Remote control operation equipment for port material treatment

Abstract

The invention discloses remote control operation equipment for port material treatment, and relates to the technical field of engineering machinery, and the remote control operation equipment comprises a vehicle body with a chassis and a remote control operation room. Wherein the vehicle body is provided with an information acquisition assembly used for acquiring information in an operation space and at least two execution mechanisms used for executing related operation of material processing; the remote control operation room comprises a control system and a control device, the control device is used for receiving a control instruction of an operator, the control system is in communication connection with the control device and the information acquisition assembly, and the control system is used for controlling the chassis and the at least two execution mechanisms to work according to information acquired by the information acquisition assembly and the control instruction received by the control device. According to the remote control operation equipment for port material treatment, the operation efficiency can be improved, the safety risk is reduced, and the cost is properly reduced.

Description

Technical Field

[0001] The present application relates to the technical field of engineering machinery, and in particular to a remote control operation equipment for port material processing. Background Art

[0002] Currently, ports handle bulk materials such as ore, coal, and grain, relying on a variety of engineering machinery for ship hold cleaning, shoreside cargo yard stacking, and loading. Conventional forklifts and excavators are often used for hold cleaning and stacking, while forklifts or bucket wheel excavators are used for loading. However, these processes present numerous drawbacks.

[0003] First, existing forklifts and excavators are mostly used for routine construction projects, with low levels of intelligence and specialization. Operators must work in a dusty, harsh environment within the cab, resulting in high labor intensity and the risk of workplace accidents. Second, traditional manual cargo clearance using forklifts and excavators is inefficient. Clearing a 100,000-ton bulk carrier requires 5-7 workers and 8-10 hours. Frequent machine movement during this time consumes significant fuel, and combined with labor costs, the overall construction cost remains high. Third, the use of multiple types of construction machinery for different tasks increases operator complexity, requiring workers to master multiple equipment operating skills, which in turn increases equipment operation and maintenance costs.

[0004] In view of this, it is urgent to design a multi-purpose remote control operation equipment that can meet the needs of cabin cleaning, shore cargo yard stacking, and loading operations in order to improve operation efficiency, reduce safety risks and appropriately reduce costs. Summary of the Invention

[0005] The purpose of this application is to provide a remote control operation equipment for port material handling, which can improve operation efficiency, reduce safety risks and appropriately reduce costs.

[0006] To achieve the above objectives, the present application provides a remote control operation equipment for port material handling, comprising:

[0007] A vehicle body with a chassis, the vehicle body being provided with an information collection component for collecting information within the working space and at least two actuators for performing operations related to material handling;

[0008] The remote control operation room includes a control system and a control device. The control device is used to receive the control instructions of the operator. The control system is communicatively connected with the control device, the information collection component, the chassis and at least two actuators. The control system is used to control the operation of the chassis and at least two actuators based on the information collected by the information collection component and the control instructions received by the control device.

[0009] In some embodiments, the remote control operation equipment further includes a hoisting assembly, the hoisting assembly including:

[0010] a hanger having at least two sets of support legs, wherein the at least two sets of support legs are detachably connected to the vehicle body;

[0011] A hanging beam is provided on the hanger and is provided with a plug hole;

[0012] A guide funnel is provided on the side of the hanging beam away from the hanger, and the guide funnel is provided with a guide groove;

[0013] The hanging plate is provided with a lock hole and is used to be guided by the guide funnel and then fall to a preset position so that the lock hole is aligned with the plug hole;

[0014] The locking pin is used to be inserted into the locking hole and the plug-in hole to lock the hanging plate to the hanging beam.

[0015] In some embodiments, the remote control operation equipment further comprises:

[0016] A hydraulic drive assembly is connected to the lock pin and is in communication with the control system, and is used to drive the lock pin to insert into the lock hole and the plug hole under the control of the control system;

[0017] The position detection component is arranged on the hanging beam and is connected to the control system for feeding back a position signal to the control system when it detects that the hanging plate has fallen into place.

[0018] In some embodiments, the at least two actuators include:

[0019] The conveying device includes a first conveyor and a second conveyor, wherein the first conveyor is used to convey materials along a first direction, and the second conveyor cooperates with the first conveyor to convey the materials conveyed by the first conveyor along a second direction perpendicular to the first direction to a target location;

[0020] The scraping device is used to push the materials in the working space into the conveying device;

[0021] The working arm can be equipped with at least two working attachments. It is used to cooperate with the lifting device to lift materials, and is also used to assist in stacking and loading materials. The working arm is connected to the working attachments through a quick-change device. The quick-change device is controlled by the control system to quickly switch the corresponding working attachments according to different work tasks.

