Remote control method, remote console and system of crane

Abstract

The invention provides a remote control method, a remote control console and a system for cranes, the remote control method is applied to the remote control system comprising a plurality of remote control consoles and a plurality of cranes, the remote control method comprises the following steps: each remote control console sends remote control data to each crane, and each crane comprises shore bridge equipment and field bridge equipment; the crane selects a target remote console from a plurality of remote consoles based on the remote control data and the work task to be executed; the crane is in binding connection with a target remote control console, the target remote control console is activated, and the target remote control console remotely controls the crane based on the work task; and when the crane determines to complete the work task, disconnecting the connection with the target remote control console, so that the target remote control console continues to send the remote control data to each crane. According to the invention, the target remote control console is selected through the different types of cranes and is bound and connected, so that the remote control console can flexibly control the different types of cranes, and the reuse rate of the remote control system is improved.

Description

Technical Field

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

[0002] The existing remote control system is used to handle remote operation tasks. Whether it is yard crane equipment or quay crane equipment, it will be equipped with a corresponding remote control system.

[0003] The terminal crane equipment and the quay crane equipment use their own dedicated remote control solutions, and the two remote control solutions are not compatible with each other. The terminal needs to be equipped with two shifts of personnel to operate, and the hardware and personnel cannot be reused. There are also large functional differences in the design, and different R&D and debugging personnel are required to complete the project design and implementation. In addition, the remote control solutions of different electronic control manufacturers are also different, and it is impossible to integrate the remote control systems of different electronic control manufacturers to enable each other's equipment to be operated. Summary of the invention

[0004] In view of this, the present invention provides a remote control method, a remote control console and a system for a crane, which can solve the problem that different types of lifting equipment cannot be uniformly controlled.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] The present invention provides a remote control method for a crane, which is applied to a remote control system consisting of a plurality of remote control consoles and a plurality of cranes. The remote control method comprises:

[0007] Each remote control station sends remote control data to each crane, including quay crane equipment and yard crane equipment;

[0008] The crane selects a target remote control station from multiple remote control stations based on the remote control data and the work task to be performed;

[0009] The crane is bound and connected to the target remote control console, and the target remote control console is activated. The target remote control console remotely controls the crane based on the work task;

[0010] When the crane determines that the work task is completed, it disconnects from the target remote control station, so that the target remote control station continues to send remote control data to each crane.

[0011] In one embodiment of the present invention, each crane includes a remote control task allocation module.

[0012] Each remote control station sends remote control data to each crane, including:

[0013] Each remote control station sends remote control data to each crane through the remote control task allocation module.

[0014] In one embodiment of the present invention, each remote control station sends remote control data to each crane through a remote control task allocation module, including:

[0015] The remote control task allocation module and the remote control console use standardized data interface protocols for communication connection. The standardized data interface protocols include user datagram protocol, transmission control protocol and automation bus standard.

[0016] In one embodiment of the present invention, the crane selects a target remote control station from a plurality of remote control stations based on the remote control data and the work task to be performed, including:

[0017] The crane determines first status information from the crane, wherein the first status information includes an operating status of the work task;

[0018] The crane receives second status information from each remote control station, wherein the second status information includes an occupancy status and a vacancy level of the remote control station;

[0019] The crane selects a target remote control station based on remote control data, work tasks, first status information and second status information, wherein the work tasks include monitoring tasks, fault repair tasks and semi-automatic tasks.

[0020] In one embodiment of the present invention, the remote control system further includes an operating device, the operating device is connected to the remote control console, the operating device includes a graphical user interface, and the graphical user interface is used to display third status information of not allowing the device to jump to a platform, allowing the device to jump to a platform normally, and allowing the device to jump to a platform with priority.

[0021] The crane selects the target remote control station from multiple remote control stations based on the remote control data and the work task to be performed, including:

[0022] The remote control console receives the third state information of the operating device and sends the third state information to the crane;

[0023] The crane selects a target remote control station based on the remote control data, the work task, the first state information, the second state information and the third state information.

[0024] In one embodiment of the present invention, the remote control station receives the third state information of the operating device and sends the third state information to the crane, including:

[0025] The operating device receives the third state information set by the user for the remote control station and determines the priority of the remote control station;

[0026] The operating device sends the priority to the corresponding remote control station;

[0027] The remote control station receives the priority and sends it to each crane.

[0028] In one embodiment of the present invention, it also includes:

[0029] When a field bridge device fails, the field bridge device transfers the work task to the maintenance remote control console, where the maintenance remote control console is one of the remote control consoles;

[0030] When a quay crane equipment fails, the quay crane equipment is disconnected from the target remote control station.

[0031] In one embodiment of the present invention, the field bridge equipment transfers the work task to the maintenance remote control console, including:

[0032] The field bridge equipment determines that the maintenance remote control station can receive the work task, the field bridge equipment disconnects from the target remote control station, and the field bridge equipment binds the connection with the maintenance remote control station based on the work task.

[0033] In one embodiment of the present invention, the remote control station includes a display, and the display includes a touch screen and a display terminal.

[0034] The target remote control console remotely controls the crane based on the work task, and also includes:

[0035] The target remote control console receives the control operation for the touch screen, and the target remote control console controls the crane based on the control operation;

[0036] The target remote control console receives the confirmation operation for the display terminal, confirms the business process of the crane based on the confirmation operation, and sends the status information to the display terminal for display.

[0037] In one embodiment of the present invention, the remote control method further includes:

[0038] The crane sends the working data to each remote control station;

[0039] The remote control console receives a selection operation on the touch screen, and determines a target crane based on the selection operation, wherein the target crane is one of the cranes;

[0040] The remote control console is bound and connected to the target crane, and the target crane activates the remote control console, and the target crane is controlled by the remote control console.

