A method and system for automated remote control of port machinery

Abstract

The application discloses a kind of port machine automation remote control method and system, it is related to automation technical field, including front end processing equipment connection spreader positioning sensor and motor driver, generates equipment topology diagram, interconnects multiple port machine PLC networks by Profibus-DP coupler and exports network status report, while configuring double redundancy operation platform interface and exports state identification signal;Based on state identification signal, construct all-optical link and generate optical fiber path topology, hierarchical transmission of spreader control instruction and path instruction is established, heartbeat detection mechanism is established and state confirmation signal is triggered;Receive state confirmation signal and wavelength allocation table, obtain laser radar point cloud data by special channel to execute spreader obstacle avoidance correction;Based on operation control authority and new optimal path sequence, construct digital twin, generate scheduling report by LSTM model.The application eliminates instruction blockage by constructing special channel and shared channel.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automation, in particular to a port machinery automation remote control method and system. BACKGROUND

[0002] In the field of port machinery (referred to as port machinery) automation, the existing technology mainly uses industrial bus to realize the communication between the device layer and the control center, and combines the PLC controller to execute the remote instruction. This architecture usually connects sensors, drivers and central control servers based on wired network, generates the spreader motion trajectory through centralized path planning algorithm. At the same time, the risk response mechanism depends on the preset safety threshold to trigger the emergency stop, and the energy consumption management realizes the load scheduling through historical data statistical analysis. This kind of scheme has been widely applied to the container terminal automation system, and has maturity in the aspects of device interconnection standardization and control logic solidification.

[0003] However, the existing technology has significant defects: first, the real-time performance of multi-device cooperation is insufficient: the industrial bus single-channel transmission mixes instructions, and in high concurrency scenarios, instruction blocking occurs, resulting in high spreader obstacle avoidance response delay, and fixed delay compensation ignores the dynamic attenuation characteristics of optical fiber; second, dynamic risk response lag: collision detection only depends on the calculation of static obstacle distance, without fusion of wind speed mutation and load inertia parameters, resulting in high false positive rate. SUMMARY

[0004] In view of the above existing problems, the present application is proposed.

[0005] Therefore, the present application provides a port machinery automation remote control method and system, which solves the real-time performance deficiency of multi-device cooperative control under the industrial bus architecture and the dynamic risk response lag problem.

[0006] To solve the above technical problems, the present application provides the following technical solutions:

[0007] In a first aspect, the present application provides a port machinery automation remote control method, which comprises:

[0008] The front-end processing device is connected to the spreader positioning sensor and the motor driver, generates a device topology graph, interconnects multiple port machinery PLC networks through a Profibus-DP coupler and outputs a network state report, configures a double-redundancy operation table interface and outputs a state identification signal at the same time;

[0009] Based on the state identification signal, a full-optical link is constructed and an optical fiber path topology is generated, the spreader control instruction and the path instruction are transmitted in layers, a heartbeat detection mechanism is established and a state confirmation signal is triggered;

[0010] Receive state confirmation signal and wavelength allocation table, get laser radar point cloud data through λ1 dedicated channel to execute crane obstacle avoidance correction, generate global path sequence through λ2 shared channel, and output crane visual angle picture at the same time;

[0011] Real-time calculation of collision risk factor, suspension of crane action and voice alarm when exceeding collision risk safety threshold, dynamic binding of remote control room and output of operation control authority;

[0012] Based on operation control authority and new optimal path sequence, construct digital twin, and generate scheduling report through LSTM model.

[0013] As a preferred scheme of the port machinery automatic remote control method, wherein: the output state identification signal comprises the following steps:

[0014] Lay network connection cable between front-end processing equipment of multiple port machines, and record network signal attenuation value;

[0015] Configure communication parameters of Profibus-DP coupler unit, and obtain node information list;

[0016] Analyze network signal attenuation value and node information list, and generate network state report;

[0017] Extract the device serial number field of each node in the network state report and the network topology path schematic diagram, and write them into the initial device database according to the record;

[0018] The device state parameters of the initial device database are output to the computer upper computer picture display device and the touch screen display device at the same time, and the state identification signal is generated.

[0019] As a preferred scheme of the port machinery automatic remote control method, wherein: the layered transmission of the crane control instruction and the path instruction comprises the following steps:

[0020] Create a dedicated channel to bind the crane control instruction, and a shared channel to bind the path instruction;

[0021] Send test data packets marked with crane control instructions to the dedicated channel to detect the received signal strength of ONU device filter 1, and send test data packets marked with path instructions to λ2 shared channel to detect the received signal strength of ONU device filter 2, and generate wavelength configuration verification report;

[0022] After confirming that all wavelength channel packet loss rates in the wavelength configuration verification report converge to stability, activate the shared channel time division multiplexing mechanism, set the time slot frame period, and create a time slot allocation table;

[0023] The time slot allocation table is sent to each ONU device time synchronization unit to calibrate the clock deviation between the OLT and the ONU device.

[0024] After calibration, test data packets are sent to the ONU device to detect the data packet receiving delay of each ONU device, and a wavelength allocation table is generated.

[0025] As a preferred scheme of the port machine automatic remote control method, the heartbeat detection mechanism is established and the state confirmation signal is triggered, including the following steps:

[0026] The dedicated channel parameters in the wavelength allocation table are extracted as the transmission channel of the heartbeat data packet, and the front-end PLC timer is configured;

[0027] The heartbeat data packet is transmitted through the dedicated channel of the ONU device to form a heartbeat record data set;

[0028] The shared backend server cluster receives the heartbeat record data set, stores and records the continuous heartbeat packet time interval in groups, triggers the audible and visual alarm signal of the operation console, and generates the state confirmation signal.

[0029] As a preferred scheme of the port machine automatic remote control method, the crane obstacle avoidance correction is performed, including the following steps:

[0030] The original point cloud data, target container center three-dimensional coordinates, and actual transmission delay value are received;

[0031] Based on the difference between the timestamp of the original point cloud data and the actual transmission delay value, the original point cloud data is calibrated and timestamped with the target container center three-dimensional coordinates, and then the crane obstacle avoidance correction is performed to calculate the crane pose adjustment amount;

[0032] When the state confirmation signal is in the running ready state, the pose adjustment amount is converted into a standard analog output voltage, and the pose adjustment action is performed;

[0033] When the state confirmation signal is in the safe standby state, the crane pose adjustment amount is written into the path optimization instruction ring buffer for continuous detection.

