Remote control method, remote control console and system for a crane

Abstract

The application provides a remote control method, a remote control console and a system of a crane, which are applied to a remote control system including a plurality of remote control consoles and a plurality of cranes. The remote control method includes: each remote control console sending remote control data to each crane, the crane including a shore bridge device and a yard bridge device; the crane selecting a target remote control console from the plurality of remote control consoles based on the remote control data and a work task to be performed; the crane being connected with the target remote control console in a binding mode, and the target remote control console being activated to remotely control the crane based on the work task; and when the crane determines that the work task is completed, the connection with the target remote control console is disconnected, so that the target remote control console continues to send the remote control data to each crane. The target remote control console is selected and connected in a binding mode by different types of cranes, flexible control of the remote control console on different types of cranes is realized, and the reuse rate of the remote control system is improved.

Description

Technical Field

[0001] This invention relates to the field of remote control technology, and specifically to a remote control method, remote control console, and system for a crane. Background Technology

[0002] Existing remote control systems are used to process remote operation tasks. Both yard cranes and quay cranes are equipped with corresponding remote control systems.

[0003] The yard cranes and quay cranes each employ their own dedicated remote control solutions, which are incompatible. The wharf requires two shifts of personnel for operation, making hardware and personnel reuse impossible. Furthermore, significant functional differences exist in their designs, necessitating separate R&D and commissioning teams for project design and implementation. In addition, the remote control solutions from different electrical control manufacturers vary, making it impossible to integrate their systems to achieve interoperability. Summary of the Invention

[0004] In view of this, the present invention provides a remote control method, remote control console and system for cranes, which can solve the problem of not being able to uniformly control different types of crane equipment.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] This invention provides a remote control method for cranes, applied to a remote control system comprising multiple remote control consoles and multiple cranes. The remote control method includes:

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

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

[0009] The crane is bound 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] Once the crane determines that it has completed its work task, it disconnects from the target remote control console, allowing the target remote control console to continue sending 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 console sends remote control data to each crane, including:

[0013] Each remote control console 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 console sends remote control data to each crane via a remote control task allocation module, including:

[0015] The remote task allocation module and the remote control console communicate using a standardized data interface protocol, which includes the 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 console from multiple remote control consoles based on remote control data and the work task to be performed, including:

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

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

[0019] The crane selects the target remote control console based on remote control data, work tasks, first status information, and second status information. 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 connected to a remote control console. The operating device includes a graphical user interface (GUI) for displaying third-state information: device jump not allowed, device jump allowed normally, and device jump allowed with priority.

[0021] The crane selects a target remote control console from multiple remote control consoles based on remote control data and the work task to be performed, and also includes:

[0022] The remote control console receives the third status information of the operating equipment and sends the third status information to the crane.

[0023] The crane selects the target remote control console based on remote control data, work tasks, first status information, second status information, and third status information.

[0024] In one embodiment of the present invention, the remote control console receives third status information of the operating equipment and sends the third status information to the crane, including:

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

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

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

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

[0029] When the yard crane equipment malfunctions, the yard crane equipment will transfer the work tasks to the maintenance remote control console, which is one of the remote control consoles;

[0030] When the quay crane equipment malfunctions, it disconnects from the target remote control station.

[0031] In one embodiment of the present invention, the yard crane equipment transfers work tasks to a maintenance remote control console, including:

[0032] Once the yard crane equipment confirms that the maintenance remote control station can receive the work task, the yard crane equipment disconnects from the target remote control station and then binds to the maintenance remote control station based on the work task.

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

[0034] The target remote control console enables remote control of the crane based on work tasks, and also includes:

[0035] The target remote control receives control operations from the touchscreen, and controls the crane based on these operations.

[0036] The target remote control receives confirmation operations for the display terminal, confirms the crane's business process based on the confirmation operations, and sends 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 work data to each remote control station;

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

[0040] The remote control console is bound to the target crane, and the target crane activates the remote control console, which then controls the target crane.

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

[0042] The sending module is used to send remote control data to each crane so that the crane can select 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 to the target remote control station and the target remote control station is activated. The cranes include quay cranes and yard cranes.

[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 has been completed, it disconnects from the target remote control station, while 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] Multiple remote control consoles, each used to execute the methods described above;

[0046] Multiple cranes are used to perform the crane execution method described above.

