Simulation test method and system for ship unloader, electronic equipment and storage medium

Abstract

The invention relates to the technical field of ship unloaders, in particular to a ship unloader simulation test method and system, electronic equipment and a storage medium, and the method comprises the steps: controlling a preset ship unloader simulation model through a to-be-tested PLC, so as to enable the ship unloader simulation model to execute a corresponding task based on a PLC control instruction sent by the to-be-tested PLC; in the task execution process, the abnormal working condition of the ship unloader is simulated, and the actual response behavior of the to-be-tested PLC under the abnormal working condition is monitored; and comparing the actual response behavior with a preset target response behavior to complete a PLC test, according to the method, ship unloader simulation and ship unloader PLC testing can be organically combined, so that the ship unloader PLC testing is realized while ship unloader simulation is performed, the ship unloader PLC testing efficiency is effectively improved, the automation degree is high, resource consumption is effectively reduced, potential safety hazards are reduced, the cost is low, and the implementation is high.

Description

Technical Field

[0001] The present invention relates to the technical field of ship unloaders, and in particular to a simulation test method, system, electronic equipment and storage medium for a ship unloader. Background Art

[0002] A ship unloader is a mechanical equipment installed in ports, docks and other places, which is responsible for the cargo loading and unloading operations of ships, such as transferring cargo from the ship to the shore. With the rapid development of automation technology and intelligent control, traditional ship unloaders are gradually evolving towards automated control. PLC (Programmable Logic Controller) plays a vital role in ship unloaders. It realizes the automated operation of ship unloaders by controlling the lifting, lowering, rotation, and transmission of the ship unloader. Therefore, the testing of PLC, that is, the testing of PLC control programs, becomes particularly important. A PLC control program that has not been fully tested may lead to low efficiency of the ship unloader, and may even cause equipment failures and safety accidents.

[0003] At present, the PLC control program is usually tested manually on the ship unloader, that is, the PLC is tested and debugged by repeatedly running the ship unloader. However, this method relies on manual experience, it is difficult to ensure the stability of the test, there are certain safety hazards, and the test efficiency is low and the resource consumption is large. Summary of the invention

[0004] The present invention provides a ship unloader simulation test method, system, electronic equipment and storage medium to solve the problems of low efficiency, large resource consumption and certain safety hazards in the PLC test mode of the ship unloader in the prior art.

[0005] The present invention provides a ship unloader simulation test method, the method comprising: using a PLC to be tested to control a preset ship unloader simulation model, so that the ship unloader simulation model performs corresponding tasks based on a PLC control instruction issued by the PLC to be tested;

[0006] During the task execution, the abnormal working condition of the ship unloader is simulated, and the actual response behavior of the PLC to be tested under the abnormal working condition is monitored;

[0007] The actual response behavior is compared with a preset target response behavior to complete the PLC test.

[0008] In one embodiment of the present invention, the steps of constructing the ship unloader simulation model include:

[0009] Constructing a three-dimensional model of the ship unloader, wherein the three-dimensional model of the ship unloader includes: a three-dimensional mechanical model of the ship unloader, and structural constraint relationships of various components in the three-dimensional mechanical model;

[0010] Performing dynamic simulation on the three-dimensional model of the ship unloader to obtain a dynamic simulation model;

[0011] Obtaining an operating status data sample of the ship unloader;

[0012] According to the operation status data samples, the simulated operation status data of the simulated ship unloader in the dynamic simulation model is corrected, and the dynamic simulation model after the data correction is determined as the ship unloader simulation model.

[0013] In one embodiment of the present invention, the three-dimensional mechanical model includes: a ship unloader trolley, a trolley track, a boom turntable, a boom pitch mechanism, and a material taking head. The movement mode of the ship unloader trolley is a linear motion mode, and the movement mode of the boom turntable is a rotational motion mode.

