Remote monitoring control device and remote monitoring control method for stacker

Abstract

The invention provides a remote monitoring control device and a remote monitoring control method for a stacking machine, and belongs to the technical field of stacking machine remote control devices. The touch screen operation panel is used for inputting a control instruction issued to the stacking machine; the wireless communication module is used for transmitting the control instruction to a PLC (Programmable Logic Controller) of the stacking machine; the 360-degree high-definition camera assembly is used for collecting and processing the working video of the stacking machine in real time; the control mode switching module is connected with the central processing unit and used for switching four control modes including a manual state, a maintenance state, a single-machine automatic state and an online automatic state; the alarm processing module is integrated on the touch screen operation panel, connected with the central processing unit and used for displaying alarm information on the touch screen operation panel; the touch screen operation panel is further used for displaying the working video of the stacking machine in real time, the video monitoring function is automatically started in the manual state or the maintenance state, and remote safety control is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of remote control devices for stackers, and in particular relates to a remote monitoring and control device and a remote monitoring and control method for stackers. Background Art

[0002] At present, the human plasma produced is stored in pallets, which are stored in a cold storage at -20 degrees Celsius in stacks. The frequency of pallets entering and leaving the warehouse is usually about 200 pallets per day. The stacker is the most important pallet conveying equipment in the high-bay warehouse.

[0003] However, current stacker crane operations rely on a cockpit human-machine interface (HMI), requiring climbing to a height of 2 meters, posing a risk of falling and reducing operational efficiency in low-temperature environments. Furthermore, traditional alarm processing requires on-site troubleshooting, resulting in long fault response times (average >30 minutes), making problem resolution time-consuming and labor-intensive. Furthermore, stacker cranes lack real-time video monitoring capabilities, and their fork positioning accuracy relies on mechanical limiters, making them unable to meet the precise storage and retrieval requirements for high-value items.

[0004] To this end, the present invention provides a remote monitoring and control device and a remote monitoring and control method for a stacker. Summary of the Invention

[0005] The present invention provides a remote monitoring control device and a remote monitoring control method for a stacker, so as to at least solve the problem in the prior art of the risk of falling when climbing onto a stacker operating platform at a high place.

[0006] In a first aspect, an embodiment of the present application provides a remote monitoring and control device comprising: Positioning sensor, used to obtain the position of the stacker; A central processing unit, connected to a positioning sensor, for obtaining the position of the stacker; Touch screen operation panel, used to input control instructions to the stacker; The wireless communication module is integrated into the upper part of the touch screen operation panel and is wirelessly connected to the central processing unit and the PLC controller of the stacker crane, respectively, for transmitting control instructions to the PLC controller of the stacker crane; A 360-degree high-definition camera assembly is used to collect and process real-time video of the stacker crane, and is wirelessly connected to the central processing unit via a wireless communication module; The control mode switching module is integrated into the touch screen operation panel and connected to the central processing unit to realize the switching of four control modes: manual state, maintenance state, stand-alone automatic state and online automatic state; The alarm processing module is integrated into the touch screen operation panel and connected to the central processing unit to display the alarm information on the touch screen operation panel; The touch screen operation panel is also used to display the working video of the stacker in real time, and automatically enable the video monitoring function in manual or maintenance status to achieve remote safety control.

[0007] Furthermore, the touch screen operation panel is a SIMATIC Mobile Panel 277 wireless operation panel with an IP65 protection level and a TFT liquid crystal touch screen with a resolution of 640×480.

[0008] Furthermore, the wireless communication module includes a wireless network card and a wireless Bluetooth module, which is wirelessly connected to the PLC controller of the stacker through a 5G network or WiFi communication.

[0009] Furthermore, the 360-degree high-definition camera assembly includes: 360-degree high-definition camera, which uses a TP-LINK TL-IPC633-A6 camera capable of 360° rotation. Its anti-fog and low-temperature design allows it to operate at an illumination of 3000-5000 lux in a cold storage environment. Video processor, used to process the working video captured by the 360-degree high-definition camera; The monitoring data analysis module is connected to the video processor and is used to analyze the processed working video to determine whether the stacker crane action is executed in place. If the stacker crane action is not executed in place, an alarm signal is sent to the central processor and the working video of the stacker crane action not being executed in place is uploaded.