[0022] In some embodiments, the remote control operation equipment further includes an auxiliary cleaning component, the auxiliary cleaning component including:

[0023] a secondary arm rotatably connected to the working arm and configured to rotate relative to the working arm about an axis in a second direction;

[0024] A first driving member is provided on the working arm and connected to the auxiliary arm, and is used to drive the auxiliary arm to rotate relative to the working arm;

[0025] a rotating brush rotatably connected to the auxiliary arm and configured to rotate relative to the auxiliary arm about an axis in a first direction perpendicular to the second direction to clean materials adsorbed in the recesses of the trough wall;

[0026] The second driving member is provided on the auxiliary arm and is connected to the rotating brush, and is used for driving the rotating brush to rotate relative to the auxiliary arm.

[0027] In some embodiments, the vehicle body includes a lower assembly and an upper assembly, the lower assembly includes a lower connecting frame, the upper assembly includes an upper platform, the lower connecting frame is mounted with an engine, and the distance between the lower connecting frame and the upper platform is greater than half the height of the engine.

[0028] In some embodiments, the information collection component includes a camera, a sensor, and a radar, each of which is connected to the control system via a high-speed communication interface to collect real-time information on the shape, size, position, and surrounding environment of the material in the workspace and transmit it to the control system; and / or

[0029] The remote control operation room also includes a display screen, which is connected to the control system and is used to display in real time the images and data information in the working space collected by the information acquisition component, as well as the working status parameters of the chassis and actuators, so that the operator can understand the working situation and perform operations.

[0030] In some embodiments, the control system is provided with a cabin clearing mode, a stacking mode and a loading mode. The operator can select the corresponding operation mode through the control device. The control system adjusts the working parameters of the chassis and the actuator according to the selected operation mode to achieve the corresponding operation.

[0031] In some embodiments, the remote control operation equipment is further equipped with a safety protection mechanism, which includes an emergency braking system and collision sensors arranged around the vehicle body. When the vehicle body collides with an obstacle or receives an emergency braking command, the emergency braking system can quickly stop the vehicle body; and / or

[0032] The vehicle body is also provided with a cleaning and maintenance device for maintaining and cleaning the actuator. The cleaning and maintenance device includes a cleaning nozzle and a lubricating mechanism. The cleaning nozzle and the lubricating mechanism are controlled by the control system to achieve cleaning and lubrication of the actuator before and after operation.

[0033] In some embodiments, the remote control operation equipment further includes a communication module connected to the control system, the communication module using 5G wireless communication for realizing remote real-time communication between the remote control operation room and the vehicle body; and / or

[0034] The remote control operation equipment also includes a signal repeater for being set outside the working space. The signal repeater is communicatively connected to the control system and the communication module and is used to amplify the signal to increase the signal strength.

[0035] In contrast to the above-mentioned background technology, the remote control operation equipment for port material handling provided in the embodiments of the present application includes a vehicle body with a chassis and a remote control operation room. The vehicle body is equipped with an information collection component for collecting information within the workspace and at least two actuators for performing material handling-related operations. The remote control operation room includes a control system and a control device. The control device is configured to receive control instructions from an operator. The control system is communicatively connected to the control device, the information collection component, the chassis, and the at least two actuators. The control system is configured to control the chassis and the at least two actuators based on the information collected by the information collection component and the control instructions received by the control device.

[0036] The beneficial effects of the remote control operation equipment thus provided mainly include:

[0037] First, through the physical separation design of the remote control operation room and the work vehicle body, the operator can complete the operation in a safe area. The operator does not need to enter a dangerous working environment (such as a high temperature, dusty and other harsh environments), which greatly reduces the risk of personal injury.

[0038] Secondly, compared with traditional multi-manual and time-consuming operations, the remote control operation room and work vehicle body support multi-shift continuous operation without the need for on-site personnel rotation. It is particularly suitable for 24-hour continuous production scenarios, with high operating efficiency and low construction costs.

[0039] Third, the vehicle body is equipped with at least two actuators (such as working arms, grabs, scrapers, etc.), and with a drivable chassis structure, it can simultaneously complete complex operations such as clearing materials, stacking, and loading. Compared with the traditional use of multiple engineering machinery equipment to complete the ship's hold cleaning, stacking, and loading operations at the shore cargo yard, it reduces the difficulty of operation for workers and the operation and maintenance costs of the equipment.

[0040] Fourthly, the information acquisition component builds a multi-dimensional perception system, which transmits the 3D environmental information in the working space to the control system in real time through communication technology. The control system dynamically compensates the operating instructions based on the information collected by the information acquisition component, allowing the operator to obtain decision-making information beyond the naked eye's observation, thereby automatically adjusting the chassis balance when moving on complex terrain, providing precise motion constraints when performing fine operations, and avoiding movement deviations caused by signal delays or human errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without any creative work.

[0042] Figure 1 This is a schematic diagram of the vehicle body structure of the remote control operation equipment in an embodiment of the present application.

[0043] Figure 2 for Figure 1 Top view of .

[0044] Figure 3 This is a control block diagram of the remote control operation equipment in an embodiment of the present application.

[0045] Figure 4 for Figure 1 Schematic diagram of the lifting.

[0046] Figure 5 for Figure 4 Schematic diagram from another angle.

[0047] Figure 6 This is a schematic diagram of the assembly of the rotating brush, auxiliary arm and working arm.