[0014] In one embodiment of the present invention, the step of constructing the ship unloader simulation model further includes:

[0015] Sending a target task to the ship unloader simulation model to instruct the ship unloader simulation model to perform inverse kinematics solution based on the target task to obtain motion parameters of each component of the ship unloader simulation model, wherein the target task includes moving the end of the reclaiming head of the ship unloader simulation model to a target position, and the inverse kinematics solution refers to obtaining motion parameters of each component of the ship unloader simulation model based on the current position of the reclaiming head and the target position;

[0016] Based on the motion parameters, various components in the ship unloader simulation model are controlled to complete the execution of the target task;

[0017] Obtaining the actual position of the material taking head after the target task is completed;

[0018] The ship unloader simulation model is modified according to the difference between the actual position and the target position.

[0019] In one embodiment of the present invention, the abnormal operating conditions include: obstacles on the trolley driving track of the ship unloader, mechanical failure of the ship unloader components, abnormal state of the ship unloader components, abnormal wind speed, and network abnormality; each abnormal operating condition corresponds to a corresponding target response behavior.

[0020] In one embodiment of the present invention, the actual response behavior is compared with a preset target response behavior to complete the PLC test, including:

[0021] If the actual response behavior is the same as the corresponding target response behavior, continue to simulate the next abnormal operating condition until all abnormal operating conditions are simulated;

[0022] If the actual response behavior is different from the target response behavior, an alarm message is fed back and the task execution is stopped.

[0023] In one embodiment of the present invention, the target response behavior includes: issuing a deceleration signal, issuing a stop signal, and reporting abnormal information, where the abnormal information refers to abnormal operating condition information detected by the PLC.

[0024] The present invention also provides a ship unloader simulation test system, the system comprising: a task execution module, used to control a preset ship unloader simulation model using a PLC to be tested, so that the ship unloader simulation model performs corresponding tasks based on a PLC control instruction issued by the PLC to be tested;

[0025] The abnormal working condition simulation module is used to simulate the abnormal working condition of the ship unloader during the task execution process, and monitor the actual response behavior of the PLC to be tested under the abnormal working condition;

[0026] The test module is used to compare the actual response behavior with the preset target response behavior to complete the PLC test.

[0027] The present invention also provides an electronic device, comprising a processor, a memory and a communication bus; the communication bus is used to connect the processor and the memory; the processor is used to execute a computer program stored in the memory to implement a ship unloader simulation test method as provided in any one of the above embodiments.

[0028] The present invention also provides a computer-readable storage medium on which a computer program is stored, wherein the computer program is used to enable a computer to execute the ship unloader simulation test method provided in any one of the above embodiments.

[0029] Beneficial effects of the present invention: The ship unloader simulation test method, system, electronic device and storage medium provided by the present invention control the preset ship unloader simulation model by using the PLC to be tested, so that the ship unloader simulation model performs corresponding tasks based on the PLC control instructions issued by the PLC to be tested; during the task execution process, the abnormal working conditions of the ship unloader are simulated, and the actual response behavior of the PLC to be tested under the abnormal working conditions is monitored; the actual response behavior is compared with the preset target response behavior to complete the PLC test. The method can organically combine the ship unloader simulation with the ship unloader PLC test, so that the ship unloader PLC is tested while the ship unloader is simulated, effectively improving the test efficiency of the ship unloader PLC, with a high degree of automation, and effectively reducing resource consumption, reducing safety hazards, low cost, and strong feasibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A schematic flow chart of a ship unloader simulation test method provided by an embodiment of the present invention;

[0031] Figure 2 This is an exemplary schematic diagram of the composition structure of a three-dimensional mechanical model in a ship unloader simulation test method provided in one embodiment of the present invention;

[0032] Figure 3 An exemplary schematic diagram of the main structure of a ship unloader simulation model and the motion modes of various components in a ship unloader simulation test method provided by an embodiment of the present invention;

[0033] Figure 4 A schematic diagram of an exemplary flow chart of a specific embodiment of a ship unloader simulation test method provided by an embodiment of the present invention;

[0034] Figure 5 A structural schematic diagram of a ship unloader simulation test system provided by an embodiment of the present invention;

[0035] Figure 6 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0036] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0037] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0038] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present invention difficult to understand.