[0010] Furthermore, the control mode switching module further includes: manual state, maintenance state, stand-alone automatic state and online automatic state; In manual mode, input the target column coordinates to control the stacker to automatically align.

[0011] Furthermore, in manual mode, inputting the target column coordinates controls the automatic alignment of the stacker crane, specifically including: The operator enters the target column coordinate value in the manual state interface of the touch screen operation panel; Click the start button on the touch screen to generate control instructions; The central processor obtains the current position of the stacker in real time through the positioning sensor; Calculate the difference between the current column coordinates and the target column coordinates to generate a position deviation signal; The central processing unit sends position calibration instructions to the PLC controller of the stacker through the wireless communication module; The PLC controller drives the stacker crane's travel motor according to the position deviation value and moves it to the target row along the aisle direction; The fork position is monitored in real time by a 360° camera assembly, and the actual coordinates of the fork are analyzed by a video processor; When the error between the actual coordinates of the fork and the target column coordinates is less than the preset threshold, the PLC controller determines that the alignment is complete and the movement stops; If the positioning deviation is greater than the preset threshold, the monitoring data analysis module will send an alarm signal to the central processor and upload a work video showing that the stacker crane action is not performed properly.

[0012] In a second aspect, embodiments of the present application further provide a remote monitoring and control method applied to the remote monitoring and control device for a stacker crane as described in the above aspects, the method comprising: Click the manual state on the touch screen operation panel, enter the target column in the manual state, select the start button, and the stacker will automatically align at the target column. In the manual state, the wireless communication module sends instructions to the PLC controller, and the PLC controller receives the instructions and sends forward, backward, up, down, fork extension, and fork retraction instructions to the stacker.

[0013] Furthermore, in manual mode, the wireless communication module sends instructions to the PLC controller, which receives the instructions and sends forward, backward, ascend, descend, extend, and retract forks to the stacker, specifically including: When issuing a forward instruction, the current column coordinates and target column coordinates of the goods are input respectively, and the central processing unit issues a forward instruction to the PLC controller through the current column coordinates, target column coordinates and the current position of the stacker; the PLC controller calculates the target distance by calculating the initial position and the target position according to the forward instruction issued by the central processing unit, and controls the stacker to move forward.

[0014] Furthermore, in manual mode, the wireless communication module sends an instruction to the PLC controller, and the PLC controller receives the instruction and sends a backward instruction to the stacker, specifically including: When issuing a backward instruction, the current column coordinates and target column coordinates of the goods are input respectively, and the central processing unit issues a forward instruction to the PLC controller through the current column coordinates, target column coordinates and the current position of the stacker; the PLC controller calculates the target distance by calculating the initial position and the target position according to the backward instruction issued by the central processing unit, and controls the stacker to retreat.

[0015] Furthermore, the method further comprises: an operator inputting current column coordinates and target column coordinate values ​​in a manual state interface of a touch screen operation panel; Click the start button on the touch screen to generate control instructions; The central processor obtains the current position of the stacker in real time through the positioning sensor; Calculate the difference between the current column coordinates and the target column coordinates to generate a position deviation signal; The central processing unit sends position calibration instructions to the PLC controller of the stacker through the wireless communication module; The PLC controller drives the stacker crane's travel motor according to the position deviation value and moves it to the target row along the aisle direction; The fork position is monitored in real time by a 360° camera assembly, and the actual coordinates of the fork are analyzed by a video processor; When the error between the actual coordinates of the fork and the target column coordinates is less than the preset threshold, the PLC controller determines that the alignment is complete and the movement stops; If the positioning deviation is greater than the preset threshold, the monitoring data analysis module will send an alarm signal to the central processor and upload a work video showing that the stacker crane action is not performed properly.

[0016] It can be seen from the above technical solutions that the present invention has the following advantages: In the remote monitoring and control device for a stacker provided in the present application, the stacker can be remotely operated in a safe area through a touch screen operation panel, and instructions are given to the stacker through a wireless communication module. The forward, backward, upward, downward, fork-out, and fork-retracting movements of the stacker can be adjusted without the need to climb onto a high stacker operating platform.