[0048] Figure 7 This is a schematic diagram of the engine sinking installation.

[0049] Figure 8 for Figure 1 Schematic diagram of the optional auger for the middle scraping device.

[0050] Figure 9 for Figure 8 Schematic diagram from another angle.

[0051] Figure 10 for Figure 1 Schematic diagram of the first conveyor equipped with an optional scraper chain.

[0052] Figure 11 This is a schematic diagram of the shovel disassembly and transportation.

[0053] in:

[0054] 10-car body, 11-dismounting assembly, 111-chassis, 112-dismounting connecting frame, 12-onboard assembly, 121-onboard platform;

[0055] 20-information collection component, 21-camera, 22-sensor, 23-radar;

[0056] 30-control system;

[0057] 40-Control device;

[0058] 50-hoisting assembly, 51-hanging bracket, 52-hanging beam, 53-guide funnel, 54-hanging plate, 55-locking pin;

[0059] 60- auxiliary cleaning component, 61- auxiliary arm, 62- rotating brush;

[0060] 70-power system, 71-engine, 711-shock absorber pad;

[0061] 80- conveying device, 81- first conveyor, 82- second conveyor;

[0062] 90-scraping device, 91-shovel plate, 92-auger;

[0063] 100-working arm;

[0064] 110- lamp assembly;

[0065] 120-Emergency stop button. DETAILED DESCRIPTION

[0066] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0067] In order to enable those skilled in the art to better understand the present application, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0068] See also Figure 1 、 Figure 2 and Figure 3 The remote control operation equipment for port material handling provided in the embodiment of the present application includes a vehicle body 10 with a chassis 111 and a remote control operation room.

[0069] The vehicle body 10 is provided with an information collection component 20 for collecting information in the working space and at least two execution mechanisms for executing operations related to material handling.

[0070] The remote control operation room includes a control system 30 and a control device 40. The control device 40 is used to receive the control instructions of the operator. The control system 30 is communicatively connected with the control device 40, the information collection component 20, the chassis 111 and at least two actuators. The control system 30 is used to control the operation of the chassis 111 and at least two actuators based on the information collected by the information collection component 20 and the control instructions received by the control device 40.

[0071] The chassis 111 is an all-terrain tracked chassis 111. The tracked chassis 111 is equipped with multiple drive wheels and supporting wheels, which can stably travel on the complex terrain of the port. Multiple ultrasonic sensors are also provided at the bottom of the chassis 111 for detecting ground obstacles and providing real-time feedback to the control system 30 to realize the automatic obstacle avoidance function.

[0072] The beneficial effects of the remote control operation equipment thus provided mainly include:

[0073] First, by physically separating the remote control operating room from the work vehicle body 10, the operator can complete the operation in a safe area. The operator does not need to enter a dangerous working environment (such as a high temperature, dusty and other harsh environments), which greatly reduces the risk of personal injury.

[0074] Secondly, compared with traditional multi-manual and time-consuming operations, the remote control operation room and the work vehicle 10 support multi-shift continuous operations without the need for on-site personnel rotation. It is particularly suitable for 24-hour continuous production scenarios, with high operating efficiency and low construction costs.

[0075] Third, the vehicle body 10 is equipped with at least two actuators (such as a working arm 100, a grab, a scraper, etc.), and combined with the movable chassis 111 structure, it can simultaneously complete complex operations such as clearing the material hold, stacking, and loading. Compared with the traditional use of multiple engineering machinery and equipment to complete the ship hold cleaning, stacking, and loading operations in the shore cargo yard, it reduces the difficulty of operation for workers and the operation and maintenance costs of the equipment.

[0076] Fourthly, the information acquisition component 20 builds a multi-dimensional perception system, which transmits the 3D environmental information in the working space to the control system 30 in real time through communication technology. The control system 30 dynamically compensates the operation instructions based on the information collected by the information acquisition component 20, so that the operator can obtain decision-making information beyond the naked eye's observation, thereby automatically adjusting the balance of the chassis 111 when moving on complex terrain, providing precise motion constraints when performing fine operations, and avoiding movement deviations caused by signal delays or human errors.

[0077] Existing equipment is hoisted into the cabin using multiple points of manual hooking and unhooking. This setting requires personnel to go down the cabin for manual operation, which is inefficient and has a high safety risk. Therefore, the remote control operation equipment of this application also includes a hoisting component 50, which adopts a single-point automatic hooking and unhooking.

[0078] Please also refer to Figure 4 and Figure 5The hoisting assembly 50 includes a hanger 51, a hanger beam 52, a guide funnel 53, a hanger plate 54, and a locking pin 55. The hanger 51 is provided with at least two sets of support legs (generally four support legs), which are detachably connected to the vehicle body 10. For example, each support leg can be connected to the vehicle body 10 by bolts, which makes it easy to disassemble the support legs during transportation and reassemble them at the work site. The hanger beam 52 is provided on the hanger 51 and is provided with a plug-in hole. The guide funnel 53 is provided on the side of the hanger beam 52 away from the hanger 51 and is provided with a guide groove. The hanger plate 54 is provided with a locking hole. The hanger plate 54 is used to be guided by the guide funnel 53 and then fall to a preset position so that the locking hole is aligned with the plug-in hole. After the locking hole and the plug-in hole are aligned, the locking pin 55 is used to be inserted into the locking hole and the plug-in hole to lock the hanger plate 54 to the hanger beam 52.