[0039] In order to facilitate understanding of the ship unloader simulation test method, system, electronic device and storage medium provided by the present invention, some technical terms involved in the present invention are explained below.

[0040] The material head moves horizontally on the sea side: Assume that a three-dimensional coordinate system of the ship unloader is established, the horizontal axis (X axis) represents the horizontal direction of the ship unloader track, and the vertical axis (Y axis) represents the sea-land direction. The increase of the Y coordinate means that the ship unloader's trolley moves horizontally on the sea side, and the decrease of the Y coordinate means that the ship unloader's trolley moves horizontally on the road side. The depth axis (Z axis) represents the direction vertical to the ground or horizontal plane.

[0041] Inverse kinematic solution: By taking the target position coordinates and current position coordinates of the material head, the motion parameters of each component or motion mechanism of the ship unloader, such as the trolley position, rotation angle and pitch angle, etc., are calculated.

[0042] Combine the following Figures 1 to 6 , the ship unloader simulation test method, system, electronic equipment and storage medium provided by the present invention are explained.

[0043] See also Figure 1 , Figure 1 A schematic diagram of a flow chart of a ship unloader simulation test method provided by an embodiment of the present invention, as shown in FIG. Figure 1 As shown, the method includes:

[0044] S110: Using the PLC to be tested to control a preset ship unloader simulation model, so that the ship unloader simulation model performs corresponding tasks based on the PLC control instructions issued by the PLC to be tested.

[0045] It should be noted that the transmission of PLC control instructions can be completed by establishing TCP (Transmission Control Protocol) communication between the PLC to be tested and the ship unloader simulation model. The PLC to be tested can be a PLC device with a built-in PLC control program. The PLC control instruction can be to control the large vehicle of the ship unloader simulation model to move 10 meters toward the sea side, or 10 meters toward the road side, etc.

[0046] S120: During the task execution process, an abnormal working condition of the ship unloader is simulated, and the actual response behavior of the PLC to be tested under the abnormal working condition is monitored.

[0047] It should be noted that by monitoring the actual response behavior of the PLC to be tested under abnormal conditions, it is possible to subsequently identify whether the PLC to be tested makes a correct response to the abnormal conditions, thereby achieving PLC testing.

[0048] S130: Compare the actual response behavior with the preset target response behavior to complete the PLC test.

[0049] It can be understood that through the above steps, the ship unloader PLC test can be completed well with a high degree of automation. Relevant personnel can perform corresponding debugging on the PLC to be tested based on the PLC test results, effectively reducing safety hazards and being more convenient to implement.

[0050] In some embodiments, the steps of constructing the ship unloader simulation model include:

[0051] Firstly, a three-dimensional model of the ship unloader is constructed, wherein the three-dimensional model of the ship unloader comprises a three-dimensional mechanical model of the ship unloader and structural constraint relationships of various components in the three-dimensional mechanical model.

[0052] Secondly, a dynamic simulation is performed on the three-dimensional model of the ship unloader to obtain a dynamic simulation model.

[0053] It can be understood that by performing dynamic simulation on the three-dimensional model of the ship unloader, the performance parameters of the ship unloader under various working conditions, namely the dynamic parameters, can be obtained. The three-dimensional model of the ship unloader and the dynamic parameters constitute the dynamic simulation model.

[0054] Then, the operating status data sample of the ship unloader is obtained.

[0055] It should be noted that the operation status data sample refers to the operation status data of the real ship unloader equipment under various working conditions during operation, such as the operation speed of each moving part, the angle and position of the mechanical arm, etc. The operation status data sample can be obtained by establishing a digital twin system of the ship unloader, that is, by synchronizing the system data of the real ship unloader equipment to the preset digital system, and then obtaining the operation status data sample from the digital system.

[0056] Finally, according to the operation status data sample, the simulated operation status data of the simulated ship unloader in the dynamic simulation model is corrected, and the dynamic simulation model after data correction is determined as the ship unloader simulation model. It should be noted that through the above steps, the accuracy of the ship unloader simulation model can be well improved.