[0041] The present invention also provides a remote control console, comprising:

[0042] A sending module, used for sending remote control data to each crane, so that the crane selects a target remote control station from multiple remote control stations based on the remote control data and the work task to be performed, the crane is bound and connected with the target remote control station, and the target remote control station is activated, wherein the crane includes a quay crane equipment and a yard crane equipment;

[0043] The control module is used to remotely control the crane based on the work task, so that when the crane determines that the work task is completed, the connection with the target remote control station is disconnected, and the target remote control station continues to send remote control data to each crane.

[0044] The present invention also provides a remote control system, comprising:

[0045] A plurality of remote control stations, the remote control stations are used to execute the above-mentioned remote control execution method;

[0046] A plurality of cranes are provided, wherein the cranes are used to perform the above-mentioned crane-performed method.

[0047] The above technical solution of the present invention has at least the following beneficial effects:

[0048] The remote control method of the crane of the embodiment of the present invention realizes the flexible control of different types of cranes by the remote control station through receiving the selection and binding connection from different types of cranes by the target remote control station. Compared with the traditional solution that requires two sets of remote control systems for the quay crane and the yard crane, the present invention only requires one set of remote control system on the wharf to control the quay crane and the yard crane, avoiding the use of two sets of remote control systems and two groups of operators, saving manpower at the wharf, and helping to improve the reuse rate of the remote control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1a A scene diagram of a remote control method for quay crane equipment according to an embodiment of the present invention;

[0050] Figure 1b A scene diagram of a remote control method for a field bridge device according to an embodiment of the present invention;

[0051] Figure 2 A schematic diagram of the structure of a remote control system according to an embodiment of the present invention;

[0052] Figure 3 Flow chart 1 of a remote control method for a crane according to an embodiment of the present invention;

[0053] Figure 4 Flow chart 1 for selecting a target remote control console for a crane according to an embodiment of the present invention;

[0054] Figure 5 Process for selecting a target remote control console for a crane according to an embodiment of the present invention Figure 2 ;

[0055] Figure 6 A flowchart of a remote control station receiving third state information and sending it to a crane according to an embodiment of the present invention;

[0056] Figure 7 The process of the remote control method of a crane according to one embodiment of the present invention is as follows Figure 2 ;

[0057] Figure 8 FIG. 4 is a block diagram of a SoC according to an embodiment of the present invention.

[0058] Reference numerals:

[0059] Crane 100; quay crane equipment 100a; yard crane equipment 100b; remote control console 200. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the described embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

[0061] Firstly, the application scenario of the remote control method for a crane according to an embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

[0062] refer to Figure 1a and Figure 1b , Figure 1a A scene diagram showing a remote control method for quay crane equipment according to an embodiment of the present invention is shown. Figure 1b FIG. 1 shows a scene diagram of a remote control method for a field bridge device according to an embodiment of the present invention. Figure 1a and Figure 1b As shown, the remote control system applied to the dock includes a crane and a remote control console 200. The remote control system is a software system that uses remote control technology to operate remote devices, including a control end (such as the remote control console 200) and a controlled end (such as a crane). The control end can send remote control instructions to the controlled end and control the operation of the controlled end.

[0063] The crane is the controlled end in the remote control system. It is a multi-action lifting machine that can lift vertically and carry heavy objects horizontally within a certain range and can be used in dock operations. Figure 1a As shown, the crane may be a shore crane 100a. Figure 1b As shown, the crane can be a yard bridge device 100b. The remote control console 200 is used as a control terminal in the remote control system and is a control device that integrates remote operation and route planning. The crane and the remote control console 200 can communicate directly. The remote control console 200 can send remote control instructions to the crane and can also receive data sent by the crane.

[0064] refer to Figure 2 , Figure 2The schematic diagram of the structure of the remote control system of an embodiment of the present invention is shown. Figure 2 As shown, the remote control system includes a remote control console 200, a crane 100 and an operating device 300. The remote control console 200 includes a remote control console programmable controller 210 (i.e., ROS PLC), a video data processing module 220, a data display terminal 230 (i.e., Data View) and a touch screen controller 240 (i.e., TP). The crane 100 includes a remote operation and allocation module 110 (ROAM), a CCTV camera 120 and a stand-alone programmable controller 130 (i.e., Crane PLC). The operating device 300 includes a graphical user interface 310 (GUI). In addition, the remote control console 200 may also be provided with an operating handle and a control panel, etc., for realizing remote control of the crane 100.

[0065] like Figure 2 As shown, ROS PLC210 is set on the remote control station 200 and is equipped with a certain number of input and output modules, which are used to transmit data or signals. When the remote control station 200 is bound and connected to a certain device (quay crane equipment or field crane equipment), ROS PLC210 collects physical input signals such as handles, buttons, switches on the control panel and virtual input signals from TP through the input module, and sends the collected control signals to the device (quay crane equipment or field crane equipment) through the output module, and receives status feedback from the device in real time. The remote control station 200 is displayed through real-time images and data interfaces, thereby realizing real-time remote control operations on quay crane equipment or field crane equipment. ROS PLC210 needs to send remote control data such as the remote control station number, connection status, and whether to allow platform jumping to all ROAM110 through UDP communication. If it is necessary to actively connect to the crane 100, ROS PLC210 establishes a connection and confirms the binding relationship with the crane 100 through TCP communication, and then the crane 100 activates the ROS PLC210 slave station to establish real-time bus communication.