[0079] Not only that, the remote control operation equipment also includes a hydraulic drive component and a position detection component, wherein the hydraulic drive component can also be a hydraulic cylinder component, the hydraulic drive component is connected to the locking pin 55, and is communicated with the control system 30, and the hydraulic drive component is used to drive the locking pin 55 to insert into the lock hole and the plug hole under the control of the control system 30; the position detection component is arranged on the hanging beam 52 and is communicated with the control system 30, and the position detection component is used to feedback the position signal to the control system 30 when it detects that the hanging plate 54 has fallen into place.

[0080] Working process: The lifting belt is passed through the hanging plate 54 and hung on the hook. The hanging plate 54 is moved to face the guide funnel 53. The hanging plate 54 falls along the inner wall of the guide funnel 53 into place. The hydraulic cylinder is activated to lock the lock pin 55, and then the lifting is carried out. After the equipment is lowered into the cabin, the hydraulic cylinder lock pin 55 is activated to withdraw, and the hook is raised to lift the hanging plate 54 out of the guide funnel 53 to complete the lifting.

[0081] This arrangement allows the legs of the hanger 51 to be detachable and bolted to the vehicle body 10. This facilitates disassembly during transportation and allows for quick assembly upon arrival at the worksite, eliminating the need for complex operations or large equipment. This significantly reduces preparation time and labor costs, thereby improving work efficiency. Furthermore, the hydraulic drive assembly is connected to the locking pin 55 and communicates with the control system 30, automating the insertion of the locking pin 55 into the keyhole and the plug-in hole. Operators no longer need to manually insert the locking pin 55; the locking of the hanger plate 54 can be completed remotely through the control system 30, reducing manual intervention, lowering labor intensity, and improving the safety and accuracy of the operation. The hanging plate 54 is guided to the preset position by the guide funnel 53. The position detection component feeds back a position signal to the control system 30 when the hanging plate 54 falls into place, ensuring that the locking hole and the plug hole are accurately aligned, and the locking pin 55 is accurately inserted, so that the hanging plate 54 is firmly locked to the hanging beam 52. This precise positioning and locking method effectively avoids dangerous situations such as shaking or falling of the hanging plate 54 due to position deviation or unstable locking during the lifting process, thereby ensuring the safety of the operation.

[0082] In addition, the real-time monitoring function of the position detection component can promptly detect whether the hanging plate 54 is accurately positioned. If it is not positioned or positioned incorrectly, the control system 30 will promptly issue an alarm or take corresponding measures to remind the operator to make adjustments, prevent possible safety hazards in advance, and reduce the occurrence of accidents.

[0083] In some embodiments, the at least two actuators include a conveying device 80, a scraping device 90, and a working arm 100 that can be equipped with at least two working attachments. The working attachments include but are not limited to a grab bucket for clearing cargo hold, a bucket for stacking, and the like.

[0084] Among them, the conveying device 80 includes a first conveyor 81 and a second conveyor 82. The first conveyor 81 cooperates with the scraping device 90 to convey the material pushed in by the scraping device 90 along a first direction. The second conveyor 82 cooperates with the first conveyor 81 to convey the material conveyed by the first conveyor 81 along a second direction perpendicular to the first direction to the target position; the scraping device 90 is used to push the material in the working space into the conveying device 80; the working arm 100 equipped with at least two working accessories is used to cooperate with the scraping device 90 to scrape the material, and is also used to assist in stacking and loading the material.

[0085] Working process: The scraping device 90 (which can be a shovel board 91) is pushed down by the chassis 111 to shovel the material. The working arm 100 (such as an equipped bucket) assists in scraping the material to the front of the shovel board 91. The star wheel on the shovel board 91 rotates to push the material into the first conveyor 81. The first conveyor 81 then transfers the material to the second conveyor 82. The second conveyor 82 conveys the material to the area near the middle of the cabin for the shore crane to grab. Among them, the scraping device 90 can also be a bidirectional aggregate auger (such as Figure 8 and Figure 9 As shown); the first conveyor 81 can be a conveyor belt type or a scraper chain type (as shown); Figure 10 As shown); the second conveyor 82 is a three-section telescopic conveyor belt that can be extended, pitched, and rotated. If it is installed to be extended to the left, the travel path in the cabin is counterclockwise, otherwise the path is clockwise.