[0057] In some embodiments, the three-dimensional mechanical model includes: a ship unloader trolley, trolley tracks, a boom turntable, a boom pitch mechanism, and a material taking head. The movement mode of the ship unloader trolley is linear motion, and the movement mode of the boom turntable is rotational motion.

[0058] It should be noted that, by setting the above-mentioned three-dimensional mechanical model, the simulation requirements of the ship unloader can be better met and the accurate simulation of the ship unloader can be achieved.

[0059] Figure 2 FIG. 1 is an exemplary schematic diagram of the composition structure of a three-dimensional mechanical model in a ship unloader simulation test method provided in an embodiment of the present invention. Figure 2 The chain bucket continuous ship unloader is taken as an example to demonstrate its composition and structure. Figure 2 As shown, the three-dimensional mechanical model of the chain bucket continuous ship unloader includes: ship unloader trolley, trolley track (ground trolley track), boom turntable, boom pitch mechanism, BE cylinder (Bell cylinder) main mechanism, BE cylinder internal chain and material taking head.

[0060] Figure 3 For an exemplary schematic diagram of the main structure of the ship unloader simulation model and the motion modes of each component in the ship unloader simulation test method provided in one embodiment of the present invention, please refer to Figure 3 , Figure 3 In this paper, the chain bucket continuous ship unloader is also used as an example to illustrate the various components and their movement modes in the ship unloader. Figure 3 As shown, the movement mode of the BE cartridge body mechanism 310 is rotation. Figure 3 The chain bucket elevator 320 and the balance beam 330 are also exemplarily demonstrated, and the boom pitch direction, boom rotation direction, and trolley travel direction are exemplarily demonstrated. In the specific implementation process, the various components of the ship unloader and their movement modes can also be adaptively adjusted according to actual conditions.

[0061] In some embodiments, the step of constructing the ship unloader simulation model further includes:

[0062] 1. Sending a target task to the ship unloader simulation model to instruct the ship unloader simulation model to perform inverse kinematics solution based on the target task to obtain motion parameters of each component of the ship unloader simulation model, wherein the target task includes moving the end of the material taking head of the ship unloader simulation model to the target position, and the inverse kinematics solution refers to obtaining the motion parameters of each component of the ship unloader simulation model based on the current position of the material taking head and the target position.

[0063] 2. Based on the motion parameters, various components in the ship unloader simulation model are controlled to complete the execution of the target task.

[0064] It can be understood that, based on the motion parameters, each moving component is controlled to perform corresponding movements to complete the execution of the target task.

[0065] 3. Obtaining the actual position of the material taking head after the target task is completed.

[0066] 4. According to the difference between the actual position and the target position, the simulation model of the ship unloader is modified.

[0067] It can be understood that, according to the difference between the actual position and the target position, the inverse operation solution method in the ship unloader simulation model or the parameters of the model itself are adjusted until the actual position is the same as the corresponding target position. Through the above steps, the accuracy of the ship unloader simulation model can be effectively improved.

[0068] In some embodiments, the abnormal operating conditions include: obstacles on the trolley driving track of the ship unloader, mechanical failure of the ship unloader components, abnormal status of the ship unloader components, abnormal wind speed, and network abnormality; each abnormal operating condition corresponds to a corresponding target response behavior.

[0069] It should be noted that by simulating the above abnormal working conditions in sequence, it is easy to identify whether the PLC to be tested can issue a correct response under different abnormal working conditions. In the specific implementation process, the abnormal working condition may also include other working conditions, such as the kinematic mechanism of the ship unloader jumping or the kinematic mechanism not moving, etc., which will not be repeated here.

[0070] It should be mentioned that the abnormal state of the ship unloader components refers to the fact that the actual state of the ship unloader components is different from the target state, such as abnormal trolley position, abnormal boom rotation angle, and abnormal pitch angle.