[0034] As a preferred scheme of the port machine automatic remote control method, the output operation control authority includes the following steps:

[0035] The backend shared server continuously receives the path calculation request data packet through the shared channel, extracts the target endpoint coordinates, real-time motor power, and continuous operation time, and reads the real-time target container center three-dimensional coordinates as the current position;

[0036] The actual transmission delay value is applied to compensate the current position to obtain the compensated start point coordinates;

[0037] Based on the compensated starting point coordinates, target end point coordinates, real-time motor power and continuous operation time, the optimal path sequence is obtained through a path cost function;

[0038] The wind speed influence factor is calculated and multiplied by the original path point distance of the optimal path sequence to obtain the optimized path sequence;

[0039] The maximum speed of the spreader is adjusted using the optimized path sequence and the load weight;

[0040] The collision risk factor is calculated, the collision risk is determined, and the optical fiber distance is corrected;

[0041] Based on the wind resistance corrected optical fiber distance, the binding priority value of each remote control room is calculated in combination with the real-time CPU load rate and network quality level of each remote control room, the remote control room with the smallest priority value is selected as the binding target, and the operation control authority is output.

[0042] As a preferred scheme of the port machine automatic remote control method, the method comprises the following steps:

[0043] According to the operation control authority of the remote control room, the operation and the new optimal path sequence are executed, and the three-dimensional space coordinate system frame of the port machine dynamics digital twin is initialized;

[0044] The execution state data, weather data and energy consumption pulse signal of the current optimal path sequence are obtained, input into the LSTM model, and the energy consumption prediction value is output, and the energy consumption distribution curve is generated;

[0045] The curve peak time and valley time in the energy consumption distribution curve are extracted, the temperature parameter time sequence in the weather data is synchronously analyzed, and the scheduling report is generated.

[0046] In a second aspect, the present application provides a port machine automatic remote control system, comprising:

[0047] The networking module is connected to the spreader positioning sensor and the motor driver, generates a device topology graph, interconnects multiple port machine PLC networks through a Profibus-DP coupler and outputs a network state report, simultaneously configures a double-redundancy operation station interface and outputs a state identification signal;

[0048] The optical communication module is based on the state identification signal, constructs an all-optical link and generates an optical fiber path topology, transmits the spreader control instructions and path instructions in layers, establishes a heartbeat detection mechanism and triggers a state confirmation signal;

[0049] The obstacle avoidance navigation module receives the state confirmation signal and the wavelength allocation table, acquires laser radar point cloud data through a dedicated channel λ1 to execute spreader obstacle avoidance correction, generates a global path sequence through a shared channel λ2, and simultaneously outputs a spreader perspective picture.

[0050] An emergency response module, which calculates a collision risk factor in real time, suspends the action of the spreader and sends a voice alarm when the collision risk safety threshold is exceeded, dynamically binds the remote control room and outputs the operation control authority;

[0051] A twin scheduling module, which constructs a digital twin based on the operation control authority and the new optimal path sequence, and generates a scheduling report through an LSTM model.

[0052] In a third aspect, the present application provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, any step of the port machinery automation remote control method according to the first aspect of the present application is implemented.

[0053] In a fourth aspect, the present application provides a computer readable storage medium, which stores a computer program, and when the computer program is executed by the processor, any step of the port machinery automation remote control method according to the first aspect of the present application is implemented.

[0054] The present application has the beneficial effects that: a special channel and a shared channel are constructed to form double physical isolation layers, instruction blocking is eliminated, and obstacle avoidance response delay is reduced; a heartbeat detection mechanism triggers three levels of alarms to ensure control link reliability; wind speed and load inertia parameters are fused based on a collision factor to reduce the misjudgment rate; load adjustment instructions are generated by matching energy consumption distribution curves with temperature periods to improve comprehensive energy efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0055] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0056] Figure 1 The flowchart of the port machinery automation remote control method.

[0057] Figure 2 The schematic diagram of the output state identification signal.

[0058] Figure 3 The schematic diagram of the layered transmission of the spreader control instruction and the path instruction.

[0059] Figure 4 The schematic diagram of establishing a heartbeat detection mechanism and triggering a state confirmation signal. DETAILED DESCRIPTION

[0060] In order to make the above objectives, characteristics and advantages of the present application more obvious and comprehensible, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0061] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. The present application, however, can be practiced in a variety of ways other than those specifically described herein without departing from the scope of the present application, and it is understood that it covers all technical and structural equivalents of the elements described and practiced in the same manner for a similar purpose. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0062] Secondly, the "one embodiment" or "embodiment" referred to herein means that the specific features, structures or characteristics can be included in at least one implementation of the present application. The "in one embodiment" appearing in different places in the specification does not mean the same embodiment, nor is it an embodiment that is independent of or selected from other embodiments.

[0063] Reference Figure 1 For one embodiment of the present application, the embodiment provides a port machinery automation remote control method, comprising the following steps:

[0064] S1, the front-end processing device is connected with the spreader positioning sensor and the motor driver, a device topology graph is generated, a plurality of port machinery PLC networks are interconnected through a Profibus-DP coupler, a network state report is output, a double-redundancy operation table interface is configured, and a state identification signal is output.

[0065] Please refer to Figure 2 , the installation position of the positioning port machinery spreader area is determined, the front-end processing device (embedded PLC) is fixed on the port machinery steel structure bearing surface, the physical installation of the front-end processing device is completed by using a bolt fastener, the spreader positioning sensor cable is laid, one end of the cable is connected to the digital quantity input port of the front-end processing device, the other end is connected to the signal output interface of the spreader positioning sensor, the continuity of the cable is detected by using a multimeter, and the continuity detection results of each port are recorded;

[0066] The motor driver control cable is laid, one end of the cable is connected to the analog quantity output port of the front-end processing device, the other end is connected to the control signal input interface of the motor driver, the insulation resistance of the cable is detected by using a megohmmeter, and the insulation resistance value is recorded;

[0067] The power supply of the front-end processing device is activated, a hardware self-checking program is executed, the communication state of the digital quantity input port and the spreader positioning sensor is detected, the communication state of the analog quantity output port and the motor driver is detected, and a self-checking result report is generated;

[0068] According to the on-off detection results of each port, the insulation resistance value and the self-checking result report, a device topology graph containing the physical coordinates of the front-end processing device, the hoist positioning sensor connection state indicator, the motor driver control link identifier and the load parameters of the digital quantity input port and the analog quantity output port is generated, and the abnormal connection points are marked in the device topology graph. For example, when the communication state of the digital quantity input port is abnormal, a red warning mark is marked at the hoist positioning sensor connection state indicator; when the communication state of the analog quantity output port is abnormal, a yellow warning mark is marked at the motor driver control link identifier.