[0066] The video data processing module 220 is arranged on the remote control station 200. The video data processing module 220 may be installed with CCTV software. CCTV software is a client video processing software that can receive the video code stream signal of the CCTV camera 120. The CCTV camera 120 can communicate with the ROS PLC 210, so the video data processing module 220 and the ROS PLC 210 can also exchange data to assist the remote control station 200 in realizing the remote control of the crane 100. For example, when the remote control station is bound and connected with a certain device (quay crane equipment or field crane equipment), the Crane PLC 130 sends the type, number, location, screen switching mode and other information of the device (quay crane equipment or field crane equipment) to the ROS PLC 210 through bus communication, and the ROS PLC 210 then forwards it to the video data processing module 220 of the remote control station 200 through Ethernet communication to realize video operations including screen switching and zooming, and displays the real-time operation screen of the quay crane equipment or field crane equipment through the display on the remote control station 200.

[0067] Data View 230 is set on the remote control station 200. One of the displays on the remote control station 200 is responsible for displaying Data View 230. Data View 230 of each remote control station 200 exchanges data with the ROS PLC 210 of the remote control station 200 through an independent OPC interface (OLE for Process Control, OPC) to assist the remote control station 200 in realizing remote control of the crane 100. For example, according to the model of the crane 100 equipment, different pages can be switched to display real-time fault information, single machine real-time status information, remote control station 200 status information, current task information, etc., and perform tasks exception handling and other operations. In addition, Data View 230 requires the remote control operator to log in according to his own ID account before it can be used, which is conducive to ensuring the security of the operation of the remote control station 200.

[0068] TP240 is set on the remote control console 200 and can interact with ROS PLC210 through Ethernet communication. TP240 can switch to display different operation pages according to the model of the crane 100 equipment to assist the remote control console 200 in remote control of the crane 100. In addition, TP240 can also provide the operation interface of the equipment actively connected by the remote control console 200 (quay crane equipment or yard crane equipment) and the function of the remote control console 200 user logout, which helps to improve the function of the remote control system.

[0069] ROAM110 is set on the crane 100, and can share a hardware carrier with the Crane PLC130, or can be independent of each other. ROAM110 adds all ROS PLC210 as slaves to the hardware configuration to assist the crane 100 in selecting the target remote control station 200 from the remote control station 200 and binding the connection. When the crane 100 has no remote control task, ROAM110 does not activate any ROS PLC210 slave by default. If the crane 100 has a remote control task, ROAM110 reasonably allocates and selects an idle remote control station 200, establishes a connection with the ROS PLC210 through TCP communication to confirm the binding relationship, and then activates the ROS PLC210 slave to establish real-time bus communication. A standard interface protocol can be used between ROAM110 and Crane PLC130 to exchange operation commands of the remote control console 200 and equipment (quay crane equipment or field crane equipment) status information in real time, realize remote control operation of the crane 100, and display the real-time operation status of the equipment (quay crane equipment or field crane equipment) in the Data View230 interface of the remote control console 200. In addition, ROAM100 can send the equipment number, whether it can be actively connected, equipment working mode, etc. to all ROS PLC210 through UDP communication to assist the remote control console 200 in realizing remote control of the equipment (quay crane equipment or field crane equipment).

[0070] The CCTV camera 120 is installed on the crane 100. Each crane 100 is installed with multiple CCTV cameras 120 that meet the monitoring operation requirements. The CCTV camera 120 can communicate with the video data processing module 220 of the remote control station 200 to assist the remote control station 200 in real-time monitoring of the operating status of the crane 100.

[0071] Crane PLC130 is installed on the crane 100. A standard interface protocol is used between Crane PLC130 and ROAM110 to exchange the operation commands of the remote control console 200 and the status information of the equipment (quay crane equipment or yard crane equipment) in real time, so as to realize the remote control operation of the crane 100 and display the real-time operation status of the crane 100 on the Data View230 and other interfaces of the remote control console 200, so as to assist the remote control console 200 in realizing the remote control of the crane 100.

[0072] The GUI 310 is set on the operating device 300. The GUI 310 exchanges data with each ROS PLC 210 through OPC to enable the user to set the priority of the remote control station 200. The user can set the status information of each remote control station 200 on the GUI 310, wherein the status information includes not allowing a certain device to jump to a station, allowing a certain device to jump to a station normally, and allowing a certain device to jump to a station with priority. The operating device 200 determines the priority of the remote control station based on the status information and sends it to the ROS PLC 210. In addition, each ROS PLC 210 can feed back all the status information of the remote control station 200 to the GUI 310 for unified display.

[0073] A remote control method for a crane according to an embodiment of the present invention is described in detail below with reference to the accompanying drawings.

[0074] refer to Figure 3 , Figure 3 Flowchart 1 shows a remote control method for a crane according to an embodiment of the present invention. Figure 3 As shown, the remote control method of the crane includes S301-S30, and the method is applied to a remote control system composed of multiple remote control consoles and multiple cranes. Among them, the crane includes quay crane equipment and yard crane equipment. The quay crane equipment is a shore container crane, which is a device used to load and unload containers on the ship at the shore. The yard crane equipment is a rail-mounted container gantry crane, which is a lifting equipment that is horizontally mounted above the workshop, warehouse and material yard to lift materials.

[0075] In S301, each remote control station sends remote control data to each crane.

[0076] For example, remote control data may include information such as the remote control station number, connection status, and platform jump permission. Each remote control station sends remote control data to all cranes in a polling manner. The crane receives the remote control data and updates the remote control data received last time. That is, the interface content from ROS PLC to ROAM may include remote control data such as the console number, mode, and whether platform jump is allowed. In addition, the interface content from ROS PLC to ROAM may also include application for active connection, heartbeat signal, and console control command. According to the different types of crane equipment, ROAM reads the received data into the structural data of the corresponding equipment type, and then forwards it to Crane PLC.

[0077] In S302, the crane selects a target remote control station from multiple remote control stations based on the remote control data and the work task to be performed.

[0078] For example, the work task may be a remote monitoring task. When the crane needs to perform the work task, the crane may select a target remote control station based on the type and duration of the work task and updated remote control data. The target remote control station is a remote control station in an idle state, that is, the target remote control station is not bound to other cranes.