[0071] It can be understood that when an obstacle appears on the trolley track of the ship unloader, the corresponding target response behavior can be that the PLC to be tested sends a deceleration signal or a stop signal, etc. When a mechanical failure occurs in a ship unloader component, the corresponding target response behavior can be that the PLC to be tested sends a deceleration signal, a stop signal, or sends an alarm to a pre-connected target terminal, etc. When the abnormal working condition is an abnormal wind speed, the corresponding target response behavior can be issuing an abnormal wind speed warning and uploading wind speed information, etc. When the abnormal working condition is a network abnormality, the corresponding target response behavior can be reporting a network abnormality, etc. The target response behavior can be adjusted according to the actual situation.

[0072] In some embodiments, the actual response behavior is compared with a preset target response behavior to complete the PLC test, including:

[0073] 1. If the actual response behavior is the same as the corresponding target response behavior, continue to simulate the next abnormal operating condition until all abnormal operating conditions are simulated.

[0074] 2. If the actual response behavior is different from the target response behavior, an alarm message is fed back and the task execution is stopped.

[0075] It should be noted that, through the above steps, the PLC automation test of the ship unloader can be completed well with high test efficiency.

[0076] In some embodiments, the target response behavior includes: sending a deceleration signal, sending a stop signal, and reporting abnormal information, wherein the abnormal information refers to abnormal operating condition information detected by the PLC. It should be noted that by setting the above target response behavior, PLC testing can be facilitated.

[0077] The ship unloader simulation test method in the above embodiment is explained below with a specific embodiment.

[0078] See also Figure 4 , S410: Import the three-dimensional mechanical model (1:1 scale model) of the ship unloader into the simulation software.

[0079] S420: Divide the three-dimensional mechanical model into structural hierarchies in the simulation software. For example, the main object of the ship unloader is A, the trolley (the pulley structure object below the turntable) is A1, the turntable mechanism is A1.1, the arm mechanism is A1.1.1, the BE cylinder mechanism is A1.1.1.1, etc. By establishing the above hierarchical relationship, it is convenient to perform subsequent dynamic simulation and model debugging.

[0080] S430: Establish the motion mode of each component, such as establishing the linear motion mode of the trolley, and the rotary motion mode of the turntable mechanism, the arm mechanism, and the BE cylinder mechanism.

[0081] S440: Establish an inverse kinematic solution method in the simulation software.

[0082] S450: The simulation model of the ship unloader is corrected by performing inverse kinematics calculation. The method of correcting the simulation model of the ship unloader can refer to the above embodiment and will not be described in detail here.

[0083] S460: Establish a communication channel between the simulation software and the PLC to be tested.

[0084] S470: The simulation software receives the PLC control instruction to execute the corresponding task.

[0085] S480: During the task execution, the abnormal working condition of the ship unloader is simulated, and the actual response behavior of the PLC under test under the abnormal working condition is monitored.

[0086] S490: Compare the actual response behavior with the preset target response behavior to complete the PLC test.

[0087] It should be mentioned that all the contents established in the simulation software in the above embodiment constitute the ship unloader simulation model.

[0088] It is also worth mentioning that the ship unloader simulation test method in the above embodiment can realize offline debugging and verification of various functions of the PLC control program, open up the functional link before actual commissioning, and verify whether the control instructions of the PLC under various abnormal working conditions meet expectations.

[0089] In addition, the ship unloader simulation model in the above embodiment also allows the operator to perform corresponding debugging to further improve the accuracy of the model.

[0090] The ship unloader simulation test system provided by the present invention is described below. The ship unloader simulation test system described below and the ship unloader simulation test method described above can be referred to each other.