[0069] Install the rack of the shared backend server cluster in the designated area of the remote control center, and use standard rack mounting accessories to fix each shared backend server cluster unit in the preset position of the rack, wherein the preset position of the rack needs to meet the device heat dissipation spacing requirement.

[0070] Further explanation, the device heat dissipation spacing requirement refers to the minimum physical heat dissipation space requirement that the shared backend server cluster unit needs to meet when installed in the rack, including horizontal spacing, vertical spacing and front-back spacing;

[0071] The horizontal spacing is to prevent air flow short circuit of adjacent equipment inlet / outlet, the vertical spacing is to maintain the unobstructed upward channel of hot air, and the front-back spacing is to ensure the cold air suction efficiency and no backflow of hot air exhaust.

[0072] Arrange the Profibus-DP coupler mounting bracket, and install the Profibus-DP coupler unit in the adjacent position of the shared backend server cluster rack;

[0073] Lay the network connection cable between the front-end processing devices of multiple port machines, one end of the cable is connected to the DP interface of the Profibus-DP coupler unit, and the other end is connected to the DP communication port of each port machine front-end processing device. Use a special network tester to detect the physical layer parameters of the cable and record the network signal attenuation value;

[0074] Configure the communication parameters of the Profibus-DP coupler unit, set the baud rate, node address and master-slave mode of each DP interface, and the parameter setting needs to be completely matched with the DP communication parameters of the front-end processing device (embedded PLC). Start the DP network communication protocol handshake process, activate the network scanning function of the shared backend server cluster unit, and the shared backend server cluster unit polls all connected front-end processing device nodes through the Profibus-DP coupler to obtain the node information list including device serial number, firmware version and real-time communication state;

[0075] The network signal attenuation value and node information list are analyzed, a signal attenuation threshold is set based on the baud rate, for the nodes whose network signal attenuation value exceeds the signal attenuation threshold, a communication quality warning identifier is marked in the node information list, for the nodes with abnormal communication state, a node failure identifier is marked, and a network state report containing the physical connection state of all DP interfaces, the serial number and firmware version of each node device, the real-time communication quality rating (excellent / warning / failure), and the network topology path is generated.

[0076] A virtual machine instance provided by a cloud service provider is deployed to deploy an analysis server operating system, configure an analysis server network interface, set firewall rules to allow data transmission ports from a remote control center shared backend server cluster, and select a high-availability specification with redundant power supply and dual network cards; database management software is installed in the analysis server operating system, and the table structure of the initial device database is created, and the table fields include device model, network address and communication state three main fields;

[0077] A VPN tunnel is established between the analysis server and the remote control center, and the network state report is received, the device serial number field of each node in the network state report is extracted, the device model code table is queried, and the first six bits of the device serial number are mapped to the device model string; read the network topology path diagram in the network state report, parse the network address information of each node, and convert the real-time communication quality rating. The excellent / warning / failure rating in the network state report is converted into the enumeration value of the real-time communication quality rating (0 represents excellent, 1 represents warning, and 2 represents failure);

[0078] The device model string, parsed network address and converted enumeration value of real-time communication quality rating are written into the initial device database as records, a database index file is generated, and B+ tree index structures are established in the initial device database for the three main fields of device model, network address and communication state.

[0079] Connect the computer host computer picture display device to the display output port of the remote station PLC, install the touch screen display device in the specified area of the operation table, and establish physical connection between the touch screen and the extended display interface of the remote station PLC through HDMI video line; set the display mirroring parameters in the remote station PLC display driver, so that the device state parameters of the initial device database are output to the computer host computer picture display device and the touch screen display device at the same time;

[0080] Lay the physical button panel control cable, connect the two ends of the cable to the output port of the physical button panel and the digital input port of the Profibus-DP coupler respectively, connect the data line of the operating handle to the analog input port of the Profibus-DP coupler, the remote station PLC sends test instructions to the physical button panel and the operating handle, receives the response signals of the physical button panel and the operating handle, and outputs the connection state report of the physical button panel and the operating handle;

[0081] Fix the voice broadcaster to the side vertical surface of the operating table, connect the audio input line of the voice broadcaster to the audio output interface of the remote station PLC; install the monitoring system camera on the support structure of the port machinery operating area. Adjust the pitch angle of the monitoring system camera to cover the spreader operating range, lay the monitoring system video transmission optical cable to the distribution frame of the remote control center, detect the cable continuity of the physical button panel to the Profibus-DP coupler, the signal voltage range of the operating handle to the Profibus-DP coupler, the impedance matching of the voice broadcaster and the attenuation value of the monitoring system video transmission optical cable, generate the line connection detection result, when the physical button panel cable continuity state is normal, the operating handle signal voltage meets the basic logic of electrical continuity (short circuit / break detection), the voice broadcaster impedance is reasonable, and the attenuation value of the monitoring system video transmission optical cable is less than the optical cable attenuation threshold, it is determined that the line connection detection is qualified, a state identification signal containing the readiness of the voice broadcaster, the readiness of the monitoring system and the readiness of the operating panel is generated, and is transmitted to the input register of the communication network function unit.

[0082] Further explanation, the optical cable attenuation threshold is set based on the type of optical cable (single mode / multi mode) and the transmission wavelength.

[0083] S2, based on the state identification signal, construct the all-optical link and generate the optical fiber path topology, transmit the spreader control instruction and the path instruction in layers, establish a heartbeat detection mechanism and trigger a state confirmation signal.