[0079] In S303, the crane is bound to the target remote control console and the target remote control console is activated.

[0080] For example, the binding connection is a one-to-one connection between the crane and the target remote control station, and after the target remote control station accepts the binding, it cannot bind with other cranes. The crane activates the target remote control station, so that the crane and the target remote control station can perform real-time bus communication.

[0081] In S304, the target remote control station remotely controls the crane based on the work task.

[0082] For example, the target remote control console sends a remote control instruction to the crane based on the work task, that is, the interface content from ROS PLC to ROAM can include the control command of the console. After receiving the remote control instruction, the crane performs the corresponding operation to enable the crane to complete the work task corresponding to the remote control instruction.

[0083] In S305 , the crane determines whether the work task is completed.

[0084] When the judgment result of step S305 is yes, step S306 is executed. In S306, the crane disconnects from the target remote control station, so that the target remote control station continues to send remote control data to each crane.

[0085] For example, when the crane determines that the current work task is completed, the crane will actively disconnect the connection with the target remote control station, that is, the crane is out of the control of the target remote control station. The target remote control station becomes idle again, that is, the target remote control station can send remote control data to all cranes that are not in the bound state.

[0086] When the judgment result of step S305 is no, step S304 is executed.

[0087] That is to say, when the current working task of the crane is not completed, the crane continues to accept remote control from the target remote control console.

[0088] In the embodiment of the present invention, the target remote control station receives the selection and binding connection from the crane, so as to realize the flexible control of different types of cranes by the remote control station. Compared with the prior art that the quay crane and the yard crane need to be equipped with two sets of remote control systems, the quay crane equipment and the yard crane equipment of the present invention can select the target remote control station based on the received remote control data and their own work tasks, and bind and activate the target remote control station, so that the target remote control station can remotely control the quay crane equipment and the yard crane equipment, that is, only one set of remote control system is needed on the dock to control the quay crane and the yard crane, avoiding the use of two sets of remote control systems and two groups of operators, saving manpower at the dock, and helping to improve the reuse rate of the remote control system.

[0089] The following describes in detail the steps of the above embodiments of the present invention in conjunction with specific embodiments.

[0090] like Figure 2 As shown, each crane includes a remote control task allocation module ROAM, that is, each crane is equipped with a set of ROAM. ROAM can add all remote control stations as slave stations to its own hardware configuration.

[0091] In S301, each remote control station sends remote control data to each crane, which may include: each remote control station sends remote control data to each crane through a remote control task allocation module, and the crane can exchange data with the remote control station through ROAM, which is conducive to improving the transmission efficiency of remote control data.

[0092] In one embodiment of the present invention, in S301, each remote control station sends remote control data to each crane through the remote control task allocation module, and may also include: the remote control task allocation module and the remote control station use a standardized data interface protocol for communication connection, and the standardized data interface protocol includes the User Datagram Protocol (UDP), the Transmission Control Protocol (TCP) and the automation bus standard PROFINET.

[0093] UDP is a connectionless transport layer protocol that provides a simple, transaction-oriented, unreliable information transmission service, and provides a method for applications to send encapsulated IP data packets without establishing a connection. When enabling UDP communication in the TIA Portal, you need to call the TCON function block first. For unicast, you only need to configure the physical port, connection ID, and local port. Since there is no need to establish a connection, you can enter the next stage of sending and receiving after the call is successful. As for multicast, in addition to configuring the physical port, connection ID, and local port, you also need to specify the multicast address and port. After the call is successful, you can enter the next stage of sending and receiving. When sending UDP data, call the TUSEND function block and specify the IP address and port number of the recipient. By modifying the IP address and port number of the partner, one-to-many communication can be achieved. When receiving UDP data, call the TURCV function block. Due to the characteristics of UDP communication, the received data will not stick to the packet. In addition, when receiving data, the TURCV function block can also output the sender's IP address and port number, which can be used for verification. However, the program mainly relies on the device number and type contained in the data to verify. Like all IP data packets, the UDP data packet sent to the multicast address contains a TTL value (TTL: Time to Live). The TTL value is used to measure how far a data packet is allowed to travel. The CPU assigns it a value of 1; therefore, UDP packets sent to a multicast address cannot be sent across router boundaries. To change the TTL value in UDP Multicast for an established connection (set or configured), you need to call the TCON Settings function block.

[0094] For example, ROAM and ROS PLC can communicate using UDP protocol. ROAM can send the device number, whether it can be actively connected, device working mode, etc. to all ROS PLCs through UDP communication to assist the remote control console to achieve remote control of the equipment (quay crane equipment or field crane equipment).

[0095] TCP is a connection-oriented, reliable, byte-stream-based transport layer communication protocol. The two communicating parties are divided into the client (i.e., Client) and the server (i.e., Server). When establishing a TCP connection in TIA Portal, you need to call the TCON function block first. For the server, when calling the TCON function block, you need to specify yourself as the server, configure the physical port, connection ID, and Server port. You can specify the IP address of the client. After configuring the IP address, only the client with this address can establish a TCP connection with this server, but it is generally not specified. For the client, when calling the TCON function block, you need to specify yourself as the client, configure the physical port, connection ID, Server IP address, and Server port. Only when the client and the server successfully establish a connection can they enter the next step of sending and receiving. TCP is generally divided into synchronous communication and asynchronous communication. The interaction between the two parties generally adopts synchronous communication, that is, one receiving and one sending. If asynchronous communication is used, it is necessary to ensure that the receiver has time to process the sender's information, or it is mainly one party that sends data. The server can communicate with multiple clients on the same port, and multiple TCP connections with the same port can be established by modifying the connection ID.

[0096] For example, the TCP protocol can also be used for communication between ROAM and ROS PLC. When the remote control console needs to actively connect to the crane 100, the ROS PLC establishes a connection and confirms the binding relationship with ROAM through the TCP communication method.