[0017] The touch screen operation panel can monitor whether the stacker crane's action is in place. When the stacker crane's action is not in place, an alarm signal will be sent to the central processor, and a working video of the stacker crane's incomplete action will be uploaded. When the alarm signal is on, the cause of the alarm can be found and handled by viewing the working video on the touch screen operation panel. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for the description. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0019] Figure 1 The figure is a principle block diagram of the remote monitoring and control device for stacking cranes according to the present invention. DETAILED DESCRIPTION

[0020] In order to make the application objectives, features, and advantages of this application more obvious and easy to understand, the technical solutions protected by this application will be clearly and completely described below using specific embodiments and drawings. Obviously, the embodiments described below are only part of the embodiments of this application, not all of them. Based on the embodiments in this patent, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this patent.

[0021] The embodiments of the present application provide a remote monitoring and control device for a stacker, which solves the current technical problem of urgently needing a remote monitoring and control device for the operation of a stacker.

[0022] The technical solutions proposed in the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0023] Figure 1 This is a block diagram of the principle of a remote monitoring and control device for a stacker provided in an embodiment of the present application. Figure 1 As shown, an embodiment of the present application provides a remote monitoring and control device for a stacker, the remote monitoring and control device comprising: Positioning sensor, installed on the stacker fork connecting rod, used to obtain the position of the stacker; A central processing unit, connected to a positioning sensor, for obtaining the position of the stacker; The touch screen operation panel is used to input control instructions issued to the stacker; the touch screen operation panel is in the shape of a rectangular parallelepiped, with dimensions of 40 cm long, 30 cm wide and 2 cm high, and a USB charging port is provided at the bottom of the touch screen operation panel.

[0024] The wireless communication module is integrated into the upper part of the touch screen operation panel and is wirelessly connected to the central processing unit and the PLC controller of the stacker crane, respectively, for transmitting control instructions to the PLC controller of the stacker crane; The 360-degree high-definition camera assembly is installed on the stacker crane's fork connecting rod. It is used to collect and process the stacker crane's working video in real time and is wirelessly connected to the central processing unit through a wireless communication module. The 360-degree high-definition camera assembly can capture the entire process of the stacker crane placing and picking up goods.

[0025] The control mode switching module is integrated into the touch screen operation panel and connected to the central processing unit to realize the switching of four control modes: manual state, maintenance state, stand-alone automatic state and online automatic state; The alarm processing module is integrated into the touch screen operation panel and connected to the central processing unit to display the alarm information on the touch screen operation panel; The touch screen operation panel is also used to display the working video of the stacker in real time, and automatically enable the video monitoring function in manual or maintenance status to achieve remote safety control.

[0026] The operator enters control commands on the touchscreen operation panel. The central processor interprets the commands and transmits them to the stacker crane's PLC controller via a wireless communication module (5G / WiFi). The PLC controller then drives the stacker crane to perform actions (forward / lift / fork operation). A 360-degree HD camera captures the operation in real time. After compression processing by the video processor, the video is wirelessly transmitted back to the monitoring data analysis module for comparison of the action execution results. If the fork positioning deviation is >±2cm, an alarm will be triggered and the problem video clip will be uploaded.

[0027] Specifically, it includes: real-time monitoring of the fork position through a 360° camera assembly and analysis of the fork's actual coordinates through a video processor; When the error between the actual coordinates of the fork and the target column coordinates is less than the preset threshold, the PLC controller determines that the alignment is complete and the movement stops; If the positioning deviation is greater than the preset threshold, the monitoring data analysis module will send an alarm signal to the central processor and upload a working video of the stacker crane's incomplete action (positioning deviation is greater than the preset threshold).

[0028] The control mode switching module switches the working state (manual / maintenance / automatic / online) according to task requirements. The alarm processing module displays fault codes and real-time video on the touch screen to guide manual intervention.

[0029] This system completely eliminates the risk of falling from height, allowing operators to complete all operations from a safe ground level, eliminating the need to climb a 2-meter-high operating platform. An IP65-rated touchscreen and fog-proof camera (operating at -20°C) ensure reliable cold storage operation. Video-assisted diagnosis reduces average troubleshooting time from >30 minutes to <8 minutes. A visual feedback system reduces fork positioning error from ±5 cm to ±1.5 cm (suitable for high-value items such as plasma).