[0084] Read the state identification signal stored in the input register of the communication network function unit, the state identification signal contains three Boolean value fields: voice broadcaster readiness state identification, monitoring system readiness state identification and operating panel readiness state identification; Detect the logic value of the three state identification signals, when the voice broadcaster readiness state identification is true, the monitoring system readiness state identification is true and the operating panel readiness state identification is true, generate the all-optical link laying start instruction, when any of the three state identification signals is false, loop execute the state identification detection process until the three state identifications are true, which is specifically shown as:

[0085] When the voice broadcaster readiness state identification is false, loop detection, output null;

[0086] When the monitoring system readiness state identification is false, loop detection, output null;

[0087] When the operation panel ready state identifier is false, the loop detects and outputs null value;

[0088] When all state identifiers are true, the loop exits and outputs the full optical link laying start instruction;

[0089] When the full optical link laying start instruction is received, the optical transmitting port position of the remote control center OLT device and the input port position of the optical splitter device are located, a single-mode optical fiber line is laid, an LC / PC connector is installed at one end of the optical fiber cable and inserted into the OLT device optical transmitting port; an SC / APC connector is installed at the other end of the optical fiber cable and inserted into the optical splitter input port; the optical time domain reflectometer test mode is started, the test wavelength, pulse width and measurement range are set, the test optical pulse is excited into the optical fiber line, the reflection event table displayed by the optical time domain reflectometer is recorded, the fusion point data containing the distance, loss value and reflection type fields in the reflection event table are extracted, the loss measurement value of the fusion point from the OLT device end position is recorded, and the optical fiber fusion point loss data report containing the fusion point serial number, distance value and loss value is generated.

[0090] According to the fusion point loss measurement value in the optical fiber fusion point loss data report, the fusion point with a loss value less than the fusion point loss limit value is selected as a qualified node, and a qualified node list is output, wherein the fusion point loss limit value is determined according to the total optical link loss; the output port position of the optical splitter device and the optical receiving port position of the port machine side ONU device are located using the qualified node list, and a single-mode optical fiber line is laid; the end with the SC / APC connector is inserted into the located optical splitter output port, and the end with the SC / PC connector is inserted into the located ONU device optical receiving port; the Profibus optical switch circuit board is installed in the ONU device circuit board slot, the circuit board power bus is connected to the ONU DC power supply module, and the circuit board power supply state is output after connection; the Profibus optical switch circuit board self-checking program is activated according to the circuit board power supply state; the test Profibus-DP signal is input to the circuit board electrical interface, the optical interface output signal waveform is detected, and the self-checking report containing the signal eye diagram quality parameter is generated;

[0091] The self-checking report and the fiber fusion point loss data report are integrated into a fiber connection comprehensive data set, the CAD mapping software is imported into a remote control center building plan and a port geographic information map, OLT equipment position coordinates and splitter position coordinates are marked, a blue line segment is drawn to connect the splitter to the OLT equipment fiber path, and a preliminary topology draft is output; the position coordinates of the ONU equipment are marked on the preliminary topology draft, a green line segment is drawn to connect the splitter output port to each ONU equipment fiber path, and a middle-level topology map is formed; the fusion point position coordinates are marked on the fiber path line segment of the middle-level topology map: when the fusion point loss value is greater than or equal to the fusion point loss limit value, a red exclamation mark icon is added, and when the fusion point loss value is less than the fusion point loss limit value, a green check mark icon is added, and a marked version of the fiber path topology map is generated;

[0092] Please refer to Figure 3 , the ONU equipment position coordinates and the splitter connection path information in the marked version of the fiber path topology map are analyzed, the OLT equipment management interface is logged in to enter the wavelength division multiplexing module configuration menu: the channel binding function is selected to create a λ1 dedicated channel, the channel attribute is set to an exclusive mode and the sling control instruction data transmission is bound, a λ2 shared channel is created in the same configuration menu, the channel attribute is set to a shared mode and the path instruction data transmission is bound, then the ONU equipment management terminal on each port machine side is accessed, and the filter 1 center wavelength and the filter 2 center wavelength are set on the optical receiver filter wavelength configuration interface;

[0093] After the configuration is completed, the test data packet marked with the sling control instruction is sent to the λ1 dedicated channel, the receive signal strength of the ONU equipment filter 1 is detected, at the same time, the test data packet marked with the path instruction is sent to the λ2 shared channel, and the receive signal strength of the ONU equipment filter 2 is detected; finally, the wavelength configuration verification report recording the λ1 dedicated channel data transmission packet loss rate, the λ2 shared channel data transmission packet loss rate and the filter center wavelength offset is generated;

[0094] After confirming that all wavelength channel packet loss rates in the wavelength configuration verification report converge to stability, the time division multiplexing mechanism of the λ2 shared channel is activated on the OLT equipment TDMA configuration interface, the time slot frame period is set, and the time slot allocation table is created: the time slot number corresponds to the physical address of each port machine ONU equipment, the width of each time slot is fixed, and the time slot allocation sequence is strictly arranged in ascending order of ONU equipment coordinates;

[0095] The time slot allocation table is sent to the time synchronization unit of each ONU equipment, and the IEEE 1588v2 precision time protocol is used to calibrate the clock deviation between the OLT and the ONU equipment; after the calibration is completed, the test data packet is sent to the ONU equipment No. 1 in time slot 1, and the test data packet is sent to the ONU equipment No. 16 in time slot 16, and the data packet reception delay of each ONU equipment is detected; the wavelength allocation table including the λ1 dedicated channel, the λ2 shared channel, the time slot width and the time slot allocation sequence is generated;

[0096] Referring to Figure 4 , extract the λ1 dedicated channel parameter (central wavelength) in the wavelength allocation table as the heartbeat data packet transmission channel; configure the front-end PLC timer: set the periodic trigger signal, and generate a heartbeat data packet with a fixed byte length containing the PLC device serial number and the current timestamp when triggered;

[0097] Transmit the heartbeat data packet through the λ1 dedicated channel of the ONU device: the heartbeat data packet is routed inside the ONU device to filter 1 after electro-optical conversion and injected into the optical fiber line; the OLT device wavelength division multiplexing module captures the heartbeat data packet in the λ1 dedicated channel, analyzes the PLC device serial number in the data packet, and records the heartbeat packet receiving timestamp; forwards the heartbeat data packet and the receiving timestamp to the port of the shared backend server cluster to form a heartbeat record data set;

[0098] The shared backend server cluster receives the heartbeat record data set, stores the heartbeat packet receiving timestamp according to the PLC device serial number, records the continuous heartbeat packet time interval of the same PLC device serial number, and sets the time interval to 15ms:

[0099] If the time interval ≤ 15ms, update the heartbeat packet receiving timestamp and output the normal status code 0;

[0100] If the time interval > 15ms, record the timeout event and output the alarm code 1;

[0101] Further, the timeout event content includes the PLC device serial number, the timeout occurrence time, and the time interval value.