[0097] PROFINET is an automation bus standard based on industrial Ethernet technology. The two communicating parties are divided into master and slave. The hardware configuration of all slaves is formed in the master, and the control data record is transmitted to the PROFINET interface of the CPU through the configuration control of the PROFINET IO system. The PROFINET interface of the CPU is notified which "optional IO devices" are available in the actual IO system configuration and which port interconnections are to be set. The PROFINET IO devices of the slave are enabled and disabled by calling specific software instructions, thereby realizing effective and one-to-one on-demand dynamic connection of real-time bus communication between multiple master stations and multiple slave stations. Intelligent communication control.

[0098] For example, ROAM and Crane PLC can communicate directly using PROFINET. ROAM and Crane PLC can exchange remote control console operation commands and equipment (quay crane equipment or yard crane equipment) status information in real time, realize remote control of cranes, and display the real-time operation status of equipment (quay crane equipment or yard crane equipment) on the remote control console's Data View and other interfaces.

[0099] In addition, the communication methods in the remote control system can also include OPC technology and S7 protocol. OPC technology is an interface standard established for communication between industrial control system applications. S7 protocol is developed based on Ethernet protocol and is suitable for industrial communication protocol between PLC and PC.

[0100] For example, OPC communication can be used between ROS PLC and Data View.

[0101] ROS PLC and the video data processing module can communicate directly using the S7 protocol. The interface content from ROS PLC to the video data processing module mainly includes screen switching mode, device type, device number, operation prompts, and stand-alone status. The video data processing module switches to the corresponding screen according to the type and number of the currently connected device.

[0102] That is to say, in S301, the ROAM of the crane and the remote control console can communicate through the above three methods, which is conducive to ensuring the security of remote control data transmission.

[0103] Next, combine Figure 3 , and refer to Figure 4 , to illustrate a specific embodiment of the present invention. Figure 4 Flowchart 1 shows a process for a crane to select a target remote control station according to an embodiment of the present invention.

[0104] like Figure 3 and Figure 4 As shown, in one embodiment of the present invention, in S302, the crane selects a target remote control station from multiple remote control stations based on the remote control data and the work tasks to be performed, which may further include the following steps S401-S403.

[0105] Step S401: The crane determines first status information from the crane.

[0106] For example, the first state information includes manual intervention request, video data processing module screen switching mode and equipment status, such as position, speed, etc. Each crane can determine the first state information in real time through the stand-alone programmable controller Crane PLC, that is, the interface content from Crane PLC to ROAM mainly includes the first state information.

[0107] In addition, the interface content from Crane PLC to ROAM may also include heartbeat signals, equipment types such as rail crane or quay crane, and equipment numbers, etc. Correspondingly, the interface content from ROAM to Crane PLC may include heartbeat signals, console numbers, and console control commands, etc.

[0108] Step S402: The crane receives the second status information from each remote control station.

[0109] For example, the second state information includes the occupancy state and idle level of the remote control station, that is, the interface content from ROS PLC to ROAM may include the second state information. Each remote control station can send the second state information to all ROAMs through the remote control station programmable controller ROS PLC via UDP communication. In addition, ROS PLC will also send remote control data to all ROAMs.

[0110] Step S403: The crane selects a target remote control station based on the remote control data, the work task, the first state information and the second state information.

[0111] For example, work tasks include monitoring tasks, fault repair tasks, and semi-automatic tasks. The crane's ROAM records all the first state information from the Crane PLC and the second state information sent by the ROS PLC as the basis for selecting the remote control station when triggering the platform jump application. When the crane has a fault repair task, a remote monitoring task, or a semi-automatic task, the crane's automated working mode changes, thereby triggering the allocation and selection function. ROAM reasonably selects the remote control station based on the intelligent algorithm, which is conducive to improving the efficiency of completing the crane's work tasks.

[0112] In one embodiment of the present invention, Figure 2 As shown, the remote control system also includes an operating device, which is connected to the remote control console and includes a graphical user interface GUI. The GUI is used to display the status information of the remote control console, that is, the ROS PLC can feed back the status information of the remote control console to the GUI for unified display.

[0113] Next, combine Figure 4 , and refer to Figure 5 , to illustrate a specific embodiment of the present invention. Figure 5 The process of selecting a target remote control station for a crane according to an embodiment of the present invention is shown. Figure 2 .

[0114] like Figure 4 and Figure 5 As shown, in S302, the crane selects a target remote control station from multiple remote control stations based on the remote control data and the work tasks to be performed, and may also include S501-S504.

[0115] Step S501: The crane determines first status information from the crane.

[0116] Step S501 corresponds to step S401 and will not be described again here.

[0117] Step S502: The crane receives the second status information from each remote control station.

[0118] Step S502 corresponds to step S402 and will not be described again here.

[0119] Step S503: the remote control console receives the third state information of the operating device and sends the third state information to the crane.

[0120] For example, the third state information includes not allowing the device to jump to another channel, allowing the device to jump to another channel normally, and allowing the device to jump to another channel with priority. The ROS PLC receives the third state information from the GUI and sends it to the ROAM.

[0121] Step S504: the crane selects a target remote control station based on the remote control data, the work task, the first state information, the second state information and the third state information.

[0122] That is to say, the crane's ROAM records all the first status information from the Crane PLC, the second status information and the third status information sent by the ROS PLC as the basis for selecting the remote control console when triggering the platform jump application, further improving the efficiency of completing the crane's work tasks.

[0123] Next, combine Figure 5 , and refer to Figure 6 , to illustrate a specific embodiment of the present invention. Figure 6 The flowchart of a remote control station receiving the third state information and sending it to the crane according to one embodiment of the present invention is shown.