[0030] In an exemplary embodiment, the touch screen operation panel is a SIMATIC Mobile Panel 277 wireless operation panel, which has an aluminum alloy housing, an IP65 protection grade, and a TFT liquid crystal touch screen with a resolution of 640×480.

[0031] The present invention uses the SIMATIC MobilePanel 277 industrial-grade touch screen, a 640×480 resolution TFT LCD screen to display in real time the three-dimensional coordinates of the stacker aisle position, the fork height layer mapping value (100-1000 corresponds to 1-10 layers), and a 360° panoramic monitoring screen (maintenance mode automatically zooms in on key areas).

[0032] The IP65 protection grade resists condensation and dust corrosion in cold storage, and the physical button layout complies with the IEC 61310 standard, allowing precise operation even with gloves. The compact design of 40×30×2cm replaces the traditional cockpit console, reducing space usage by 60%.

[0033] The wireless communication module includes a wireless network card and a wireless Bluetooth module, which connects wirelessly to the stacker crane's PLC controller via a 5G network or WiFi. A multi-protocol conversion gateway supports parallel Profinet / Modbus TCP communication, with a communication delay of less than 50ms.

[0034] It should be further explained that the 360-degree high-definition camera assembly includes: The 360-degree HD camera uses a TP-LINK TL-IPC633-A6 camera that can rotate 360 ​​degrees. With its anti-fog and low-temperature design, the working illumination in a cold storage environment is 3000 lux to 5000 lux. The configuration parameters of the 360-degree HD camera are as follows: resolution of 2560×1440@30fps; low-light performance of 0.001 Lux (F1.6); and pan / tilt rotation speed of 360° / 3s.

[0035] Video processor, used to process the working video captured by the 360-degree high-definition camera; The monitoring data analysis module is connected to the video processor and is used to analyze the processed work video to determine whether the stacker action is executed in place, and when the stacker action is not executed in place, it sends an alarm signal to the central processing unit and uploads the work video of the stacker action not being executed in place; when the central processing unit receives the alarm signal and the work video of the stacker action not being executed in place, it controls the alarm processing module to alarm and controls the touch screen operation panel to display the work video of the stacker action not being executed in place for the staff to view.

[0036] The touch screen operation panel can be used to monitor whether the stacker's action is in place. When the stacker's action is not in place, an alarm signal will be sent to the central processor, and a working video of the stacker's incomplete action will be uploaded. When the alarm signal is on, the cause of the alarm can be found and processed by viewing the working video on the touch screen operation panel. After the processing is completed, the alarm signal light will be eliminated.

[0037] Furthermore, as a refinement and expansion of the specific implementation of the above embodiment, in order to fully illustrate the specific implementation process of this embodiment, another remote monitoring and control device for a stacker is provided, the remote monitoring and control device comprising: CPU; Touch screen operation panel, used to input control instructions to the stacker; The wireless communication module is integrated into the upper part of the touch screen operation panel and is wirelessly connected to the central processing unit and the PLC controller of the stacker crane, respectively, for transmitting control instructions to the PLC controller of the stacker crane; A 360-degree high-definition camera assembly is used to collect and process real-time video of the stacker crane, and is wirelessly connected to the central processing unit via a wireless communication module; The control mode switching module is integrated into the touch screen operation panel and connected to the central processing unit to realize the switching of four control modes: manual state, maintenance state, stand-alone automatic state and online automatic state; The alarm processing module is integrated into the touch screen operation panel and connected to the central processing unit to display the alarm information on the touch screen operation panel; The touch screen operation panel is also used to display the working video of the stacker in real time, and automatically enable the video monitoring function in manual or maintenance status to achieve remote safety control.

[0038] The touch screen operation panel is a SIMATIC Mobile Panel 277 wireless operation panel with an IP65 protection level and a TFT liquid crystal touch screen with a resolution of 640×480.

[0039] The wireless communication module includes a wireless network card and a wireless Bluetooth module, and is wirelessly connected to the PLC controller of the stacker via a 5G network or WiFi communication.

