Portal crane one-to-many remote automatic operation system and method, terminal and medium

Abstract

The invention belongs to the technical field of portal crane automatic control, and particularly discloses a portal crane one-to-many remote automatic operation system and method, a terminal and a medium, and the system comprises a video linkage switching platform, a remote control console control unit, a portal crane intelligent management and control platform, a central control central processing unit and a plurality of portal crane remote control execution units. The central control central processing unit is in two-way communication connection with each module and is used for receiving operation instructions and operation work order parameters and executing logical operation, task scheduling and synchronous control; and when a sudden stop or abnormal signal is detected, switching to a manual takeover mode. The video linkage switching platform achieves dynamic matching and picture linkage display of portal crane video signals and identification signals, the remote control operation table is used for manual operation and operation state monitoring, and the portal crane intelligent management and control platform is responsible for operation space calculation, work order issuing and state visualization. According to the invention, centralized management, automatic cooperation and safety control of a plurality of portal cranes are realized, and the personnel efficiency and the operation safety are obviously improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of automatic control of gantry cranes, and particularly relates to a one-to-many remote automatic operation system and method for gantry cranes, a terminal and a medium. BACKGROUND

[0002] With the expansion of port loading and unloading operation scale and the continuous progress of automation technology, gantry cranes have become one of the most important shore loading and unloading equipment in ports, wharfs and bulk cargo yards. The gantry crane is usually installed on the track of the wharf or yard, has multiple degrees of freedom such as rotation, amplitude change and lifting, and can complete the cargo hoisting, transfer and stacking operation between the ship and the yard. In recent years, the port industry is developing from traditional manual operation to remote centralized control and intelligent scheduling. Some ports have built remote control centers to realize remote operation of a single gantry crane through network communication, but in a complex port environment, the "one machine one control" mode is still commonly used.

[0003] The existing gantry crane usually adopts a distributed control structure with PLC or industrial computer as the core, each gantry crane operates independently, and is respectively configured with an operation panel, a video monitoring system and a safety alarm device. Some ports install a remote communication module on the gantry crane, so that the operator can operate the lifting, amplitude change and rotation through the video interface in the remote control room, to realize remote control of a single gantry crane.

[0004] Although the existing gantry crane control system has made progress in automation and remote operation, it still has obvious deficiencies in multi-machine cooperation and intelligent scheduling, mainly in the following aspects: The current system generally adopts an independent operation structure, the information interaction between the gantry cranes is limited to state uploading and video sharing, there is no unified central processing unit for task allocation and coordination, and it is difficult to realize synchronous operation and resource optimization among multiple gantry cranes.

[0005] The control of multiple gantry cranes still needs multiple operators to manually monitor and control switching at the same time, and the centralized remote control mode of "one person and multiple machines" cannot be realized, which results in low operation efficiency and slow reaction speed. SUMMARY

[0006] The present application provides a one-to-many remote automatic operation system and method for gantry cranes, a terminal and a medium to solve the problem that it is difficult to realize synchronous operation and resource optimization among multiple gantry cranes between the gantry cranes in the background technology, and at the same time solve the problem that the control of multiple gantry cranes still needs multiple operators to manually monitor and control switching at the same time, resulting in low operation efficiency and slow reaction speed in the background technology.

[0007] The technical solution adopted by the present application is as follows: In the first aspect, this application provides a one-to-many remote automated operation system for gantry cranes, including a video linkage switching platform, a remote control console control unit, an intelligent management and control platform for gantry cranes, a central control processing unit, and a remote control execution unit for gantry cranes; The gantry crane remote control execution unit is connected to the central control unit for communication. It is used to drive the gantry crane to move according to the operation instructions issued by the central control unit. The gantry crane remote control execution unit collects the gantry crane's running speed, angle position and spatial coordinate information through the signal acquisition mechanism configured on the gantry crane, and sends the gantry crane running status signal and spatial position signal to the central control unit. The remote control execution unit of the gantry crane also includes a video acquisition mechanism, which is used to acquire video signals and output them to the video linkage switching platform; The central control processing unit is bidirectionally connected to the remote control console control unit, the intelligent management and control platform for gantry cranes, the video linkage switching platform, and the remote control execution unit for gantry cranes. It is used to receive manual operation command signals from the remote control console control unit and work order parameters from the intelligent management and control platform for gantry cranes. It performs logical operations and task scheduling on the manual operation command signals and work order parameters from the intelligent management and control platform for gantry cranes, generates synchronous control commands and sends them to the remote control execution unit for gantry cranes, and receives the operating status signals fed back by each gantry crane for timestamp alignment and synchronization determination. When the zero position signal of the operating handle, the emergency stop signal, or the abnormal alarm signal of the door operator is detected, the central control unit executes the takeover priority logic to switch to the manual control mode and generates a door operator identification signal to be sent to the video linkage switching platform. The video linkage switching platform receives video acquisition signals from the remote control execution unit of the gantry crane and gantry crane identification signals from the central control processing unit. Based on the identification information, it automatically calls the corresponding video display template and outputs the video image to the remote control console control unit. The remote control console control unit includes an operating handle, control buttons, and an emergency stop switch. It is used to receive operation start, takeover, or stop signals input by the operator, send operation signals to the central control processing unit, and receive operation status signals returned by the central control processing unit for display on the interface. The intelligent management and control platform for gantry cranes includes a position parameter adjustment unit, an equipment status display unit, and a work order issuance unit. It is used to receive gantry crane operation status signals from the central control unit and to visualize the operation status signals. The position parameter adjustment unit obtains the operating status signal uploaded by the gantry crane remote control execution unit and calculates the working space range. The work order issuing unit sends the preset working parameters corresponding to the calculated working space range to the gantry crane remote control execution unit through the central control processing unit to form an automated work instruction.