[0102] When the same PLC device serial number outputs alarm code 1 for 3 consecutive times, trigger the audible and visual alarm signal of the operation console:

[0103] Send a control authority switching instruction to the local PLC corresponding to the PLC device serial number that outputs alarm code 1 for 3 consecutive times, and switch to the local manual control mode;

[0104] Activate the audible and visual alarm of the operation console: set the continuous tone output frequency of the buzzer and the flashing frequency of the red indicator light (for example, bright 500ms / dim 500ms);

[0105] According to the trigger signal of the audible and visual alarm of the operation console, generate a timeout event report containing the timeout event occurrence time, duration, and disposal action execution status;

[0106] Analyze the optical fiber path length value from the OLT device to each ONU device in the annotated version of the optical fiber path topology map as the optical fiber distance parameter to form an optical fiber distance parameter set; obtain the current transmission data packet size parameter set;

[0107] Further illustrate, the current transmission data packet size parameter set includes the fixed byte length of the heartbeat data packet, the byte length range of the sling control instruction data packet and the byte length range of the path instruction data packet.

[0108] Based on the fiber distance parameter set and the transmission data packet size parameter set, the actual transmission delay value is calculated, expressed as:

[0109]

[0110] wherein, is the actual transmission delay value, is the fiber distance, is the fiber delay coefficient, is the data packet size parameter, is the data packet transmission coefficient, is the fixed processing delay;

[0111] The sound-light alarm trigger signal is connected to the enable control port of the path optimization instruction and outputs a level state signal (high level when triggered, low level when not triggered); when the intelligent control port detects a high level signal, the actual transmission delay value is immediately written into the path optimization instruction delay compensation register, the safety response time window is adjusted based on the delay compensation register, the current calculation task of the path optimization instruction is terminated, all data in the path optimization instruction output buffer area is emptied, the path optimization instruction state register is set to a safety standby state, and a safety standby state confirmation signal is output;

[0112] Further illustrate, enable is the on-off switch of the control signal, when the enable signal is activated, part of the function is allowed to run; otherwise, it is forcibly disabled.

[0113] During the validity period of the safety standby state confirmation signal, the sound-light alarm trigger level state signal value is continuously monitored, all new path calculation request instructions are rejected, and the state query interval is set to 2 times the actual transmission delay value to send a query instruction to the local PLC; when the enable control port detects that the level state signal returns to low level, the path optimization instruction state register is set to a running ready state, the actual transmission delay value of the delay compensation register is read as the time offset of path calculation, the path calculation task data at the interrupt time is reloaded and time offset compensation is applied, and the normal output function of the path optimization instruction data is restored.

[0114] S3, receives the state confirmation signal and the wavelength allocation table, acquires laser radar point cloud data through a dedicated channel to perform sling obstacle avoidance correction, generates a global path sequence through a shared channel, and outputs a sling perspective picture.

[0115] ​The wavelength allocation table parameters, actual transmission delay values, and path optimization instruction status register values ​​are written into the input data buffer of the front-end PLC. The front-end PLC configures the center wavelength of the lidar data receiving filter according to the wavelength of the λ1 dedicated channel in the wavelength allocation table parameters. It receives the raw point cloud data sent by the lidar through the λ1 dedicated channel, and synchronously reads the three-dimensional coordinates of the target container center output in real time by the spreader positioning sensor. The actual transmission delay value is extracted from the input data buffer.

[0116] Based on the difference between the timestamp of the received raw point cloud data and the actual transmission delay value, the corrected timestamp of the raw point cloud data is obtained; the coordinates of each point in the raw point cloud data are bound to the corrected timestamp to generate a time-calibrated point cloud dataset.

[0117] After aligning the calibrated point cloud dataset with the three-dimensional coordinates of the target container center using timestamps, obstacle avoidance correction of the spreader is performed, and the spreader pose adjustment is calculated. The expression is:

[0118] ;

[0119] in, This refers to the spreader's position and attitude adjustment range, used to control the spreader's pitch and yaw angles. This is the obstacle avoidance sensitivity coefficient. The larger the size, the more sensitive the obstacle avoidance response. For the calibrated point cloud data, the first The coordinates of the obstacle. The three-dimensional coordinates of the target container center As a smoothing factor to prevent the denominator from being zero, The smaller the size, the more sensitive it is to nearby obstacles. The number of obstacles, The distance from the obstacle to the center of the target container is expressed in Euclidean form.

[0120] When the path optimization instruction status register value indicates a ready state, the pose adjustment amount is converted into a standard analog output voltage, expressed as:

[0121] ;

[0122] in, This is the standard analog output voltage, used as the control voltage to drive the spreader actuator. The zero-position bias voltage, i.e., when Keep the lifting equipment stationary. This is the voltage conversion gain coefficient, which controls the sensitivity of the voltage conversion.

[0123] The standard analog output voltage is output to the spreader driver through the analog output port of the front-end PLC, and the spreader driver performs pose adjustment action after receiving the analog output voltage;

[0124] When the path optimization instruction state register value represents a safe standby state, the spreader pose adjustment amount is written into the path optimization instruction ring buffer, the path optimization instruction state register value change is continuously detected, and when it is detected that the register value becomes a running ready state, the latest spreader pose adjustment amount in the buffer is read and voltage conversion output is performed;

[0125] The back-end shared server continuously receives path calculation request data packets through the λ2 shared channel, extracts the target terminal coordinates, real-time motor power and continuous operation time in the path calculation request data packet, simultaneously reads the real-time target container center three-dimensional coordinates provided by the spreader positioning sensor as the current position, compensates the current position by using the actual transmission delay value, and obtains the compensated start point coordinates, the expression is:

[0126] ;

[0127] Among them, is the start point coordinate after delay compensation, representing the accurate starting position of path planning, is the real-time position coordinate of the spreader, is the instantaneous velocity vector of the spreader, representing the direction and size of the motion state of the spreader;

[0128] Based on the start point after delay compensation, the target terminal, the real-time motor power and the continuous operation time, the optimal path sequence is obtained through the path cost function, the expression is:

[0129] ;

[0130] Among them, is the comprehensive cost of the current node , which is the core basis of path selection, and the smaller the value is, the higher the priority is, is the actual cost from the start point to the current node , is the weight adjustment factor of the heuristic function, is the estimated cost of the heuristic function from the current node to the terminal, which is used to guide the search direction, is the amplitude coefficient of time decay, which is used to control the decay intensity of the energy consumption factor with time, is the time decay rate factor, which determines the energy consumption decay speed, is the continuous operation time, i.e. the length of time the motor runs continuously, is the basic energy consumption proportion coefficient, is the real-time motor power, is a power normalization factor, used to eliminate the influence of power dimension;

[0131] The optimal path sequence is formed by backtracking from the starting point to the end point by selecting the adjacent node with the minimum integrated cost node by node in the path cost function.