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

[0048] The remote control method for cranes in this invention enables flexible control of different types of cranes by receiving selection and binding connections from different types of cranes through a target remote control console. Compared to the traditional solution that requires two remote control systems for quay cranes and yard cranes, this invention only requires one remote control system at the dock to control both quay cranes and yard cranes, avoiding the need for two sets of remote control systems and two groups of operators, saving manpower at the dock, and improving the reusability of the remote control system. Attached Figure Description

[0049] Figure 1a This is a scene diagram illustrating a remote control method for a quay crane device according to an embodiment of the present invention.

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

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

[0052] Figure 3 A flowchart of a remote control method for a crane according to an embodiment of the present invention is shown below;

[0053] Figure 4 This is a flowchart of a crane selecting a target remote control console according to an embodiment of the present invention;

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

[0055] Figure 6 A flowchart illustrating how a remote control console receives third status information and sends it to a crane, according to an embodiment of the present invention;

[0056] Figure 7 Flowchart of a remote control method for a crane according to an embodiment of the present invention Figure 2 ;

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

[0058] Figure label:

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

[0060] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention are within the scope of protection of the present invention.

[0061] The following section, in conjunction with the accompanying drawings, describes in detail the application scenarios of the remote control method for cranes according to embodiments of the present invention.

[0062] refer to Figure 1a and Figure 1b , Figure 1a The diagram illustrates a scenario of a remote control method for a quay crane device according to an embodiment of the present invention. Figure 1b A scene diagram illustrating a remote control method for a field bridge device according to an embodiment of the present invention is shown. 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 equipment. It consists of two parts: a control terminal (such as the remote control console 200) and a controlled terminal (such as the crane). The control terminal can send remote control commands to the controlled terminal and control the operation of the controlled terminal.

[0063] In a remote control system, a crane acts as the controlled end. It is a multi-action lifting machine that can vertically lift and horizontally move heavy objects within a certain range, and can be applied to dock operations. For example... Figure 1a As shown, the crane can be a quay crane device 100a. (As...) Figure 1b As shown, the crane can be yard crane equipment 100b. The remote control console 200, acting as the control terminal in the remote control system, is a control device integrating 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 commands to the crane and also receive data sent by the crane.

[0064] refer to Figure 2 , Figure 2A schematic diagram of a remote control system according to an embodiment of the present invention is shown. (See Figure 1 and...) Figure 2 As shown, the remote control system includes a remote control console 200, a crane 100, and operating equipment 300. The remote control console 200 includes a remote control programmable controller 210 (ROS PLC), a video data processing module 220, a data display terminal 230 (Data View), and a touchscreen controller 240 (TP). The crane 100 includes a remote operation and allocation module 110 (ROAM), a CCTV camera 120, and a standalone programmable controller 130 (Crane PLC). The operating equipment 300 includes a graphical user interface 310 (GUI). Furthermore, the remote control console 200 may also be equipped with operating handles and control panels for remote control of the crane 100.

[0065] like Figure 2 As shown, the ROS PLC210 is mounted on the remote control console 200 and is equipped with a number of input / output modules for transmitting data or signals. When the remote control console 200 is connected to a device (quay crane or yard crane), the ROS PLC210 collects physical input signals from the control panel (handles, buttons, switches, etc.) and virtual input signals from the TP (Transport Terminal) via its input modules, and sends the collected control signals to the device (quay crane or yard crane) via its output modules, while also receiving real-time status feedback from the device. The remote control console 200 displays this information through a real-time screen and data interface, enabling real-time remote control of the quay crane or yard crane. The ROS PLC210 needs to send remote control data such as the remote control console number, connection status, and whether jump-over is allowed to all ROAM110s via UDP communication. If it needs to actively connect to the crane 100, the ROS PLC210 establishes a connection and confirms the binding relationship with the crane 100 via 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 mounted on the remote control console 200. The video data processing module 220 can be equipped with CCTV software. CCTV software is client-side video processing software that can receive video stream signals from 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 interact to assist the remote control console 200 in remotely controlling the crane 100. For example, when the remote control console is connected to a device (quay crane or yard crane), the Crane PLC 130 sends information such as the type, number, location, and screen-switching mode of the device (quay crane or yard crane) to the ROS PLC 210 via bus communication. The ROS PLC 210 then forwards this information to the video data processing module 220 of the remote control console 200 via Ethernet communication to perform video operations including screen switching and zooming, and displays the real-time operating screen of the quay crane or yard crane on the monitor on the remote control console 200.