[0124] like Figure 5 and Figure 6 As shown, in S501, the remote control console receives the third state information of the operating device and sends the third state information to the crane, which may include the following steps S601-S603.

[0125] Step S601: the operating device receives the third state information set by the user for the remote control station, and determines the priority of the remote control station.

[0126] For example, TCP and OPC are used to communicate between ROS PLC and GUI. The user sets the third state information of the remote control station through the graphical user interface GUI, that is, the interface content from GUI to ROS PLC mainly includes the third state information such as priority setting operation. The operating device receives the third state information and determines the priority of the corresponding remote control station. In addition, the interface content from GUI to ROS PLC also includes a heartbeat signal. Correspondingly, the interface content from ROS PLC to GUI mainly includes a heartbeat signal, priority setting operation feedback and ROS status.

[0127] Step S602: The operating device sends the priority to the corresponding remote control station.

[0128] Step S603: The remote control station receives the priority and sends the priority to each crane.

[0129] That is, the user can set the work priority for the remote control station through the GUI, and the remote control station receives the priority and sends it to the crane, so that the crane can select from certain remote control stations with specific priorities. Avoiding the crane from selecting the target remote control station from all remote control stations helps to improve the crane binding efficiency.

[0130] In addition, users can classify remote control stations into different busy levels according to the frequency with which they handle crane tasks. When remote control stations are at the same work priority, ROAM gives priority to remote control stations with higher idleness to avoid excessive task burden on specific remote control stations.

[0131] In one embodiment of the present invention, in S303, the crane is bound and connected to the target remote control console, which may also include the following two situations.

[0132] In the first case, when the field bridge equipment fails, the field bridge equipment transfers the work task to the maintenance remote control console, where the maintenance remote control console is one of the remote control consoles.

[0133] In the second case, when the quay crane equipment fails, the quay crane equipment is disconnected from the target remote control station.

[0134] When a crane fails, the crane can be transferred to a maintenance remote control station or disconnected from the binding to avoid the crane continuing to be bound to the target remote control station in the fault state, which is beneficial to improving the utilization efficiency of the remote control station.

[0135] In addition, in some other embodiments of the present invention, when the crane is bound and connected to the remote control station to perform an operation task, if the crane fails, the crane and the remote control station are not disconnected, and the remote control station continues to complete the fault handling task. The remote control station mode is freely switched according to the device mode. During the mode switching process, the screen of the video data processing module of the remote control station is not affected, and there will be no black screen or freeze. The task level does not distinguish between an operation remote control station and a maintenance remote control station. If the remote task needs to be transferred to the maintenance remote control station, the yard crane can use the transfer function, and the quay crane can be disconnected first and then the maintenance remote control station can actively connect to the quay crane.

[0136] In one embodiment of the present invention, in S303, the field bridge equipment transfers the work task to the maintenance remote control station, which may include: the field bridge equipment determines that the maintenance remote control station can receive the work task, the field bridge equipment disconnects the connection with the target remote control station, and the field bridge equipment binds the connection with the maintenance remote control station based on the work task. By determining whether the maintenance remote control station can accept the binding of the crane, the crane is prevented from continuing to jump to select other remote control stations, which is conducive to improving the binding efficiency of the crane.

[0137] In one embodiment of the present invention, the remote control station includes a display (such as Figure 2 TP and Data View), the display includes a touch screen and a display terminal.

[0138] The remote control method of a crane of the present invention may also include the following two situations.

[0139] In the first case, the target remote control station receives the control operation directed to the touch screen, and the target remote control station controls the crane based on the control operation.

[0140] Specifically, ROS PLC and TP can communicate directly using the S7 protocol.

[0141] The interface content from TP to ROS PLC mainly includes heartbeat signal, active connection operation, single machine control command, etc. TP switches to the corresponding device interface according to the type of the currently connected device.

[0142] The interface content from ROS PLC to TP mainly includes heartbeat signal, connection status of all devices, waiting time, type of currently connected device (quay crane device or field crane device), device number, single machine control command feedback and single machine partial status, etc.

[0143] In the second case, the target remote control station receives a confirmation operation for the display terminal, confirms the business process of the crane based on the confirmation operation, and sends the status information to the display terminal for display.

[0144] Specifically, TCP and OPC can be used to communicate between ROS PLC and Data View.

[0145] The interface content from Data View to ROS PLC mainly includes heartbeat signals, login and logout operations, business process confirmation, etc.

[0146] The interface content from ROS PLC to Data View mainly includes heartbeat signal, login and logout operation feedback, current connected device type (quay crane or yard crane), device number and stand-alone status, etc. Data View switches to the corresponding device interface according to the current connected device type and displays the stand-alone status.

[0147] That is to say, ROS PLC collects virtual input signals from the touch screen and display terminal, as well as physical input signals such as handles, buttons, switches on the control panel, and sends the collected control signals to the crane when it is bound and connected to the crane, and receives status feedback from the crane in real time. The ROS PLC of the remote control console is displayed through real-time images and data interfaces, thereby realizing real-time remote control of the crane.

[0148] refer to Figure 7 , Figure 7 The flow chart of the remote control method of a crane according to an embodiment of the present invention is shown as follows Figure 2 .like Figure 7 As shown, the remote control method of the crane also includes the following steps S701-S703.

[0149] Step S701: The crane sends the working data to each remote control station.

[0150] For example, working data includes information such as device number, whether it can be actively connected, and device working mode. ROAM can send working data to ROS PLCs of all remote control stations through UDP communication. That is, the interface content from ROAM to ROS PLC can include working data such as device number, whether it can be actively connected, and device working mode. In addition, the interface content from ROAM to ROS PLC can also include heartbeat signals, device types such as rail cranes or quay cranes, manual intervention requests, video data processing module screen switching modes, and device status, such as position, speed, etc. ROAM puts the data read from Crane PLC into the structure data of the corresponding device type according to the different types of crane equipment and sends it to ROS PLC.