[0008] Furthermore, the central control unit includes a communication interface module, a task scheduling module, a status synchronization module, and a security takeover logic module, wherein: The communication interface module is used for bidirectional communication with the remote control console control unit, the intelligent management and control platform for the gantry crane, the video linkage switching platform, and the remote control execution units of each gantry crane, and classifies, caches, and prioritizes data streams from different sources. The task scheduling module is used to allocate and schedule tasks based on the operating status signals of each gantry crane after receiving the work order parameters. The task scheduling module adopts a time-slice polling method, receiving the uploaded operating status signals and spatial position signals from each gantry crane remote control execution unit at a preset period, and generating synchronous control commands after timestamp alignment of the received data. The status synchronization module is used to compare the output of the task scheduling module with the running status signal received by the communication interface module. When it detects that the response delay, displacement error or speed deviation of any gate machine exceeds the preset threshold, it adjusts the refresh frequency or priority of the control command of the corresponding gate machine. The safety takeover logic module is used to make logical judgments on the zero-position detection signal, emergency stop signal and manual takeover signal from the remote control console control unit during system operation. When the manual priority state is determined, the central control processing unit suspends the automatic scheduling thread and locks the automatic execution channel of the gantry crane, and transfers the control authority to the remote control console control unit.

[0009] Furthermore, the safe takeover logic module includes an active takeover control unit, an emergency interruption control unit, and an automatic takeover request control unit, wherein: The active takeover control unit is used to send a takeover request command to the task scheduling module when the remote control console control unit detects the takeover operation command signal and confirms that the zero position signal of the operating handle is valid. Upon receiving a takeover request instruction, the task scheduling module pauses the automatic scheduling thread of the current gantry crane and switches the control authority of the gantry crane to the remote control console control unit. The emergency interruption control unit is used to interrupt the synchronous control command issuance of the gantry crane and other gantry cranes that are performing automatic tasks when an emergency stop signal is detected from the remote control console control unit or an abnormal alarm signal is received by the central control processing unit from the gantry crane remote control execution unit. It also locks the drive output port of the gantry crane remote control execution unit and issues a safety stop command. The automatic takeover request control unit generates a takeover request signal and sends it to the safety takeover logic module when any remote control execution unit of the gantry crane uploads an abnormal code, communication packet loss, or response delay exceeding a threshold in its operating status signal during automatic operation. After confirming that the gantry crane is in an abnormal state, the safety takeover logic module sends a gantry crane identification signal to the video linkage switching platform. The video linkage switching platform outputs the gantry crane video image to the remote control console control unit with priority, and at the same time automatically switches the control mode of the gantry crane to manual takeover mode.

[0010] Furthermore, the video linkage switching platform includes a video access module, an identifier resolution module, a screen scheduling module, and a display output module, wherein: The video access module is used to receive video signals output from multiple video acquisition mechanisms from the remote control execution units of each gantry crane, and to encode, buffer, and number the video streams. The identifier resolution module is used to receive the door operator identifier signal from the central control unit, resolve the current target door operator number according to the identifier signal, and send a switching command to the screen dispatch module; The screen scheduling module is used to call the signal stream of the corresponding video buffer channel according to the door number after receiving the switching instruction, and to allocate the screen according to the preset priority strategy; Priority strategies include: When the central control unit is in automatic operation mode, the screen scheduling module periodically displays the video screens of each gantry crane in a polling manner; When the safety takeover logic module is in manual takeover mode or receives an abnormal alarm signal, the screen scheduling module immediately increases the display priority of the corresponding door machine video channel and freezes its main screen display. The display output module is used to output the video signal output by the screen scheduling module to the remote control console control unit in a multi-screen layout. The main screen and auxiliary screen are displayed simultaneously on the console interface. The main screen corresponds to the video channel of the currently managed or abnormal gate machine, and the auxiliary screen corresponds to the monitoring screen of the other gate machines.