[0067] Data View 230 is installed on remote console 200. One of the displays on remote console 200 is responsible for displaying Data View 230. Each Data View 230 on remote console 200 interacts with the ROS PLC 210 of that remote console 200 via an independent OPC interface (OLE for Process Control, OPC) to assist remote console 200 in remotely controlling crane 100. For example, depending on the model of crane 100, different pages can be switched to display real-time fault information, single-machine real-time status information, remote console 200 status information, current task information, etc., and to perform operations such as task exception handling. In addition, Data View 230 requires the remote operator to log in with their own ID account to use, which helps ensure the security of remote console 200 operation.

[0068] The TP240 is mounted on the remote control console 200 and can interact with the ROS PLC210 via Ethernet communication. Depending on the model of the crane 100, the TP240 can switch between different operation pages to assist the remote control console 200 in remotely controlling the crane 100. Furthermore, the TP240 can also provide an operation interface for devices (quay cranes or yard cranes) actively connected by the remote control console 200, as well as the logout function for remote control console 200 users, thus enhancing the functionality of the remote control system.

[0069] The ROAM110 is installed on the crane 100 and can share a hardware platform with the Crane PLC130 or operate independently. The ROAM110 adds all ROS PLC210s as slaves to its hardware configuration, assisting the crane 100 in selecting and binding to the target remote control console 200. When the crane 100 has no remote control tasks, the ROAM110 does not activate any ROS PLC210 slaves by default. If the crane 100 has a remote control task, the ROAM110 appropriately allocates and selects idle remote control consoles 200, establishes a connection with the ROS PLC210 via TCP communication to confirm the binding relationship, and then activates the ROS PLC210 slave to establish real-time bus communication. The ROAM110 and Crane PLC130 can use a standard interface protocol to exchange operating commands from the remote control console 200 and equipment (quay crane or yard crane) status information in real time. This enables remote control operation of the crane 100 and displays the real-time operating status of the equipment (quay crane or yard crane) on interfaces such as Data View 230 on the remote control console 200. Furthermore, the ROAM100 can send equipment number, active connection status, and equipment operating mode to all ROS PLCs 210 via UDP communication to assist the remote control console 200 in remotely controlling the equipment (quay crane or yard crane).

[0070] CCTV cameras 120 are installed on cranes 100. Multiple CCTV cameras 120 are installed on each crane 100 to meet the monitoring requirements. The CCTV cameras 120 can communicate with the video data processing module 220 of the remote control station 200 to assist the remote control station 200 in monitoring the operating status of the cranes 100 in real time.

[0071] The Crane PLC130 is installed on the crane 100. The Crane PLC130 and ROAM110 use a standard interface protocol to exchange operating commands and equipment (quay crane equipment or yard crane equipment) status information with the remote control console 200 in real time. This enables remote control operation of the crane 100 and displays the real-time operating status of the crane 100 on interfaces such as Data View 230 of the remote control console 200, thereby assisting the remote control console 200 in remotely controlling the crane 100.

[0072] The GUI310 is installed on the operating device 300. The GUI310 interacts with each ROS PLC 210 via OPC to allow users to set priorities for the remote consoles 200. Users can configure the status information of each remote console 200 on the GUI310, including disallowing a device from hopping, allowing a device to hop normally, and allowing a device to hop with priority. The operating device 200 determines the priority of the remote consoles based on the status information and sends it to the ROS PLC 210. Furthermore, each ROS PLC 210 can feed back all status information from the remote consoles 200 to the GUI310 for unified display.

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

[0074] refer to Figure 3 , Figure 3 A flowchart of a remote control method for a crane according to an embodiment of the present invention is shown. Figure 3 As shown, the remote control method for cranes includes S301-S30, which is applied to a remote control system consisting of multiple remote control consoles and multiple cranes. The cranes include quay cranes and yard cranes. Quay cranes, also known as quay container cranes, are used to load and unload containers from ships at the quayside. Yard cranes, also known as rail-mounted container gantry cranes, are lifting equipment that spans over workshops, warehouses, and material yards to transport materials.