[0086] It should be noted that the scraping device 90 can be an auger 92 or a shovel plate 91 with a star wheel. Figure 8 and Figure 9 , auger 92 is suitable for powder, fine particles, small pieces of dry or semi-dry materials, with high working efficiency; please refer to Figure 11 The shovel board 91 with a star wheel is suitable for various materials, including large block materials, and its efficiency is slightly lower than that of the auger 92. The 3.4m wide shovel board 91 is connected to the vehicle body 10 with pins. During transportation, it is not connected to the vehicle body 10 and is turned 90 degrees and placed on a flatbed truck under the working arm 100 for transportation.

[0087] The adoption of the above-mentioned multi-directional collaborative conveying method can achieve efficient flow of materials between different operating areas. For example, in the port cargo loading and unloading scenario, the cargo can be picked up and transported from the side of the ship in the horizontal direction (first direction), and then transported to the yard or the vicinity of the transport vehicle in the longitudinal direction (second direction) through the second conveyor 82, which greatly shortens the material transfer time and improves the overall operation efficiency. The scraping device 90 pushes the material into the conveying device 80 and is closely connected with the conveying device 80. This ensures that the material can enter the conveying system continuously and reduces the waiting time in the intermediate links. Just like at the construction waste recycling site, the scraping device 90 quickly scrapes the waste into the conveyor, and the conveyor immediately starts conveying, making the entire operation process coherent and smooth, and improving the material processing volume per unit time. The working arm 100 can not only assist in material removal, but also assist in material stacking and loading. When stacking materials, the working arm 100 can flexibly adjust the stacking position and shape of the materials according to the site layout and stacking requirements; during loading operations, the materials can be accurately placed at the designated position of the vehicle, avoiding the tedious manual operation and possible errors, and improving the flexibility and adaptability of the operation.

[0088] In this way, the coordinated operation of the entire device realizes the automation of multiple links from material picking, transportation, stacking to loading. Compared with traditional manual picking, handling and stacking, it reduces the dependence on manpower.

[0089] In addition, the working arm 100 is connected to the working attachment via a quick-change device, and the quick-change device is controlled by the control system 30 to quickly switch the corresponding working attachment according to different working tasks.

[0090] The existing working device has a single tool and a low degree of automation, and the materials attached to the tank wall need to be removed manually. For this reason, the remote control operation equipment of the present application also includes an auxiliary material cleaning component 60.

[0091] Please also refer to Figure 6 The auxiliary cleaning assembly 60 includes a secondary arm 61, a first driving member, a rotating brush 62, and a second driving member. The secondary arm 61 is rotatably connected to the working arm 100 and is configured to rotate relative to the working arm 100 about an axis in a second direction. The first driving member is provided on the working arm 100 and connected to the secondary arm 61. The first driving member is configured to drive the secondary arm 61 to rotate relative to the working arm 100. The rotating brush 62 is rotatably connected to the secondary arm 61 and is configured to rotate relative to the secondary arm 61 about an axis in a first direction perpendicular to the second direction to clean materials adsorbed in the recesses of the tank wall. The second driving member is provided on the secondary arm 61 and connected to the rotating brush 62. The second driving member is configured to drive the rotating brush 62 to rotate relative to the secondary arm 61.

[0092] Of course, according to actual needs, both the first driving member and the second driving member can be cylinders, and the cylinders are hinged to the corresponding components.

[0093] With this arrangement, the material adsorbed in the groove wall depression that does not slide down automatically is stirred down by installing a 180-degree flippable auxiliary arm 61 on the boom and a rotating brush 62 (rotating steel brush) at the front end of the auxiliary arm 61.

[0094] Please also refer to Figure 7 The vehicle body 10 includes a dismounting assembly 11 and an onboard assembly 12. The dismounting assembly 11 includes a dismounting connecting frame 112. The onboard assembly 12 includes an onboard platform 121. The engine 71 is mounted on the dismounting connecting frame 112. The distance between the dismounting connecting frame 112 and the onboard platform 121 is greater than half the height of the engine 71.

[0095] In this way, the engine 71 of the power system 70 is installed downward: the engine 71 is installed on the lower connecting frame 112 instead of the traditional upper platform 121, which greatly reduces the height of the entire machine and ensures that the inclination angle of the first conveyor 81 is less than or equal to 20 degrees.

[0096] On the one hand, the significantly reduced height of the machine lowers its center of gravity. During operation, especially when handling large amounts of material or working on uneven surfaces, the low center of gravity enhances the machine's stability, reduces the risk of tipping due to an excessively high center of gravity, and ensures the safety of the machine and operator. Furthermore, the reduced height of the machine expands its capabilities for operation within confined spaces. For example, in warehouses or low-lying work areas, the machine can be more flexibly maneuvered and operated, improving its applicability and versatility. During transportation, the lower height reduces vehicle height restrictions, facilitating a wider range of transportation routes and vehicles, and reducing transportation costs and risks.

[0097] On the other hand, the inclination angle of the first conveyor 81 is ensured to be less than or equal to 20 degrees. This smaller inclination angle makes the material more stable when being transported, reduces the possibility of the material slipping or scattering during the transportation process, reduces the impact of the material on the equipment and the surrounding environment, and is also beneficial to the safety of the operators.