[0091] Please refer to Figure 5 The ship unloader simulation test system provided in this embodiment includes:

[0092] The task execution module 510 is used to control the preset ship unloader simulation model by using the PLC to be tested, so that the ship unloader simulation model executes the corresponding task based on the PLC control instruction issued by the PLC to be tested;

[0093] The abnormal working condition simulation module 520 is used to simulate the abnormal working condition of the ship unloader during the task execution process, and monitor the actual response behavior of the PLC to be tested under the abnormal working condition;

[0094] The test module 530 is used to compare the actual response behavior with the preset target response behavior to complete the PLC test. The task execution module 510, the abnormal working condition simulation module 520, and the test module 530 are connected. The ship unloader simulation test system in this embodiment can achieve the technical effect achieved by the ship unloader simulation test method in the above embodiment, that is, it can organically combine the ship unloader simulation with the ship unloader PLC test, so that the ship unloader PLC is tested while the ship unloader is simulated, effectively improving the test efficiency of the ship unloader PLC, with a high degree of automation, and effectively reducing resource consumption, reducing safety hazards, low cost, and strong feasibility.

[0095] In some embodiments, the system further comprises: a simulation model building module, for building a three-dimensional model of the ship unloader, the three-dimensional model of the ship unloader comprising: a three-dimensional mechanical model of the ship unloader, and structural constraint relationships of various components in the three-dimensional mechanical model;

[0096] Performing dynamic simulation on the three-dimensional model of the ship unloader to obtain a dynamic simulation model;

[0097] Obtaining an operating status data sample of the ship unloader;

[0098] According to the operation status data samples, the simulated operation status data of the simulated ship unloader in the dynamic simulation model is corrected, and the dynamic simulation model after the data correction is determined as the ship unloader simulation model.

[0099] In some embodiments, the simulation model construction module is further used to send a target task to the ship unloader simulation model to instruct the ship unloader simulation model to perform inverse kinematics solution based on the target task to obtain motion parameters of each component of the ship unloader simulation model, wherein the target task includes moving the end of the reclaiming head of the ship unloader simulation model to the target position, and the inverse kinematics solution refers to obtaining the motion parameters of each component of the ship unloader simulation model based on the current position of the reclaiming head and the target position;

[0100] Based on the motion parameters, various components in the ship unloader simulation model are controlled to complete the execution of the target task;

[0101] Obtaining the actual position of the material taking head after the target task is completed;

[0102] The ship unloader simulation model is modified according to the difference between the actual position and the target position.

[0103] In some embodiments, the test module 530 is specifically used to continue simulating the next abnormal operating condition if the actual response behavior is the same as the corresponding target response behavior, until all abnormal operating conditions are simulated;

[0104] If the actual response behavior is different from the target response behavior, an alarm message is fed back and the task execution is stopped.

[0105] In some embodiments, an electronic device is also provided, which may be a server, and its internal structure is shown in FIG. Figure 6 As shown. The electronic device includes a processor, a memory, a network interface and a database connected via a system bus. The processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile and / or volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the electronic device is used to communicate with an external client via a network connection. When the computer program is executed by the processor, the functions or steps on the server side of the above method are implemented.

[0106] In some embodiments, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the following steps are implemented: a preset ship unloader simulation model is controlled using a PLC to be tested, so that the ship unloader simulation model performs corresponding tasks based on the PLC control instructions issued by the PLC to be tested; during the task execution, abnormal operating conditions of the ship unloader are simulated, and the actual response behavior of the PLC to be tested under the abnormal operating conditions is monitored; the actual response behavior is compared with the preset target response behavior to complete the PLC test.

[0107] In some embodiments, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented: a preset ship unloader simulation model is controlled using a PLC to be tested, so that the ship unloader simulation model performs corresponding tasks based on the PLC control instructions issued by the PLC to be tested; during the task execution process, abnormal operating conditions of the ship unloader are simulated, and the actual response behavior of the PLC to be tested under the abnormal operating conditions is monitored; the actual response behavior is compared with the preset target response behavior to complete the PLC test.

[0108] It should be noted that the above functions or steps that can be implemented by the computer-readable storage medium or electronic device can refer to the relevant descriptions on the server side and the client side in the aforementioned method embodiment. To avoid repetition, they will not be described one by one here.