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

[0076] For example, remote control data can include information such as the remote control console number, connection status, and permitted console jumps. Each remote control console sends remote control data to all cranes in a polling manner. The cranes receive the remote control data and update it based on the previously received data. That is, the interface content from the ROS PLC to ROAM can include remote control data such as the console number, mode, and whether console jumps are permitted. Furthermore, the interface content from the ROS PLC to ROAM can also include requests for active connection, heartbeat signals, and console control commands. ROAM reads the received data into the corresponding equipment type's structural data based on the different types of crane equipment before forwarding it to the Crane PLC.

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

[0078] For example, a work task can be a remote monitoring task. When a crane needs to perform a work task, it can select a target remote control console based on the type and duration of the task, as well as updated remote control data. The target remote control console is an idle console, meaning it is not linked to any other crane.

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

[0080] For example, a binding connection establishes a one-to-one connection between the crane and the target remote control, and once the target remote control accepts the binding, it cannot bind to other cranes. The crane activates the target remote control, enabling real-time bus communication between the crane and the target remote control.

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

[0082] For example, the target remote control console sends remote control commands to the crane based on the work task; that is, the interface content from the ROS PLC to ROAM can include operator control commands. After receiving the remote control commands, the crane executes the corresponding operations to complete the work task corresponding to the remote control commands.

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

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

[0085] For example, once the crane has completed its current task, it will actively disconnect from the target remote control, meaning the crane is no longer under the control of the target remote control. The target remote control then returns to an idle state, allowing it to send remote control data to all cranes that are not currently bound to it.

[0086] If the result of step S305 is negative, then step S304 is executed.

[0087] In other words, if the crane's current task is not completed, the crane continues to be remotely controlled by the target remote control console.

[0088] In embodiments of the present invention, by receiving selection and binding connections from cranes via a target remote control console, flexible control of different types of cranes is achieved. Compared to the prior art where quay cranes and yard cranes require two remote control systems, the quay cranes and yard cranes of the present invention can select, bind, and activate a target remote control console based on received remote control data and their own work tasks. This allows the target remote control console to remotely control the quay cranes and yard cranes. In other words, only one remote control system is needed at the terminal to control both quay cranes and yard cranes, avoiding the need for two sets of remote control systems and two groups of operators, saving manpower at the terminal, and improving the reusability of the remote control system.

[0089] The steps of the above embodiments of the present invention will be described in detail below with reference to specific examples.

[0090] like Figure 2 As shown, each crane includes a Remote Task Assignment Module (ROAM), meaning each crane is equipped with one ROAM. The ROAM can add all remote control consoles as slaves to its hardware configuration.

[0091] In S301, each remote control console sends remote control data to each crane. This can include: each remote control console sending remote control data to each crane through the remote control task allocation module; the crane can interact with the remote control console through ROAM, which helps improve the transmission efficiency of remote control data.

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

[0093] UDP is a connectionless transport layer protocol that provides a simple, unreliable, transaction-oriented message delivery service, offering applications a way to send encapsulated IP packets without establishing a connection. Enabling UDP communication in Tmap requires calling the TCON function block first. For unicast, only the physical port, connection ID, and local port need to be configured. Since no connection needs to be established, the next step of sending and receiving can proceed after a successful call. For multicast, in addition to configuring the physical port, connection ID, and local port, the multicast address and port also need to be specified. After a successful call, the next step of sending and receiving can proceed. When sending UDP data, the TUSEND function block is called, specifying the receiver's IP address and port number. One-to-many communication can be achieved by modifying the partner's IP address and port number. When receiving UDP data, the TURCV function block is called. Due to the characteristics of UDP communication, received data will not be fragmented. Additionally, the TURCV function block can output the sender's IP address and port number when receiving data, which can be used for verification. However, the program mainly relies on the device number and type contained in the data for verification. Like all IP packets, UDP packets sent to multicast addresses contain a TTL value (TTL: Time to Live). The TTL value measures the distance a data packet is allowed to travel. The CPU assigns it a value of 1; therefore, UDP packets sent to multicast addresses cannot be sent across router boundaries. For established connections (set or configured), changing the TTL value in UDP Multicast requires calling the TCON Settings function block.

[0094] For example, ROAM and ROS PLC can communicate using the UDP protocol. ROAM can send information such as device number, active connection status, and device operating mode to all ROS PLCs via UDP communication to assist the remote control console in remotely controlling the equipment (quay crane or yard crane).