[0151] Step S702: The remote control console receives a selection operation on the touch screen, and determines a target crane based on the selection operation.

[0152] For example, the touch screen is provided with an operation interface for the remote control console to actively connect to the crane, and the user clicks the touch screen to make a selection. The remote control console receives the user's selection signal and determines the corresponding target crane.

[0153] Step S703: the remote control console is bound to the target crane, and the target crane activates the remote control console, and the remote control console controls the target crane.

[0154] The ROS PLC of the remote control station establishes a connection and binds with the ROAM of the target crane through TCP communication. After the binding connection is established, ROAM activates the corresponding ROS PLC slave station, and the remote control station and the target crane can communicate via real-time bus, and the remote control station can remotely control the target crane. The operator can achieve flexible binding between the remote control station and the crane through the touch screen, which is conducive to improving the utilization efficiency of the remote control station.

[0155] The invention also provides a remote control station, comprising a sending module and a control module.

[0156] The sending module is used to send the remote control data to each crane, so that the crane selects a target remote control station from multiple remote control stations based on the remote control data and the work tasks to be performed, and the crane is bound and connected with the target remote control station, and the target remote control station is activated, wherein the crane includes a quay crane equipment and a yard crane equipment;

[0157] The control module is used to remotely control the crane based on the work task, so that when the crane determines that the work task is completed, it disconnects from the target remote control station, and the target remote control station continues to send remote control data to each crane.

[0158] The present invention also provides a remote control system, comprising a plurality of remote control consoles and a plurality of cranes. The remote control consoles are used to execute the above Figure 3-Figure 7 The crane is used to perform the above Figure 3-Figure 7 The method of crane execution in.

[0159] In summary, the remote control method of the crane of the present invention realizes the flexible control of different types of cranes by the remote control station through the target remote control station receiving the selection and binding connection from different types of cranes. The present invention only needs one set of remote control system on the dock to control the quay crane and the yard crane, avoiding the use of two sets of remote control systems and two groups of operators, saving manpower at the dock, and is conducive to improving the reuse rate of the remote control system.

[0160] Reference now Figure 8 , which is a block diagram of a SoC (System on Chip) 1300 according to an embodiment of the present application. Figure 8 In the , similar components have the same reference numerals. In addition, the dashed boxes are optional features of more advanced SoCs. Figure 8 In the embodiment, SoC 1300 includes: an interconnect unit 1350, which is coupled to an application processor 1310; a system agent unit 1380; a bus controller unit 1390; an integrated memory controller unit 1340; a group or one or more coprocessors 1320, which may include integrated graphics logic, an image processor, an audio processor, and a video processor; a static random access memory (SRAM) unit 1330; and a direct memory access (DMA) unit 1360. In one embodiment, the coprocessor 1320 includes a dedicated processor, such as, for example, a network or communication processor, a compression engine, a GPGPU, a high throughput MIC processor, or an embedded processor.

[0161] The static random access memory (SRAM) unit 1330 may include one or more computer-readable media for storing data and / or instructions. The computer-readable storage medium may store instructions, specifically, temporary and permanent copies of the instructions. The instructions may include: when executed by at least one unit in the processor, causing the Soc 1300 to execute the instructions according to the above embodiments. Figure 3-Figure 7 The methods explained will not be repeated here.

[0162] The various embodiments of the mechanism disclosed in the present application can be implemented in hardware, software, firmware or a combination of these implementation methods. The embodiments of the present application can be implemented as a computer program or program code executed on a programmable system, which includes at least one processor, a storage system (including volatile and non-volatile memory and / or storage elements), at least one input device and at least one output device.

[0163] Program code can be applied to input instructions to perform the functions described in this application and generate output information. The output information can be applied to one or more output devices in a known manner. For the purposes of this application, a processing system includes any system having a processor such as, for example, a digital signal processor (DSP), a microcontroller, an application specific integrated circuit (ASIC), or a microprocessor.

[0164] Program code can be implemented with high-level programming language or object-oriented programming language to communicate with the processing system. When necessary, program code can also be implemented with assembly language or machine language. In fact, the mechanism described in this application is not limited to the scope of any specific programming language. In either case, the language can be a compiled language or an interpreted language.

[0165] In some cases, the disclosed embodiments may be implemented in hardware, firmware, software, or any combination thereof. The disclosed embodiments may also be implemented as instructions carried or stored on one or more temporary or non-temporary machine-readable (e.g., computer-readable) storage media, which may be read and executed by one or more processors. For example, instructions may be distributed over a network or through other computer-readable media. Therefore, machine-readable media may include any mechanism for storing or transmitting information in a machine (e.g., computer) readable form, including, but not limited to, floppy disks, optical disks, optical disks, read-only memories (CD-ROMs), magneto-optical disks, read-only memories (ROMs), random access memories (RAMs), erasable programmable read-only memories (EPROMs), electrically erasable programmable read-only memories (EEPROMs), magnetic or optical cards, flash memory, or a tangible machine-readable memory for transmitting information (e.g., carrier waves, infrared signals, digital signals, etc.) using the Internet in electrical, optical, acoustic, or other forms of propagation signals. Therefore, machine-readable media include any type of machine-readable media suitable for storing or transmitting electronic instructions or information in a machine (e.g., computer) readable form.

[0166] In the accompanying drawings, some structural or method features may be shown in a specific arrangement and / or order. However, it should be understood that such a specific arrangement and / or order may not be required. Instead, in some embodiments, these features may be arranged in a manner and / or order different from that shown in the illustrative drawings. In addition, the inclusion of structural or method features in a particular figure does not mean that such features are required in all embodiments, and in some embodiments, these features may not be included or may be combined with other features.