[0132] Further, the actual cost from the starting point to the node is the accumulated distance along the planned path from the starting point after delay compensation, and the expression is:

[0133] ;

[0134] wherein, is the path node number, is the total number of segmented paths from the starting point to the current node , is the coordinate of the first node of the path, is the coordinate of the first node of the path, is the Euclidean distance between adjacent nodes; The expression of the estimated cost of the heuristic function from the current node coordinate to the target end point is:

[0135]

[0136] ;

[0137] wherein, is the target end point coordinate, is the target moving speed (direction + size).

[0138] The compensated starting point coordinate is input into the spreader tracking algorithm of the monitoring camera, and the pan angle and tilt angle of the holder are automatically calculated; the monitoring camera holder is controlled to perform mechanical movement, the horizontal rotation motor is adjusted to the horizontal rotation angle, and the tilt motor is adjusted to the tilt angle, so that the compensated starting point coordinate is accurately located at the center point of the monitoring screen; at the same time, the current timestamp is obtained, and the sensor data value at the historical time is extracted from the monitoring data buffer; the compensated starting point coordinate and the historical sensor data value are converted into an OSD string and superimposed and displayed in the lower right corner of the monitoring screen.

[0139] Further, the historical sensor data value includes the real-time coordinate of the spreader positioning sensor, the wind speed of the weather sensor, and the load weight of the spreader weighing sensor.

[0140] S4, real-time calculation of collision risk factor, suspension of spreader action and sending of voice alarm when exceeding the collision risk safety threshold, dynamic binding of remote control room and output of operation control authority.

[0141] ​​​The wind speed value in the sensor data value at the historical moment is used to calculate a wind speed influence factor, and the expression is:

[0142] ;

[0143] wherein, is the wind speed influence factor, representing the correction coefficient of the path distance by the wind speed, is the reference coefficient, serving as the reference constant of the calculation formula, and the fixed value is 1.0, is the wind speed influence upper limit, used to limit the maximum correction range, and the fixed value is 0.15, is the wind speed, is the wind speed normalization coefficient, converting the wind speed into a proportional coefficient, and the fixed value is 20;

[0144] The wind speed influence factor is multiplied by the original path distance of the optimal path sequence to obtain an optimized path sequence containing updated path point distances;

[0145] The optimized path sequence containing the updated path distances and the load weight Adjust the maximum speed of the spreader , for example, when , when and , when , ;

[0146] The front-end PLC reads the laser radar point cloud data set (containing obstacle points) and the real-time speed vector of the spreader (less than the maximum speed of the spreader ); using the time-delay compensated start point coordinates, wind speed, point cloud data set and real-time speed vector, a collision risk factor is calculated, and the expression is:

[0147] ;

[0148] wherein, is the collision risk factor, quantifying the collision risk degree of the spreader and the obstacle, and the larger the value, the higher the risk, is the time-delay compensated start point coordinates, is the real-time speed vector of the spreader, is the basic risk coefficient, is the wind speed influence coefficient;

[0149] Based on the collision risk factor, a collision risk safety threshold is set to determine the collision risk, and the specific process is as follows:

[0150] When , the current path sequence is maintained for execution; when At this time, interrupt the current path sequence execution and trigger emergency response;

[0151] Upon receiving the collision risk determination trigger emergency response instruction, interrupt the execution operation of the optimal path sequence, send a voice alarm instruction through the λ1 dedicated channel, and the voice content explicitly contains the load weight, current wind speed, and minimum obstacle distance; then package and transmit the collision risk factor, load weight, wind speed, and node position at the time of interruption of the current path sequence to the shared backend server;

[0152] The shared backend server uses the received wind speed to correct the fiber distance, obtaining the wind resistance corrected fiber distance, expressed as:

[0153] ;

[0154] wherein, is the wind resistance corrected fiber distance, is the wind resistance correction coefficient;

[0155] Based on the wind resistance corrected fiber distance, the real-time CPU load rate and network quality level of each remote control room are combined to calculate the binding priority value of each remote control room, expressed as:

[0156] ;

[0157] wherein, is the binding priority of the th remote control room, which determines the numerical indicator of the optimal remote control room, is the CPU load rate of the th remote control room, is the network quality level of the th remote control room, which evaluates the network transmission performance, with a level range of 1-10 (the larger the better), is the distance weight coefficient, is the distance normalization coefficient;

[0158] Select the remote control room with the smallest priority value as the binding target, and output the unique identifier ID of the binding remote control room; transmit the load weight to the binding remote control room to set the upper limit of the operation intensity, and simultaneously transmit the wind speed to enable the windproof operation strategy; remove the operation control authority of all non-binding remote control rooms on the optimal path sequence.

[0159] Set the maximum acceleration parameter according to the load weight; re-plan the path based on the latest obstacle distribution combined with the load weight, output the new optimal path sequence to the front-end PLC control system, and resume the execution operation from the original optimal path sequence interruption point.

[0160] S5, based on the operation control authority and the new optimal path sequence, construct a digital twin, and generate a scheduling report through an LSTM model.