[0095] TCP is a connection-oriented, reliable, byte-stream-based transport layer communication protocol. The communicating parties are divided into a client and a server. Establishing a TCP connection in TOB requires calling the TCON function block. For the server, calling the TCON function block requires specifying itself as the server, configuring the physical port, connection ID, and server port. The client's IP address can be specified; after configuring the IP address, only clients with that address can establish a TCP connection with the server, but this is generally not specified. For the client, calling the TCON function block requires specifying itself as the client, configuring the physical port, connection ID, server IP address, and server port. Only after the client and server successfully establish a connection can the next stage of sending and receiving proceed. TCP generally divides communication into synchronous and asynchronous communication. Interaction between the two parties usually uses synchronous communication, i.e., one sending and one receiving. If asynchronous communication is used, it is necessary to ensure that the receiver has time to process the sender's information, or that one party primarily sends data. A server can communicate with multiple clients on the same port; multiple TCP connections on the same port can be established by modifying the connection ID.

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

[0097] PROFINET is an automation bus standard based on industrial Ethernet technology. Communication involves a master station and slave stations. The master station configures the hardware of all slave stations and transmits control data to the CPU's PROFINET interface via the PROFINET IO system configuration control. It also notifies the CPU's PROFINET interface which "optional IO devices" are available in the actual IO system configuration and which ports will be interconnected. Specific software instructions enable or disable PROFINET IO devices on the slave stations, thus achieving intelligent communication control for efficient, one-to-one, on-demand, dynamic real-time bus communication between multiple masters and slaves.

[0098] For example, ROAM and Crane PLC can communicate directly using PROFINET. ROAM and Crane PLC can exchange remote control commands and equipment (quay crane or yard crane) status information in real time, enabling remote control of the crane and displaying the real-time operating status of the equipment (quay crane or yard crane) on interfaces such as Data View on the remote control console.

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

[0100] For example, ROS PLC and Data View can communicate using OPC.

[0101] The ROS PLC and the video data processing module can communicate directly using the S7 protocol. The interface between the ROS PLC and the video data processing module mainly includes screen switching mode, device type, device number, operation prompts, and standby status. The video data processing module switches to the corresponding screen based on the currently connected device type and number.

[0102] In other words, in S301, the crane's ROAM and the remote control console can communicate through the three methods mentioned above, which helps to ensure the security of remote control data transmission.

[0103] Below, in conjunction with Figure 3 and refer to Figure 4 To illustrate a specific embodiment of the present invention. Figure 4 A flowchart of a crane selecting a target remote control console according to an embodiment of the present invention is shown.

[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 remote control data and the work task to be performed, which may further include the following steps S401-S403.

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

[0106] For example, the first state information includes manual intervention requests, video data processing module screen switching modes, and equipment status such as position and speed. Each crane can determine the first state information in real time through a single-unit programmable controller (Crane PLC), meaning that the interface content from the Crane PLC to ROAM mainly includes the first state information.

[0107] In addition, the interface content from Crane PLC to ROAM can also include heartbeat signals, equipment type such as rail-mounted gantry crane or quay crane, and equipment number, etc. Correspondingly, the interface content from ROAM to Crane PLC can include heartbeat signals, console number, and console control commands, etc.

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

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

[0110] Step S403: The crane selects the target remote control console based on remote control data, work tasks, first status information and second status information.

[0111] For example, work tasks include monitoring tasks, fault repair tasks, and semi-automatic tasks. The crane's ROAM records all first-state information from the Crane PLC and second-state information sent by the ROS PLC, serving as the basis for selecting a remote control station when triggering a jump-start request. When the crane has a fault repair task, a remote monitoring task, or a semi-automatic task, the crane's automation mode changes, triggering the station allocation function. The ROAM uses intelligent algorithms to rationally select a remote control station, which helps improve the crane's work task completion efficiency.

[0112] In one embodiment of the present invention, such as Figure 2 As shown, the remote control system also includes an operating device connected to the remote control console. The operating device 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] Below, in conjunction with Figure 4 and refer to Figure 5 To illustrate a specific embodiment of the present invention. Figure 5 This invention illustrates the process of a crane selecting a target remote control console according to an embodiment of the present invention. Figure 2 .