[0098] Furthermore, the engine 71 is mounted on the lower connecting frame 112, maintaining a certain distance from the upper platform 121. This makes it easier for operators to perform routine maintenance and inspections on the engine 71. This eliminates the need to operate from a high position, reducing maintenance difficulty and risk while improving efficiency. A shock-absorbing pad 711 can also be installed on the bottom of the engine 71.

[0099] In some embodiments, the information collection component 20 includes at least one camera 21, multiple sensors 22 and a radar 23. The camera 21, sensor 22 and radar 23 are respectively connected to the control system 30 through a high-speed communication interface, and are used to collect the material shape, size, position and surrounding environment information in the working space in real time, and transmit it to the control system 30.

[0100] The combination of the camera 21, sensor 22 and radar 23 can collect the shape, size, position and surrounding environment information of the materials in the working space in real time, and quickly transmit it to the control system 30. This enables the control system 30 to accurately grasp the specific conditions of the materials, thereby more accurately controlling the actuators to operate, reducing errors and repetitive work, and improving work efficiency.

[0101] In some embodiments, various high-reliability sensors 22 (such as pressure sensors and distance sensors) are deployed at key locations on the equipment, such as at the joints of the robotic arm, on the gripping device, and around the mobile chassis 111. Sensors 22 collect physical quantities such as pressure and distance, converting them into electrical signals and transmitting them to the signal processing module of the control system 30 via wired data transmission lines (such as shielded cables or industrial Ethernet cables). Radar 23 is installed at a suitable location on the equipment, capable of scanning and detecting the work area. Radar 23 transmits and receives radar waves using its own signal transmission and reception devices, and then transmits the received radar 23 echo signals to the radar data processing unit of the control system 30 via a dedicated high-speed data transmission interface (such as an optical fiber interface or a coaxial cable interface). A 3D camera 21 is installed at a suitable angle on the equipment to cover the work site. It transmits captured three-dimensional image data to the image processing module of the control system 30 via a high-speed video data transmission interface.

[0102] Correspondingly, the control system 30 internally includes a signal processing module, a radar data processing unit, an image processing module, and a data fusion and analysis module. The transmission lines of each sensor 22, radar 23, and 3D camera 21 are connected to their respective processing modules, and the processed data is then input into the data fusion and analysis module. The output of the control system 30 is connected to the communication module, which transmits generated information such as operating instructions.

[0103] Not only that, the remote control operation room also includes a display screen, which is connected to the control system 30 and is used to display in real time the images and data information in the working space collected by the information acquisition component 20, as well as the working status parameters of the chassis 111 and the actuator, so that the operator can intuitively understand the working situation and perform precise control.

[0104] It can be seen that the display screen intuitively presents the images and data information collected by the information collection component 20 to the operator, and the operator can perform precise operations based on this real-time information to avoid operational errors and inefficiency caused by inaccurate or untimely information.

[0105] In this way, operators can more intuitively understand the equipment's operating status and clearly understand the actual conditions at the work site (including material distribution and surrounding environmental conditions) based on the images and data collected by the information collection component 20 on the display screen, as well as the operating status parameters of the chassis 111 and the actuators. This allows them to rationally adjust operating strategies and efforts to avoid excessive wear and damage to the equipment. During remote control, they can better avoid obstacles and dangerous areas, reducing the risk of equipment collisions and casualties. At the same time, real-time information feedback allows operators to promptly identify abnormal conditions that may arise during operations, such as material collapse and equipment failure, so that they can take quick measures to reduce safety risks.

[0106] In addition, a lamp assembly 110 for displaying the current state of the actuator and an emergency stop button 120 for realizing an emergency stop of the vehicle body 10 with one click can also be set on one side of the display screen.

[0107] In some embodiments, the control system 30 is provided with a cabin clearing mode, a stacking mode and a loading mode. The operator can select the corresponding operation mode through the control device 40. The control system 30 adjusts the working parameters of the chassis 111 and the actuator according to the selected operation mode to achieve the corresponding operation.

[0108] In some embodiments, the remote control operation equipment is also equipped with a safety protection mechanism, which includes an emergency braking system and collision sensors arranged around the vehicle body 10. When the vehicle body 10 collides with an obstacle or receives an emergency braking command, the emergency braking system can quickly stop the vehicle body 10 from moving.

[0109] By placing collision sensors around vehicle 10 and connecting them to the emergency braking system, when vehicle 10 collides with an obstacle, the sensors can quickly detect it and immediately trigger the emergency braking system, bringing vehicle 10 to a rapid stop. This effectively avoids secondary collisions or more serious accidents, ensuring the safety of personnel and equipment. Furthermore, during remote control, if the operator detects a dangerous situation, they can promptly issue an emergency braking command, and the emergency braking system will quickly respond and stop vehicle 10. This is particularly important when vehicle 10 is in a blind spot or complex operating environment, further improving operational safety.