[0161] According to the operation control authority of the remote control room, execute the operation and the new optimal path sequence, initialize the three-dimensional coordinate system frame of the port machinery dynamics digital twin, continuously acquire the execution state data of the current optimal path sequence through the field bus, including the dynamic parameters such as the position feedback signal of the spreader, the speed vector change value and the trajectory offset, and synchronously record the collection time stamp of each path node;

[0162] Connect the data transmission interface of the port weather station, receive the weather data in real time, extract the wind speed, wind direction, temperature and humidity in the data stream, and generate a formatted weather data set after adding the collection time stamp;

[0163] Read the energy consumption pulse signal output by the port machinery energy metering device, convert it to an energy consumption value, bind the energy consumption value with the corresponding time stamp, and form a time-stamped energy consumption data sequence;

[0164] Integrate the execution state data, the formatted weather data set and the time-stamped energy consumption data sequence, align the data points according to the unified time axis, and generate a real-time running data set containing position coordinates, motion state, environmental parameters and energy consumption indicators;

[0165] Divide the real-time running data set into training set, validation set and test set according to the time stamp; build an LSTM model prediction network with a three-branch input structure - the first input branch receives the historical 24-hour energy consumption value sequence, the second input branch receives the historical temperature / humidity / wind speed / wind direction sliding average weather feature vector, and the third input branch receives the historical power average value scalar; The hidden layer is configured with two layers of 128 neuron LSTM units and sets the Dropout rate; the output layer generates a future 6-hour energy consumption prediction value through a fully connected layer;

[0166] Synchronize the energy consumption sequence, weather feature vector and power average value of the training set to input the network to perform forward propagation calculation to predict the value, use the mean square error loss function to compare the predicted value with the true value, and update the weight through the Adam optimizer (learning rate 0.001) backward propagation; stop training when the validation set loss decreases by less than 1% for three consecutive times, and verify the prediction error convergence stability in the test set, to obtain the trained LSTM model prediction network;

[0167] Extract the latest continuous energy consumption sequence from the real-time running data set as the first input item of the completed LSTM model network; at the same time, read the weather feature vector generated by the formatted weather data set as the second input item; collect the real-time power value of the motor driver to calculate the arithmetic mean scalar as the third input item; input the three into the trained LSTM model to perform forward propagation, and output the energy consumption prediction value of the future period; based on the time series feature analysis of the energy consumption prediction value of the future period, the energy consumption point sequence is discretized by hour granularity, the continuous curve is connected, and the energy consumption distribution curve of the future operation period is labeled;

[0168] Extract the curve peak time and valley time in the energy consumption distribution curve, and synchronously analyze the temperature parameter time series in the weather data to identify the period when the temperature exceeds the high temperature;

[0169] According to the overlap state of the energy consumption distribution curve peak period and the high temperature period, match the operation suggestion rule library: when the energy consumption peak value coincides with the high temperature period, generate a high temperature period load reduction text instruction; when the energy consumption valley value coincides with the low temperature period, generate a low temperature period load increase text instruction; output the default suggestion when there is no overlapping period; format the operation suggestion text instruction, add time range description and percentage adjustment parameter, and form the scheduling report.

[0170] The embodiment also provides a port machine automatic remote control system, comprising:

[0171] The networking module connects the sling positioning sensor and the motor driver at the front end processing device, generates a device topology graph, interconnects multiple port machine PLC networks through a Profibus-DP coupler and outputs a network state report, simultaneously configures a double-redundancy operation table interface and outputs a state identification signal;

[0172] The optical communication module constructs an all-optical link based on the state identification signal and generates an optical fiber path topology, performs layered transmission of the sling control instruction and the path instruction, establishes a heartbeat detection mechanism and triggers a state confirmation signal;

[0173] The obstacle avoidance navigation module receives the state confirmation signal and the wavelength allocation table, acquires laser radar point cloud data through a dedicated channel λ1 to perform sling obstacle avoidance correction, generates a global path sequence through a shared channel λ2, and simultaneously outputs a sling perspective picture;

[0174] The emergency response module calculates a collision risk factor in real time, suspends the sling action and sends a voice alarm when the collision risk safety threshold is exceeded, dynamically binds a remote control room and outputs an operation control right;

[0175] The twin scheduling module constructs a digital twin based on the operation control right and a new optimal path sequence, and generates a scheduling report through an LSTM model.

[0176] The embodiment also provides a computer device, comprising a memory and a processor; the memory is used to store computer executable instructions, and the processor is used to execute the computer executable instructions to realize the port machinery automation remote control method provided in the above embodiment.

[0177] The computer device can be a terminal, and the computer device comprises a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device comprises a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with external terminals in a wired or wireless manner. The wireless manner can be achieved through WIFI, an operator network, NFC (Near Field Communication) or other technologies. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer overlaid on the display screen, or a key, trackball or touchpad arranged on the shell of the computer device, or an external keyboard, touchpad or mouse, etc.

[0178] The embodiment also provides a storage medium having a computer program stored thereon, the program being executed by a processor to realize the port machinery automation remote control method provided in the above embodiment. The storage medium can be realized by any type of volatile or non-volatile storage device or a combination thereof, such as a static random access memory (SRAM), an electrically erasable programmable read-only memory (EEPROM), an erasable programmable read-only memory (EPROM), a programmable read-only memory (PROM), a read-only memory (ROM), a magnetic storage, a flash memory, a magnetic disk or an optical disk.

[0179] To sum up, the application eliminates instruction blocking by constructing a double-physical-isolation layer of a special channel and a shared channel, reduces the obstacle avoidance response delay; the heartbeat detection mechanism triggers three-level alarms to guarantee the reliability of the control link; the wind speed and the load inertia parameter are fused based on the collision factor to reduce the misjudgment rate; the load adjustment instruction is generated by matching the energy consumption distribution curve and the temperature period to improve the comprehensive energy efficiency.

[0180] It should be noted that the above examples are only used to illustrate the technical solutions of the present application but not limit the present application. Although the present application is described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or equivalently replaced, without departing from the spirit and scope of the technical solutions of the present application, which should be covered in the scope of the claims of the present application.