[0040] The 360-degree high-definition camera assembly includes: 360-degree high-definition camera, which uses a TP-LINK TL-IPC633-A6 camera capable of 360° rotation. Its anti-fog and low-temperature design allows it to operate at an illumination of 3000-5000 lux in a cold storage environment. Video processor, used to process the working video captured by the 360-degree high-definition camera; The monitoring data analysis module is connected to the video processor and is used to analyze the processed working video to determine whether the stacker crane action is executed in place. If the stacker crane action is not executed in place, an alarm signal is sent to the central processor and the working video of the stacker crane action not being executed in place is uploaded.

[0041] The control mode switching module also includes: manual state, maintenance state, stand-alone automatic state and online automatic state; In manual mode, input the target column coordinates to control the stacker to automatically align; In the maintenance state, the stacker crane's PLC controller is controlled by selecting the low / medium speed forward or reverse button on the touch screen to control the stacker crane's movement; In the stand-alone automatic state, it controls the stacker crane's forward, backward, fork extension, fork retraction, and alarm processing; In the online automatic state, the task is automatically restored after the alarm is manually processed.

[0042] The following is an embodiment of a remote monitoring and control method for a remote monitoring and control device for a stacker provided by an embodiment of the present disclosure, the method comprising: Click the manual state on the touch screen operation panel, enter the target column in the manual state, where 21≥target column≥0, select the start button, and the stacker will automatically align at the target column. In the manual state, the wireless communication module sends instructions to the PLC controller, and the PLC controller receives the instructions and sends forward, backward, up, down, fork extension, and fork retraction instructions to the stacker.

[0043] In manual mode, the wireless communication module sends instructions to the PLC controller, which then sends forward instructions to the stacker. Specifically, the following steps are performed: When issuing a forward instruction, the current column coordinates and target column coordinates of the goods are input respectively, and the central processing unit issues a forward instruction to the PLC controller through the current column coordinates, target column coordinates and the current position of the stacker; the PLC controller calculates the target distance by calculating the initial position and the target position according to the forward instruction issued by the central processing unit, and controls the stacker to move forward.

[0044] For example: the initial position is the current 100, and the target position is another cargo position 200 in front. The stacker crane will move to the cargo position 200 after receiving the instruction.

[0045] In manual mode, the wireless communication module sends instructions to the PLC controller, which then sends a backward instruction to the stacker. Specifically, the following steps are performed: When issuing a backward instruction, the current column coordinates and target column coordinates of the goods are input respectively, and the central processing unit issues a forward instruction to the PLC controller through the current column coordinates, target column coordinates and the current position of the stacker; the PLC controller calculates the target distance by calculating the initial position and the target position according to the backward instruction issued by the central processing unit, and controls the stacker to retreat.

[0046] For example: the initial position is the current 200, and the target position is another cargo position in front, 100. The stacker crane will move to the cargo position 100 after receiving the instruction.

[0047] When moving to the corresponding cargo location, manually extend the fork. The initial position of the fork is 100, and the initial position after the fork is extended is 200. The initial position when the fork is retracted is 200, and the position returns to 100 after the fork is retracted.

[0048] When the ascending command is issued, the initial position of the goods on the conveyor is 100. The value remains unchanged when it ascends one level. When it ascends two levels, the value increases to 200, and so on, until it ascends to the 10th level, the value is 1000. When the descending command is issued, the initial position of the cargo is 1000 when it is on the 10th floor, the value is 900 when it descends one floor, and the value is 100 when it descends to the 1st floor.

[0049] The method further comprises: The operator enters the current column coordinates and target column coordinate values ​​in the manual state interface of the touch screen operation panel; Click the start button on the touch screen to generate control instructions; The central processor obtains the current position of the stacker in real time through the positioning sensor; Calculate the difference between the current column coordinates and the target column coordinates to generate a position deviation signal; The central processing unit sends position calibration instructions to the PLC controller of the stacker through the wireless communication module; The PLC controller drives the stacker crane's travel motor according to the position deviation value and moves it to the target row along the aisle direction; The fork position is monitored in real time by a 360° camera assembly, and the actual coordinates of the fork are analyzed by a video processor; When the error between the actual coordinates of the fork and the target column coordinates is less than the preset threshold, the PLC controller determines that the alignment is complete and the movement stops; If the positioning deviation is greater than the preset threshold, the monitoring data analysis module will send an alarm signal to the central processor and upload a work video showing that the stacker crane action is not performed properly.