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

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

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

[0117] Step S502: The crane receives 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 receives the third status information of the operating equipment and sends the third status information to the crane.

[0120] For example, the third status information includes disallowing device jumps, allowing normal device jumps, and allowing priority jumps. The ROS PLC receives the third status information from the GUI and sends it to ROAM.

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

[0122] In other words, the crane's ROAM records all the first status information from the Crane PLC, the second status information from the ROS PLC, and the third status information, which serve as the basis for selecting the remote control when triggering a jump-start request, thereby further improving the crane's work task completion efficiency.

[0123] Below, in conjunction with Figure 5 and refer to Figure 6 To illustrate a specific embodiment of the present invention. Figure 6 A flowchart illustrating a remote control console receiving third status information and sending it to a crane, according to an embodiment of the present invention, is shown.

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

[0125] Step S601: The operating device receives the third status information set by the user for the remote control console and determines the priority of the remote control console.

[0126] For example, the ROS PLC and GUI communicate via TCP and OPC. Users configure the third-state information of the remote control console through the graphical user interface (GUI). The interface between the GUI and the ROS PLC primarily includes third-state information such as priority setting operations. The operating device receives the third-state information and determines the corresponding priority of the remote control console. Furthermore, the interface between the GUI and the ROS PLC also includes heartbeat signals; correspondingly, the interface between the ROS PLC and the GUI primarily includes heartbeat signals, priority setting operation feedback, and ROS status.

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

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

[0129] In other words, users can set work priorities for remote controllers via the GUI. The remote controller receives the priorities and sends them to the crane, allowing the crane to select from remote controllers with specific priorities. Avoiding the crane having to select a target remote controller from all available options helps improve crane binding efficiency.

[0130] In addition, users can classify remote control consoles into different busy levels based on the frequency of handling crane tasks. When remote control consoles are at the same work priority, ROAM will prioritize remote control consoles with higher idle levels to avoid overloading specific remote control consoles.

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

[0132] In the first scenario, when the yard crane equipment malfunctions, the yard crane equipment will transfer its work tasks to the maintenance remote control console, which is one of the remote control consoles.

[0133] In the second scenario, when the quay crane equipment malfunctions, it disconnects from the target remote control station.

[0134] When a crane malfunctions, transferring the crane to a maintenance remote control station or disconnecting it from the target remote control station can prevent the crane from remaining connected to the target remote control station while in a faulty state, thus improving the utilization efficiency of the remote control station.

[0135] Furthermore, in other embodiments of the present invention, when a crane is connected to a remote control console for work tasks, if the crane malfunctions, the connection between the crane and the remote control console remains unbroken, and the remote control console continues to handle the fault. The remote control console mode can be freely switched according to the device mode. During mode switching, the video data processing module of the remote control console is unaffected, and there are no black screens or stutters. At the task level, there is no distinction between the operation remote control console and the maintenance remote control console. If it is necessary to transfer a remote task to the maintenance remote control console, the yard crane can utilize the transfer function, and the quay crane can first disconnect and then be actively reconnected to the quay crane by the maintenance remote control console.

[0136] In one embodiment of the present invention, in S303, the yard crane equipment transfers the work task to the maintenance remote control station, which may include: the yard crane equipment determining that the maintenance remote control station can receive the work task; the yard crane equipment disconnecting from the target remote control station; and the yard crane equipment binding and connecting with the maintenance remote control station based on the work task. By determining whether the maintenance remote control station can accept the crane binding, the crane is prevented from continuously jumping to other remote control stations, which helps to improve the binding efficiency of the crane.

[0137] In one embodiment of the invention, the remote control includes a display (such as...). Figure 2 The displays include touchscreens and display terminals (TP and Data View).

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

[0139] In the first scenario, the target remote control receives control operations for the touchscreen, and then controls the crane based on these operations.

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

[0141] The interface between the TP and the ROS PLC mainly includes heartbeat signals, active connection operations, and stand-alone control commands. The TP switches to the corresponding device interface based on the currently connected device type.

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

[0143] In the second scenario, the target remote control receives confirmation operations for the display terminal, confirms the crane's business process based on the confirmation operations, and sends status information to the display terminal for display.

[0144] Specifically, ROS PLC and Data View can communicate using TCP and OPC.

[0145] The interface between Data View and ROS PLC mainly includes heartbeat signals, login / logout operations, and business process confirmation.

