realize operation ship map display.

3. The method for quayside container crane remote operation simulation system according to claim 1, characterized in that: The operation signal processing module includes: A PLC device, configured to obtain the remote operation signal and obtain a control signal based on control logic; The POE switch is used to send the control signal to the virtual simulation computing module based on the OPC UA protocol.

4. The method for quayside container crane remote operation simulation system according to claim 1, characterized in that: The simulation calculation module includes: An OPC UA server, integrated with multiple PLC communication drivers, for obtaining the control signal; The computer host is used to complete the three-dimensional virtual scene rendering of the shore container and the operating environment based on the control signal.

5. The method for quayside container crane remote operation simulation system according to claim 1, characterized in that: The virtual simulation presentation module includes: A video matrix, connected to the virtual simulation computing module via a single HDMI interface, for performing split-screen processing on the output of the virtual simulation computing module; The console display screen includes multiple displays, which are connected to the video matrix through multiple HDMI interfaces. The console display screen is used to display three-dimensional virtual scene images and two-dimensional supervision images from multiple different perspectives.

6. The method for quayside container crane remote operation simulation system according to claim 1, characterized in that: In normal operation mode, , in anti-sway operation mode, .

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