[0050] In one embodiment, another remote monitoring and control method provided by an embodiment of the present invention includes: clicking on the maintenance state on the touch screen operation panel; in the maintenance state, selecting the low speed forward, medium speed forward, low speed reverse, and medium speed reverse buttons on the touch screen operation panel; the stacker crane performs corresponding actions in the lane direction according to the low speed forward, medium speed forward, low speed reverse, and medium speed reverse instructions issued by the central processor; and stops operation by releasing the button; Click on the stand-alone automatic state on the touch screen operation panel, and the stacker can move forward, backward, extend the fork, retract the fork, and process alarms in the stand-alone automatic state; After the manual processing is completed, click on the online automatic state on the touch screen operation panel, and the stacker will continue to complete the current task; In the online automatic state, the stacker crane is connected to the warehousing system. According to the instructions issued by the warehousing system, it first obtains the initial position and target position of the goods; obtains the current position of the stacker crane; and accordingly delivers the goods from the starting position 0 row 0 column 0 layer on the conveyor to the target position 10 row 10 column 10 layer.

[0051] Working process (taking typical fault handling as an example): Alarm trigger: Fork positioning deviation reaches 3cm → the touch screen pops up an alarm window (including fault video clip); Mode switching: automatically jumps to the maintenance state, and the camera focuses on the fork mechanism; Remote diagnosis: Confirm that the guide wheel is stuck by video playback → click the "Slow Speed ​​Reverse" button (0.2m / s); Troubleshooting: Operate the fork to reciprocate 3 times to remove the jam (positioning curve is displayed in real time); Resume operation: Click "Online Automatic" → the stacker continues to perform the unfinished task.

[0052] Through the triple technical closed loop of wireless control + video feedback + intelligent mode switching, this invention achieves a leapfrog upgrade from blind operation to visual and precise control of stacker crane operations, providing reliable technical support for high-risk and high-value scenarios such as biological preparations and cold chain warehousing.

[0053] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

[0054] These changes, modifications, substitutions and variations to the embodiments without departing from the principles and spirit of the present invention are still within the scope of protection of the present invention.

Claims

1. A remote monitoring and control device for a stacker, characterized in that: The remote monitoring control device includes: Positioning sensor, used to obtain the position of the stacker; A central processing unit, connected to a positioning sensor, for obtaining the position of the stacker; Touch screen operation panel, used to input control instructions to the stacker; The wireless communication module is integrated into the upper part of the touch screen operation panel and is wirelessly connected to the central processing unit and the PLC controller of the stacker crane, respectively, for transmitting control instructions to the PLC controller of the stacker crane; A 360-degree high-definition camera assembly is used to collect and process real-time video of the stacker crane, and is wirelessly connected to the central processing unit via a wireless communication module; The control mode switching module is integrated into the touch screen operation panel and connected to the central processing unit to realize the switching of four control modes: manual state, maintenance state, stand-alone automatic state and online automatic state; The alarm processing module is integrated into the touch screen operation panel and connected to the central processing unit to display the alarm information on the touch screen operation panel; The touch screen operation panel is also used to display the working video of the stacker in real time, and automatically enable the video monitoring function in manual or maintenance status to achieve remote safety control.

2. The remote monitoring and control device for a stacker according to claim 1, wherein: The touch screen operation panel is a SIMATIC Mobile Panel 277 wireless operation panel with an IP65 protection level and a TFT liquid crystal touch screen with a resolution of 640×480.

3. The remote monitoring and control device for a stacker according to claim 2, characterized in that: The wireless communication module includes a wireless network card and a wireless Bluetooth module, and is wirelessly connected to the PLC controller of the stacker via a 5G network or WiFi communication.