[0146] The interface between the ROS PLC and Data View mainly includes heartbeat signals, login / logout operation feedback, the type of currently connected device (quay crane or yard crane), device number, and standby status. Data View switches to the corresponding device interface based on the currently connected device type and displays the standby status.

[0147] In other words, the ROS PLC collects virtual input signals from touchscreens and display terminals, as well as physical input signals from handles, buttons, and switches on the control panel. When connected to the crane, it sends the collected control signals to the crane and receives real-time status feedback from the crane. The ROS PLC on the remote control console displays the data through real-time screens and a data interface, thereby enabling real-time remote control of the crane.

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

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

[0150] For example, operational data includes information such as device number, whether it can be actively connected, and device operating mode. ROAM can send operational data to all remote control ROS PLCs via UDP communication. That is, the interface content from ROAM to ROS PLC can include operational data such as device number, whether it can be actively connected, and device operating mode. In addition, the interface content from ROAM to ROS PLC can also include heartbeat signals, device type (e.g., rail-mounted gantry crane or quay crane), manual intervention requests, video data processing module screen switching mode, and device status (e.g., position, speed). Depending on the type of crane equipment, ROAM will place the data read from the Crane PLC into the corresponding device type's structural data and send it to the ROS PLC.

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

[0152] For example, the touchscreen has an interface for remote control to actively connect to the crane. The user taps the touchscreen to make a selection. The remote control 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, which then controls the target crane.

[0154] The ROS PLC on the remote control console establishes and binds with the ROAM (Royal Operating System) of the target crane via TCP communication. After the binding connection is established, the ROAM activates the corresponding ROS PLC slave station, enabling real-time bus communication between the remote control console and the target crane. The remote control console can then remotely control the target crane. Operators can flexibly bind the remote control console to the crane via a touchscreen, which helps improve the utilization efficiency of the remote control console.

[0155] The present invention also provides a remote control console, including a transmitting module and a control module.

[0156] The sending module is used to send remote control data to each crane, so that the crane can select 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 to the target remote control station and the target remote control station is activated. The cranes include quay cranes and yard cranes.

[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 has been 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, including multiple remote control consoles and multiple cranes. The remote control consoles are used to perform the above-described actions. Figures 3-7 The method executed by the remote control console. The crane is used to perform the above. Figures 3-7 The method of execution by the crane in the process.

[0159] In summary, the remote control method for cranes of the present invention enables flexible control of different types of cranes by receiving selection and binding connections from different types of cranes at the target remote control console. This invention requires only one remote control system at the dock to control both quay cranes and yard cranes, avoiding the need for two remote control systems and two groups of operators, thus saving manpower at the dock and improving the reusability of the remote control system.

[0160] Now for reference Figure 8 The diagram shown is a block diagram of a SoC (System on Chip) 1300 according to an embodiment of this application. Figure 8 In the diagram, similar components share the same reference numerals. Additionally, dashed boxes are an optional feature for more advanced SoCs. Figure 8 In this SoC 1300, the following are included: an interconnect unit 1350 coupled to an application processor 1310; a system proxy 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] Static Random Access Memory (SRAM) cell 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 those instructions. These instructions may include, when executed by at least one unit in the processor, causing the SoC 1300 to perform the actions described in the above embodiments. Figures 3-7 The methods explained will not be repeated here.

[0162] The various embodiments of the mechanisms disclosed in this application can be implemented in hardware, software, firmware, or a combination of these implementation methods. Embodiments of this application can be implemented as computer programs or program code executable on a programmable system, the programmable system including 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 execute 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, the 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] The program code can be implemented using a high-level procedural language or an object-oriented programming language to communicate with the processing system. Assembly language or machine language can also be used when needed. In fact, the mechanisms described in this application are not limited to any particular 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 thereon 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, the instructions may be distributed via a network or through other computer-readable media. Therefore, machine-readable media may include any mechanism for storing or transmitting information in a machine-readable (e.g., computer-readable) form, including but not limited to floppy disks, optical disks, CD-ROMs, magneto-optical disks, read-only memory (ROM), random access memory (RAM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), magnetic cards or optical cards, flash memory, or tangible machine-readable storage for transmitting information (e.g., carrier waves, infrared signals, digital signals, etc.) using the Internet in the form of electrical, optical, acoustic, or other propagation signals. Therefore, machine-readable media include any type of machine-readable medium suitable for storing or transmitting electronic instructions or information in a machine-readable (e.g., computer-readable) form.