[0109] The flow chart and block diagram in the accompanying drawings illustrate the possible implementation architecture, function and operation of the method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the module, program segment, or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0110] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A ship unloader simulation test method, characterized in that: include: Using the PLC to be tested to control a preset ship unloader simulation model, so that the ship unloader simulation model performs corresponding tasks based on the PLC control instructions issued by the PLC to be tested; During the task execution, the abnormal working condition of the ship unloader is simulated, and the actual response behavior of the PLC to be tested under the abnormal working condition is monitored; The actual response behavior is compared with a preset target response behavior to complete the PLC test.

2. The ship unloader simulation test method according to claim 1, characterized in that: The steps of constructing the ship unloader simulation model include: Constructing a three-dimensional model of the ship unloader, wherein the three-dimensional model of the ship unloader includes: a three-dimensional mechanical model of the ship unloader, and structural constraint relationships of various components in the three-dimensional mechanical model; Performing dynamic simulation on the three-dimensional model of the ship unloader to obtain a dynamic simulation model; Obtaining the operating status data sample of the ship unloader; According to the operation status data samples, the simulated operation status data of the simulated ship unloader in the dynamic simulation model is corrected, and the dynamic simulation model after the data correction is determined as the ship unloader simulation model.

3. The ship unloader simulation test method according to claim 2, characterized in that: The three-dimensional mechanical model includes: a ship unloader trolley, a trolley track, a boom turntable, a boom pitch mechanism, and a material taking head. The movement mode of the ship unloader trolley is a linear movement mode, and the movement mode of the boom turntable is a rotational movement mode.

4. The ship unloader simulation test method according to claim 2 or 3, characterized in that: The steps of constructing the ship unloader simulation model also include: Sending a target task to the ship unloader simulation model to instruct the ship unloader simulation model to perform inverse kinematics solution based on the target task to obtain motion parameters of each component of the ship unloader simulation model, wherein the target task includes moving the end of the reclaiming head of the ship unloader simulation model to a target position, and the inverse kinematics solution refers to obtaining motion parameters of each component of the ship unloader simulation model based on the current position of the reclaiming head and the target position; Based on the motion parameters, various components in the ship unloader simulation model are controlled to complete the execution of the target task; Obtaining the actual position of the material taking head after the target task is completed; The ship unloader simulation model is modified according to the difference between the actual position and the target position.

5. The ship unloader simulation test method according to claim 1, characterized in that: The abnormal working conditions include: obstacles on the trolley driving track of the ship unloader, mechanical failure of the ship unloader components, abnormal status of the ship unloader components, abnormal wind speed, and network abnormality; each abnormal working condition corresponds to a corresponding target response behavior.

6. The ship unloader simulation test method according to claim 1, characterized in that: The actual response behavior is compared with a preset target response behavior to complete the PLC test, including: If the actual response behavior is the same as the corresponding target response behavior, continue to simulate the next abnormal operating condition until all abnormal operating conditions are simulated; If the actual response behavior is different from the target response behavior, an alarm message is fed back and the task execution is stopped.

7. The ship unloader simulation test method according to claim 1, characterized in that: The target response behavior includes: issuing a deceleration signal, issuing a stop signal, and reporting abnormal information, where the abnormal information refers to abnormal operating condition information detected by the PLC.

8. A ship unloader simulation test system, characterized in that: include: A task execution module, used to control a preset ship unloader simulation model using the PLC to be tested, so that the ship unloader simulation model executes corresponding tasks based on the PLC control instructions issued by the PLC to be tested; The abnormal working condition simulation module is used to simulate the abnormal working condition of the ship unloader during the task execution process, and monitor the actual response behavior of the PLC to be tested under the abnormal working condition; The test module is used to compare the actual response behavior with the preset target response behavior to complete the PLC test.

9. An electronic device, characterized in that: It comprises a processor, a memory and a communication bus; the communication bus is used to connect the processor and the memory; the processor is used to execute the computer program stored in the memory to implement the ship unloader simulation test method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and the computer program is used to enable a computer to execute the ship unloader simulation test method according to any one of claims 1 to 7.

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