4. The remote monitoring and control device for a stacker according to claim 3, wherein: The 360-degree high-definition camera assembly includes: 360-degree high-definition camera, which uses a TP-LINK TL-IPC633-A6 camera capable of 360° rotation. Its anti-fog and low-temperature design allows it to operate at an illumination of 3000-5000 lux in a cold storage environment. Video processor, used to process the working video captured by the 360-degree high-definition camera; The monitoring data analysis module is connected to the video processor and is used to analyze the processed working video to determine whether the stacker crane action is executed in place. If the stacker crane action is not executed in place, an alarm signal is sent to the central processor and the working video of the stacker crane action not being executed in place is uploaded.

5. The remote monitoring and control device for a stacker according to claim 4, characterized in that: The control mode switching module also includes: manual state, maintenance state, stand-alone automatic state and online automatic state; In manual mode, input the target column coordinates to control the stacker to automatically align.

6. The remote monitoring and control device for a stacker according to claim 5, characterized in that: In manual mode, input the target column coordinates to control the automatic alignment of the stacker crane, including: The operator enters the target column coordinate value in the manual state interface of the touch screen operation panel; Click the start button on the touch screen to generate control instructions; The central processor obtains the current position of the stacker in real time through the positioning sensor; Calculate the difference between the current column coordinates and the target column coordinates to generate a position deviation signal; The central processing unit sends position calibration instructions to the PLC controller of the stacker through the wireless communication module; The PLC controller drives the stacker crane's travel motor according to the position deviation value and moves it to the target row along the aisle direction; The fork position is monitored in real time by a 360° camera assembly, and the actual coordinates of the fork are analyzed by a video processor; When the error between the actual coordinates of the fork and the target column coordinates is less than the preset threshold, the PLC controller determines that the alignment is complete and the movement stops; If the positioning deviation is greater than the preset threshold, the monitoring data analysis module will send an alarm signal to the central processor and upload a work video showing that the stacker crane action is not performed properly.

7. A remote monitoring and control method applied to the remote monitoring and control device for a stacker according to any one of claims 1 to 6, characterized in that: The method comprises: Click the manual state on the touch screen operation panel, enter the target column in the manual state, select the start button, and the stacker will automatically align at the target column. In the manual state, the wireless communication module sends instructions to the PLC controller, and the PLC controller receives the instructions and sends forward, backward, up, down, fork extension, and fork retraction instructions to the stacker.

8. The remote monitoring and control method according to claim 7, wherein: In manual mode, the wireless communication module sends instructions to the PLC controller, which then sends forward instructions to the stacker. Specifically, the following steps are performed: When issuing a forward instruction, the current column coordinates and target column coordinates of the goods are input respectively, and the central processing unit issues a forward instruction to the PLC controller through the current column coordinates, target column coordinates and the current position of the stacker; the PLC controller calculates the target distance by calculating the initial position and the target position according to the forward instruction issued by the central processing unit, and controls the stacker to move forward.

9. The remote monitoring and control method according to claim 8, wherein: In manual mode, the wireless communication module sends instructions to the PLC controller, which then sends a backward instruction to the stacker. Specifically, the following steps are performed: When issuing a backward instruction, the current column coordinates and target column coordinates of the goods are input respectively, and the central processing unit issues a forward instruction to the PLC controller through the current column coordinates, target column coordinates and the current position of the stacker; the PLC controller calculates the target distance by calculating the initial position and the target position according to the backward instruction issued by the central processing unit, and controls the stacker to retreat.

10. The remote monitoring and control method according to claim 9, wherein: The method further comprises: The operator enters the current column coordinates and target column coordinate values ​​in the manual state interface of the touch screen operation panel; Click the start button on the touch screen to generate control instructions; The central processor obtains the current position of the stacker in real time through the positioning sensor; Calculate the difference between the current column coordinates and the target column coordinates to generate a position deviation signal; The central processing unit sends position calibration instructions to the PLC controller of the stacker through the wireless communication module; The PLC controller drives the stacker crane's travel motor according to the position deviation value and moves it to the target row along the aisle direction; The fork position is monitored in real time by a 360° camera assembly, and the actual coordinates of the fork are analyzed by a video processor; When the error between the actual coordinates of the fork and the target column coordinates is less than the preset threshold, the PLC controller determines that the alignment is complete and the movement stops; If the positioning deviation is greater than the preset threshold, the monitoring data analysis module will send an alarm signal to the central processor and upload a work video showing that the stacker crane action is not performed properly.

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