Claims

1. A method for automated remote control of a port machine, the method comprising: The application relates to a front-end processing device connection sling positioning sensor and a motor driver, a device topology graph is generated, a plurality of port machinery PLC networks are interconnected through a Profibus-DP coupler, a network state report is output, a double-redundancy operation station interface is configured, and a state identification signal is output; based on the state identification signal, a full-optical link is constructed, an optical fiber path topology is generated, sling control instructions and path instructions are transmitted in layers, a heartbeat detection mechanism is established, and a state confirmation signal is triggered; the state confirmation signal and a wavelength allocation table are received, laser radar point cloud data is acquired through a special channel to execute sling obstacle avoidance correction, a global path sequence is generated through a shared channel, and a sling visual angle picture is output; the execution of the sling obstacle avoidance correction comprises the following steps: receiving original point cloud data, target container center three-dimensional coordinates and actual transmission delay values; based on the difference between the time stamp of the original point cloud data and the actual transmission delay value, the original point cloud data is calibrated and time stamped with the target container center three-dimensional coordinates, then the sling obstacle avoidance correction is executed, and sling pose adjustment amount is calculated; when the state confirmation signal is in a running ready state, the pose adjustment amount is converted into a standard analog output voltage, and a pose adjustment action is executed; when the state confirmation signal is in a safe standby state, the sling pose adjustment amount is written into a path optimization instruction ring buffer for continuous detection; a collision risk factor is calculated in real time, the sling action is paused and a voice alarm is sent when the collision risk safety threshold is exceeded, a remote control room is dynamically bound, and operation control authority is output; based on the operation control authority and a new optimal path sequence, a digital twin is constructed, and a scheduling report is generated through an LSTM model. ​ The output of the state identification signal comprises the following steps: laying network connection cables between front-end processing devices of a plurality of port machines, and recording network signal attenuation values; configuring communication parameters of a Profibus-DP coupler unit, and acquiring node information lists; analyzing the network signal attenuation values and the node information lists, and generating a network state report; extracting device serial number fields and network topology path diagrams of each node in the network state report, and writing the same into an initial device database according to the record; and outputting device state parameters of the initial device database to computer upper computer picture display equipment and touch screen display equipment, and generating a state identification signal. The layered transmission of the sling control instructions and the path instructions comprises the following steps: creating a special channel to bind the sling control instructions, and creating a shared channel to bind the path instructions; sending test data packets marked with the sling control instructions to the special channel to detect the receiving signal strength of an ONU device filter 1, and sending test data packets marked with the path instructions to the shared channel to detect the receiving signal strength of an ONU device filter 2, and generating a wavelength configuration verification report; after confirming that all wavelength channel packet loss rates in the wavelength configuration verification report converge to be stable, activating a shared channel time division multiplexing mechanism, setting a time slot frame period, and creating a time slot allocation table; and issuing the time slot allocation table to ONU device time synchronization units to calibrate OLT and ONU device clock deviations. ​ ​ ​ ​ ​ ​ ​ ​ 2. The method for automated remote control of port machinery according to claim 1, characterized in that: ​ ​ ​ ​ ​ ​ 3. The method for automated remote control of port machinery according to claim 1, characterized in that: ​ ​ ​ ​ ​ After calibration, send test data packets to ONU devices, detect the data packet receiving delay of each ONU device, and generate a wavelength allocation table.

4. The method for automated remote control of port machinery according to claim 1, characterized in that: The heartbeat detection mechanism is established and the state confirmation signal is triggered, including the following steps: Extract the dedicated channel parameters in the wavelength allocation table as the transmission channel of the heartbeat data packet, and configure the front-end PLC timer; Transmit the heartbeat data packet through the dedicated channel of the ONU device to form a heartbeat record data set; The shared backend server cluster receives the heartbeat record data set, groups and stores it, records the continuous heartbeat packet time interval, triggers the audible and visual alarm signal of the operation console, and generates the state confirmation signal.

5. The method for automated remote control of port machinery according to claim 1, characterized in that: The output operation control authority includes the following steps: The backend shared server continuously receives the path calculation request data packet through the shared channel, extracts the target endpoint coordinates, real-time motor power, and continuous operation time, and simultaneously reads the real-time target container center three-dimensional coordinates as the current position; Compensate the current position using the actual transmission delay value to obtain the compensated start point coordinates; Based on the compensated start point coordinates, target endpoint coordinates, real-time motor power, and continuous operation time, the optimal path sequence is obtained through the path cost function; Calculate the wind speed influence factor and the original path distance of the optimal path sequence to obtain the optimized path sequence; Adjust the maximum speed of the spreader using the optimized path sequence and the load weight; Calculate the collision risk factor, make a collision risk judgment, and correct the optical fiber distance; Based on the wind resistance corrected optical fiber distance, combined with the real-time CPU load rate and network quality level of each remote control room, calculate the binding priority value of each remote control room, select the remote control room with the smallest priority value as the binding target, and output the operation control authority.

6. The method for automated remote control of port machinery according to claim 1, characterized in that: The generation of the scheduling report includes the following steps: Execute the operation and the new optimal path sequence according to the operation control authority of the remote control room, and initialize the three-dimensional coordinate system framework of the port crane dynamics digital twin; Obtain the execution state data, meteorological data, and energy consumption pulse signal of the current optimal path sequence, input them into the LSTM model, output the energy consumption prediction value, and generate the energy consumption distribution curve; Extract the curve peak time and valley time in the energy consumption distribution curve, synchronously analyze the temperature parameter time series in the meteorological data, and generate the scheduling report.

7. A port automation remote control system based on the port automation remote control method according to any one of claims 1 to 6, characterized by: It includes: Networking module, front-end processing equipment connects spreader positioning sensor and motor driver, generates device topology, interconnects multiple port crane PLC networks through Profibus-DP coupler and outputs network status report, configures double-redundancy operation console interface and outputs state identification signal; Optical communication module, based on the state identification signal, constructs an all-optical link and generates an optical fiber path topology, transmits spreader control instructions and path instructions in layers, establishes a heartbeat detection mechanism and triggers a state confirmation signal; Obstacle avoidance navigation module, receives the state confirmation signal and the wavelength allocation table, obtains laser radar point cloud data through λ1 dedicated channel to execute spreader obstacle avoidance correction, generates global path sequence through λ2 shared channel, and outputs spreader perspective picture; Emergency response module, real-time calculation of collision risk factor, when exceeding the collision risk safety threshold, pause the spreader action and send voice alarm, dynamically bind the remote control room and output the operation control authority; A twin scheduling module constructs a digital twin based on the operation control authority and the new optimal path sequence, and generates a scheduling report through an LSTM model.

8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that: The processor executes the computer program to implement the steps of the port machinery automation remote control method of any one of claims 1-6.

9. A computer readable storage medium having stored thereon a computer program, characterized in that: The computer program is executed by the processor to implement the steps of the port machinery automation remote control method of any one of claims 1-6.

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