[0110] In addition, the vehicle body 10 is also provided with a cleaning and maintenance device for maintaining and cleaning the actuator. The cleaning and maintenance device includes a cleaning nozzle and a lubricating mechanism. The cleaning nozzle and the lubricating mechanism are controlled by the control system 30 to achieve cleaning and lubrication of the actuator before and after operation.

[0111] A cleaning and maintenance device equipped with a cleaning nozzle and lubrication mechanism automatically cleans and lubricates the actuator before and after operation, controlled by the control system 30. This helps to promptly remove impurities such as materials and dust from the actuator, reducing mechanical wear and seizures caused by these impurities, and lowering the probability of equipment failure. Furthermore, regular cleaning and lubrication maintains the actuator in good working condition, reducing equipment damage caused by excessive wear and corrosion, thereby extending the equipment's service life and reducing equipment replacement costs and downtime.

[0112] In some embodiments, the remote control operation equipment further includes a communication module that is communicatively connected to the control system 30 . The communication module uses 5G wireless communication to achieve remote real-time communication between the remote control operation room and the vehicle body 10 .

[0113] The communication module receives data, including operating instructions, from the control system 30. It then encrypts this data and transmits it to the equipment's receiving module via a wireless communication network (such as 4G or 5G networks) or a wired communication network (such as Industrial Ethernet). Simultaneously, the communication module transmits information, including execution status feedback from the equipment's receiving module, to the control system 30 for further analysis and adjustment. The equipment's receiving module receives encrypted operating instructions from the control system 30 via a communication link corresponding to the communication module. It then decrypts the instructions and converts them into control signals recognizable within the equipment. The equipment's receiving module distributes the decrypted control signals to the control units corresponding to the various actuators, such as the robotic arm control unit, mobile chassis control unit, and gripper control unit, based on their respective functions. After receiving the corresponding control signals, each control unit, based on its own pre-set control algorithms and logic, controls the corresponding motors, hydraulic devices, and other power components to drive the corresponding actuators. After receiving the drive signal from the control unit, each actuator (such as the joint motor of the robotic arm, the drive motor of the mobile chassis, the hydraulic cylinder or motor of the grasping device, etc.) performs actions (such as rotation, extension, grasping, releasing, etc.) in a set manner, thereby completing specific work tasks such as clearing the cabin, stacking, loading, etc.

[0114] The entire connection relationship forms a closed-loop information collection, processing, transmission, execution and feedback system to realize the semi-automatic operation of the port's multi-purpose intelligent equipment.

[0115] In order to further solve the problem of poor communication in the closed cabin, a signal repeater is installed at the hatch. The signal repeater is communicatively connected to the control system 30 and the communication module to amplify the signal to enhance the signal strength.

[0116] In addition, the control device 40 is an operating handle with a force feedback function. The operating handle provides force feedback information to the operator by simulating the resistance encountered by the actuator during the operation process, so that the operator can perceive the operation status more intuitively and perform precise control.

[0117] The equipment also includes an energy storage device arranged on the vehicle body 10, which is connected to the control system 30 and is used to recover and store energy during operation. When additional power is needed, the energy storage device can provide auxiliary power to the chassis 111 and the actuator, thereby improving energy utilization efficiency.

[0118] In summary, the multi-purpose remote control operation equipment for clearing, stacking, and loading described in this article addresses the above-mentioned issues. Through the wireless remote control operation solution, the working environment is made more comfortable, the labor intensity is reduced, and the operation is free of personnel safety risks. The structural combination of the dismounting assembly 11, the loading assembly 12, the power system 70, the control system 30, the working arm 100, the scraping device 90, the first conveyor 81, and the second conveyor 82 satisfies multiple working conditions and reduces customer costs. By sliding the hanging plate 54 into the trough funnel and inserting and locking the locking pin 55, single-point automatic lifting is achieved, eliminating the need for manual dismounting and removing, thus reducing safety risks. By adding a rotatable auxiliary arm 61 to the boom to remove materials attached to the tank wall, manual dismounting and cleaning are eliminated, thereby improving efficiency and reducing safety risks. In addition, the shovel plate 91 and the hanger 51 adopt a detachable structure, and the engine 71 adopts a sinking installation structure to meet the requirements of road transportation regulations.

[0119] It should be noted that, in this specification, relational terms such as first and second are merely used to distinguish one entity from other entities, but do not necessarily require or imply any actual relationship or order between these entities.

[0120] The above is a detailed introduction to the remote control operation equipment for port material handling provided by this application. Specific examples are used herein to illustrate the principles and implementation methods of this application. The description of the above embodiments is only intended to help understand the solution and core ideas of this application. It should be noted that for ordinary technicians in this technical field, without departing from the principles of this application, several improvements and modifications can be made to this application, and these improvements and modifications also fall within the scope of protection of this application.

Claims

1. A remote control operation equipment for port material handling, characterized in that: include: A vehicle body with a chassis, the vehicle body being provided with an information collection component for collecting information within the working space and at least two actuators for performing operations related to material handling; The remote control operation room includes a control system and a control device. The control device is used to receive the control instructions of the operator. The control system is communicatively connected with the control device, the information collection component, the chassis and at least two of the actuators. The control system is used to control the operation of the chassis and at least two of the actuators based on the information collected by the information collection component and the control instructions received by the control device.