[0167] It should be noted that the units / modules mentioned in the various device embodiments of the present application are all logical units / modules. Physically, a logical unit / module can be a physical unit / module, or a part of a physical unit / module, or can be implemented as a combination of multiple physical units / modules. The physical implementation method of these logical units / modules themselves is not the most important. The combination of functions implemented by these logical units / modules is the key to solving the technical problems proposed by the present application. In addition, in order to highlight the innovative part of the present application, the above-mentioned device embodiments of the present application do not introduce units / modules that are not closely related to solving the technical problems proposed by the present application, which does not mean that there are no other units / modules in the above-mentioned device embodiments.

[0168] It should be noted that in the examples and description of this patent, relational terms such as first and second, etc. 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 order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one" do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0169] Unless otherwise defined, the technical terms or scientific terms used in the present invention shall have the usual meanings understood by persons with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one" or "one" do not indicate quantity restrictions, but indicate the existence of at least one. Words such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship also changes accordingly.

[0170] The above are preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A remote control method for a crane, characterized in that: Applied to a remote control system consisting of multiple remote control consoles and multiple cranes, the remote control method comprises: Each of the remote control stations sends remote control data to each of the cranes, and the cranes include quay crane equipment and yard crane equipment; The crane selects a target remote control station from the plurality of remote control stations based on the remote control data and the work task to be performed; The crane is bound and connected to the target remote control station, and the target remote control station is activated, and the target remote control station remotely controls the crane based on the work task; When the crane determines that the work task is completed, the connection with the target remote control station is disconnected, so that the target remote control station continues to send the remote control data to each of the cranes.

2. The remote control method of a crane according to claim 1, characterized in that: Each of the cranes comprises a remote control task allocation module, Each of the remote control stations sends remote control data to each of the cranes, including: Each of the remote control stations sends the remote control data to each of the cranes through the remote control task allocation module.

3. The remote control method of a crane according to claim 2, characterized in that: Each of the remote control stations sends the remote control data to each of the cranes through the remote control task allocation module, including: The remote control task allocation module and the remote control station are connected for communication using a standardized data interface protocol, and the standardized data interface protocol includes a user datagram protocol, a transmission control protocol and an automation bus standard.

4. The remote control method of a crane according to claim 1, characterized in that: The crane selects a target remote control station from a plurality of remote control stations based on the remote control data and the work task to be performed, including: The crane determines first status information from the crane, wherein the first status information includes an operating status of the work task; The crane receives second status information from each of the remote control stations, wherein the second status information includes an occupancy status and an idle level of the remote control station; The crane selects the target remote control station based on the remote control data, the work task, the first state information and the second state information, wherein the work task includes a monitoring task, a fault repair task and a semi-automatic task.

5. The remote control method of a crane according to claim 4, characterized in that: The remote control system further includes an operating device connected to the remote control station, and the operating device includes a graphical user interface, and the graphical user interface is used to display third status information of not allowing the device to jump to a platform, allowing the device to jump to a platform normally, and allowing the device to jump to a platform with priority. The crane selects a target remote control station from a plurality of remote control stations based on the remote control data and the work task to be performed, and further comprises: The remote control console receives the third state information of the operating device and sends the third state information to the crane; The crane selects the target remote control station based on the remote control data, the work task, the first state information, the second state information, and the third state information.

6. The remote control method of a crane according to claim 5, characterized in that: The remote control console receives the third state information of the operating device and sends the third state information to the crane, including: The operating device receives the third status information set by the user for the remote control station, and determines the priority of the remote control station; The operating device sends the priority to the corresponding remote control station; The remote control station receives the priority level and sends the priority level to each of the cranes.

7. The remote control method of a crane according to claim 1, characterized in that: Also includes: When the field bridge equipment fails, the field bridge equipment transfers the work task to a maintenance remote control station, wherein the maintenance remote control station is one of the remote control stations; When the quay crane equipment fails, the quay crane equipment is disconnected from the target remote control station.

8. The remote control method of a crane according to claim 7, characterized in that: The field bridge equipment transfers the work task to the maintenance remote control console, including: The field bridge device determines that the maintenance remote control station can receive the work task, the field bridge device disconnects from the target remote control station, and the field bridge device is bound to the maintenance remote control station based on the work task.

9. The remote control method of a crane according to claim 1, characterized in that: The remote control station includes a display, and the display includes a touch screen and a display terminal. The target remote control station remotely controls the crane based on the work task, and further includes: The target remote control station receives a control operation directed to the touch screen, and the target remote control station controls the crane based on the control operation; The target remote control station receives a confirmation operation for the display terminal, confirms the business process of the crane based on the confirmation operation, and sends status information to the display terminal for display.

10. The remote control method of a crane according to claim 9, characterized in that: The remote control method further comprises: The crane sends the working data to each of the remote control stations; The remote control station receives a selection operation of the touch screen, and the remote control station determines a target crane based on the selection operation, wherein the target crane is one of the cranes; The remote control console is bound and connected to the target crane, and the target crane activates the remote control console, and the target crane is controlled by the remote control console.

11. A remote control console, characterized in that: include: A sending module, used for sending remote control data to each crane, so that the crane selects a target remote control station from multiple remote control stations based on the remote control data and the work task to be performed, the crane is bound and connected with the target remote control station, and the target remote control station is activated, wherein the crane includes a quay crane equipment and a yard crane equipment; The control module is used to remotely control the crane based on the work task, so that when the crane determines that the work task is completed, the connection with the target remote control station is disconnected, and the target remote control station continues to send the remote control data to each of the cranes.

12. A remote control system, characterized in that: include: A plurality of remote control stations, wherein the remote control stations are used to execute the remote control execution method according to any one of claims 1 to 10; A plurality of cranes, wherein the cranes are used to perform the crane-performed method according to any one of claims 1 to 10.

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