[0011] Furthermore, the central control unit also includes a collision avoidance and collaborative control module. The collision avoidance and collaborative control module is used to compare and predict the spatial position signals uploaded by the remote control execution units of each gantry crane when multiple gantry cranes are performing automated operations at the same time, and calculate the minimum safe distance between the spreaders or booms of each gantry crane based on the spatial mapping model. When the predicted distance between any two gantry cranes is less than a preset safety threshold, the following control logic is executed: The collision avoidance judgment unit calculates the gantry crane's operating trend based on the change rate of position parameters and the type of work order. When it determines that there is a risk of path intersection or overlapping work areas, it sends a speed limit command to the task scheduling module. The command corresponds to the gantry crane remote control execution unit to decelerate or suspend the slewing action. The priority allocation unit determines the operation priority based on the operation type, yard area and loading / unloading sequence of each gantry crane work order. When there is a path conflict, the control command of the gantry crane with higher priority is executed first, and the scheduling execution of the gantry crane with lower priority is suspended. After detecting that the path conflict has been resolved, the spatial mapping and correction unit recalculates the spatial trajectory of each gantry crane, generates updated synchronization control commands, and sends them to the task scheduling module to restore the normal operation of each gantry crane. The collision avoidance and collaborative control module is also used to monitor the spatial relationship between manually operated gantry cranes and automatically operated gantry cranes when the safety takeover logic module is in manual takeover mode. If it is detected that manual control actions may cause spatial interference, the central control unit will generate an avoidance path or restrict the action range of adjacent gantry cranes while maintaining the priority control of the manual gantry crane.

[0012] Furthermore, the intelligent management and control platform for gantry cranes also includes a gantry crane selection unit, an alarm display unit, and an operation data statistics unit, among which: The gantry crane selection unit is used to filter and match available gantry cranes based on the operating status signals and spatial position signals of each gantry crane uploaded by the central control unit. When a gantry crane is detected to be idle or to have completed the previous work order, the unit generates gantry crane identification information and sends it to the central control unit. The alarm display unit is used to receive abnormal alarm signals forwarded from the central control unit and display and record them hierarchically on the interface of the intelligent management and control platform for the door machine. The hierarchical display includes three types of status: general alarm, serious alarm and emergency shutdown alarm. The operation data statistics unit is used to periodically summarize the operating status signals, operation instruction execution records and work order feedback data uploaded by the gantry crane remote control execution unit. It records the operation time, number of lifting operations, loading and unloading volume, energy consumption and fault frequency parameters of each gantry crane, and sends the statistical results to the central control processing unit for optimizing task scheduling and work order priority allocation.

[0013] Secondly, this application provides a method for one-to-many remote automated operation of a gantry crane, employing the one-to-many remote automated operation system for gantry cranes described in the first aspect. This method includes the following steps: The gantry crane remote control execution unit collects the gantry crane's operating speed, angular position, and spatial coordinate information, generates operating status signals and spatial position signals, and sends these signals to the central control processing unit; the gantry crane remote control execution unit also acquires video signals and outputs them to the video linkage switching platform; The central control processing unit receives manual operation command signals from the remote control console control unit and work order parameters from the intelligent management and control platform of the gantry crane. It performs logical operations on the manual operation command signals and work order parameters, generates synchronous control commands and sends them to the remote control execution unit of the gantry crane. It also receives the operating status signals fed back by each gantry crane for timestamp alignment and synchronization determination. When the zero position signal of the operating handle, the emergency stop signal, or the abnormal alarm signal of the door operator is detected, the central control unit executes the takeover priority logic to switch to the manual control mode and generates a door operator identification signal to be sent to the video linkage switching platform. The video linkage switching platform receives video signals from the remote control execution unit of the gantry crane and gantry crane identification signals from the central control unit. Based on the gantry crane identification signals, it calls the corresponding video display template and outputs the video image to the remote control console control unit. The remote control console control unit receives operation start, takeover, or stop signals input by the operator, sends the operation signals to the central control processing unit, and receives the operation status signals returned by the central control processing unit to display on the interface. The intelligent management and control platform for gantry cranes receives and visualizes the gantry crane's operating status signals from the central control unit. Based on the operating status signals uploaded by the remote control execution unit of the gantry crane, it calculates the operating space range and sends the preset operating parameters corresponding to the operating space range to the remote control execution unit of the gantry crane via the central control unit, forming automated operation instructions to control the gantry crane to perform the corresponding operation tasks.