[0166] In the accompanying drawings, some structural or methodological 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 necessary. Rather, in some embodiments, these features may be arranged in a manner and / or order different from that shown in the illustrative drawings. Furthermore, the inclusion of structural or methodological features in a particular figure does not imply that such features are required in all embodiments, and in some embodiments, these features may be omitted or may be combined with other features.

[0167] It should be noted that all units / modules mentioned in the device embodiments of this application are logical units / modules. Physically, a logical unit / module can be a physical unit / module, a part of a physical unit / module, or a combination of multiple physical units / modules. The physical implementation of these logical units / modules themselves is not the most important factor; the combination of functions implemented by these logical units / modules is the key to solving the technical problems proposed in this application. Furthermore, to highlight the innovative aspects of this application, the above-described device embodiments of this application have not introduced units / modules that are not closely related to solving the technical problems proposed in this application. This does not mean that the above-described device embodiments do not contain other units / modules.

[0168] It should be noted that in the examples and description of this patent, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one" does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0169] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms "an" or "a" and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms "connected" or "linked" and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up," "down," "left," "right," etc., are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship also changes accordingly.

[0170] The above are preferred embodiments of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A remote control method for a crane, characterized in that, The remote control method, applicable to a remote control system comprising multiple remote control consoles and multiple cranes, includes: Each of the remote control consoles sends remote control data to each of the cranes, including quay cranes and yard cranes; The crane selects a target remote control station from among the multiple remote control stations based on the remote control data and the work task to be performed; The crane is bound 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. When the crane determines that it has completed the work task, it disconnects from the target remote control station so that the target remote control station continues to send the remote control data to each of the cranes. The remote control system further includes an operating device connected to the remote control console. The operating device includes a graphical user interface (GUI) for displaying third-state information: no equipment jump allowed, normal equipment jump allowed, and priority equipment jump allowed. The crane selects a target remote control console from multiple remote control consoles 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 the operating status of the work task; The crane receives second status information from each of the remote control consoles, wherein the second status information includes the occupancy status and idle level of the remote control console; The crane selects the target remote control console based on the remote control data, the work task, the first status information, and the second status information, wherein the work task includes monitoring tasks, fault repair tasks, and semi-automatic tasks; The operating device receives the third state information set by the user for the remote control console and determines the priority of the remote control console; The operating device sends the priority to the corresponding remote control station; The remote control receives the priority and sends the priority to each of the cranes; The crane selects the target remote control console based on the remote control data, the work task, the first status information, the second status information, and the third status information.

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

3. The remote control method for a crane according to claim 2, characterized in that, Each of the remote control consoles 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 console communicate using a standardized data interface protocol, which includes User Datagram Protocol, Transmission Control Protocol and Automation Bus Standard.

4. The remote control method for a crane according to claim 1, characterized in that, Also includes: When the yard crane equipment malfunctions, the yard crane equipment transfers the work task to the maintenance remote control console, wherein the maintenance remote control console is one of the remote control consoles; When the quay crane equipment malfunctions, the quay crane equipment disconnects from the target remote control station.

5. The remote control method for a crane according to claim 4, characterized in that, The yard crane equipment transfers the work tasks to the maintenance remote control console, including: The yard crane equipment determines that the maintenance remote control station can receive the work task, the yard crane equipment disconnects from the target remote control station, and the yard crane equipment binds to the maintenance remote control station based on the work task.

6. The remote control method for a crane according to claim 1, characterized in that, The remote control console includes a display, which includes a touchscreen and a display terminal. The target remote control console remotely controls the crane based on the work task, and also includes: The target remote control receives control operations for the touch screen, and the target remote control controls the crane based on the control operations; The target remote control receives confirmation operations for the display terminal, confirms the crane's business process based on the confirmation operations, and sends status information to the display terminal for display.

7. The remote control method for a crane according to claim 6, characterized in that, The remote control method further includes: The crane sends working data to each of the remote control consoles; The remote control receives the selection operation from the touch screen, and the remote control determines the target crane based on the selection operation, wherein the target crane is one of the cranes; The remote control console is bound to the target crane, and the target crane activates the remote control console, which then controls the target crane.

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