2. The remote control operation equipment for port material handling according to claim 1, characterized in that: The remote control operation equipment further includes a hoisting assembly, which includes: a hanger having at least two sets of support legs, wherein the at least two sets of support legs are detachably connected to the vehicle body; A hanging beam is provided on the hanger, and a plug hole is provided on the hanging beam; A guide funnel is provided on a side of the hanging beam away from the hanger, and the guide funnel is provided with a guide groove; A hanging plate is provided with a locking hole, and is used to fall to a preset position after being guided by the guide funnel so that the locking hole is aligned with the plug hole; A locking pin is used to be inserted into the locking hole and the plug hole so as to lock the hanging plate to the hanging beam.

3. The remote control operation equipment for port material handling according to claim 2, characterized in that: The remote control operation equipment also includes: a hydraulic drive assembly connected to the lock pin and in communication with the control system, for driving the lock pin to insert into the lock hole and the plug hole under the control of the control system; A position detection component is provided on the hanging beam and is in communication with the control system, and is used to feed back a position signal to the control system when it is detected that the hanging plate has fallen into position.

4. The remote control operation equipment for port material handling according to claim 1, characterized in that: The at least two actuators include: The conveying device includes a first conveyor and a second conveyor, wherein the first conveyor is used to convey materials along a first direction, and the second conveyor cooperates with the first conveyor to convey the materials conveyed by the first conveyor along a second direction perpendicular to the first direction to a target location; A scraping device, used to push the material in the working space into the conveying device; The working arm can be equipped with at least two working attachments, and is used to cooperate with the scraping device to scrape materials, and is also used to assist in stacking and loading materials. The working arm is connected to the working attachments through a quick-change device, and the quick-change device is controlled by the control system to quickly switch the corresponding working attachments according to different work tasks.

5. The remote control operation equipment for port material handling according to claim 4, characterized in that: The remote control operation equipment further includes an auxiliary material cleaning component, which includes: a secondary arm rotatably connected to the working arm and configured to rotate relative to the working arm about an axis in a second direction; a first driving member, provided on the working arm and connected to the auxiliary arm, for driving the auxiliary arm to rotate relative to the working arm; a rotating brush rotatably connected to the auxiliary arm and configured to rotate relative to the auxiliary arm about an axis in a first direction perpendicular to the second direction to clean materials adsorbed in the recesses of the trough wall; The second driving member is provided on the auxiliary arm and connected to the rotating brush, and is used for driving the rotating brush to rotate relative to the auxiliary arm.

6. The remote control operation equipment for port material handling according to claim 1, characterized in that: The vehicle body includes an undercarriage assembly and an oncarriage assembly, the undercarriage assembly includes an undercarriage connecting frame, the oncarriage assembly includes an oncarriage platform, an engine is mounted on the undercarriage connecting frame, and a distance between the undercarriage connecting frame and the oncarriage platform is greater than half the height of the engine.

7. The remote control operation equipment for port material handling according to claim 1, characterized in that: The information collection component includes a camera, a sensor, and a radar, each of which is connected to the control system via a high-speed communication interface, and is used to collect the shape, size, position, and surrounding environment information of the material in the working space in real time, and transmit the information to the control system; and / or The remote control operation room also includes a display screen, which is connected to the control system and is used to display in real time the images and data information in the working space collected by the information collection component, as well as the working status parameters of the chassis and the actuator, so that the operator can understand the working situation and perform operations.

8. The remote control operation equipment for port material handling according to claim 1, characterized in that: The control system is provided with a cabin clearing mode, a stacking mode and a loading mode. The operator can select the corresponding operation mode through the control device. The control system adjusts the working parameters of the chassis and the actuator according to the selected operation mode to realize the corresponding operation.

9. The remote control operation equipment for port material handling according to claim 1, characterized in that: The remote control operation equipment is further equipped with a safety protection mechanism, which includes an emergency braking system and collision sensors arranged around the vehicle body. When the vehicle body collides with an obstacle or receives an emergency braking command, the emergency braking system can quickly stop the movement of the vehicle body; and / or The vehicle body is also provided with a cleaning and maintenance device for maintaining and cleaning the actuator. The cleaning and maintenance device includes a cleaning nozzle and a lubricating mechanism. The cleaning nozzle and the lubricating mechanism are controlled by the control system to achieve cleaning and lubrication of the actuator before and after operation.

10. The remote control operation equipment for port material handling according to claim 1, characterized in that: The remote control operation equipment further includes a communication module connected to the control system, wherein the communication module adopts 5G wireless communication to realize remote real-time communication between the remote control operation room and the vehicle body; and / or The remote control operation equipment also includes a signal repeater for being arranged outside the operation space. The signal repeater is communicatively connected with the control system and the communication module and is used to amplify the signal to increase the signal strength.

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