[0014] Furthermore, when the central control processing unit performs timestamp alignment and synchronization determination on the operating status signals uploaded by the remote control execution units of each gantry crane, it compares the rate of change of operating speed, angular displacement, and spatial coordinate difference within adjacent sampling periods. When it detects that the difference between the operating status signal of any gantry crane and the previous period exceeds the preset synchronization deviation threshold, it adjusts the control command refresh cycle of that gantry crane or suspends the synchronization update.

[0015] Thirdly, this application provides a terminal, including: The memory is used to store the one-to-many remote automated operation program of the gantry crane; A processor is used to implement the steps of the one-to-many remote automated operation method for gantry cranes as described in the second aspect when executing the one-to-many remote automated operation system for gantry cranes.

[0016] Fourthly, this application provides a computer-readable storage medium that stores computer instructions. When a computer reads the computer instructions in the storage medium, the computer executes the one-to-many remote automated operation method for gantry cranes as described in the second aspect.

[0017] As can be seen from the above technical solutions, the advantages of the present invention are: By incorporating communication interface modules, task scheduling modules, status synchronization modules, and safety takeover logic modules within the central control processing unit, and combining them with the intelligent gantry crane management and control platform and video linkage switching platform, centralized control and synchronous scheduling of multiple gantry cranes are achieved. This system enables collaborative operation of multiple gantry cranes under the control of a single operator, effectively reducing manual workload and improving port yard operation efficiency. The remote control execution unit of the gantry cranes collects real-time information on the operating speed, angle position, and spatial coordinates of each crane, generating operating status signals and spatial position signals. After being timestamped by the central control processing unit, these signals are uniformly judged and control commands are distributed, thereby achieving synchronous response and spatial coordination among multiple devices. This constructs a multi-level closed-loop control link of "operation acquisition—central control calculation—task distribution—status feedback," giving the system high real-time performance and stability. Attached Figure Description

[0018] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the description will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is an architecture diagram of a one-to-many remote automated operation system for gantry cranes in the embodiment. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Please see Figure 1 As shown, the present invention provides a one-to-many remote automated operation system for gantry cranes, including a video linkage switching platform, a remote control console control unit, a gantry crane intelligent management and control platform, a central control processing unit, and a gantry crane remote control execution unit; The gantry crane remote control execution unit is connected to the central control unit for communication. It is used to drive the gantry crane to move according to the operation instructions issued by the central control unit. The gantry crane remote control execution unit collects the gantry crane's running speed, angle position and spatial coordinate information through the signal acquisition mechanism configured on the gantry crane, and sends the gantry crane running status signal and spatial position signal to the central control unit. The remote control execution unit of the gantry crane also includes a video acquisition mechanism, which is used to acquire video signals and output them to the video linkage switching platform; The central control processing unit is bidirectionally connected to the remote control console control unit, the intelligent management and control platform for gantry cranes, the video linkage switching platform, and the remote control execution unit for gantry cranes. It is used to receive manual operation command signals from the remote control console control unit and work order parameters from the intelligent management and control platform for gantry cranes. It performs logical operations and task scheduling on the manual operation command signals and work order parameters from the intelligent management and control platform for gantry cranes, generates synchronous control commands and sends them to the remote control execution unit for gantry cranes, and receives the operating status signals fed back by each gantry crane for timestamp alignment and synchronization determination. When the zero position signal of the operating handle, the emergency stop signal, or the abnormal alarm signal of the door operator is detected, the central control unit executes the takeover priority logic to switch to the manual control mode and generates a door operator identification signal to be sent to the video linkage switching platform. The video linkage switching platform receives video acquisition signals from the remote control execution unit of the gantry crane and gantry crane identification signals from the central control processing unit. Based on the identification information, it automatically calls the corresponding video display template and outputs the video image to the remote control console control unit. The remote control console control unit includes an operating handle, control buttons, and an emergency stop switch. It is used to receive operation start, takeover, or stop signals input by the operator, send operation signals to the central control processing unit, and receive operation status signals returned by the central control processing unit for display on the interface. The intelligent management and control platform for gantry cranes includes a position parameter adjustment unit, an equipment status display unit, and a work order issuance unit. It is used to receive gantry crane operation status signals from the central control unit and to visualize the operation status signals. The position parameter adjustment unit obtains the operating status signal uploaded by the gantry crane remote control execution unit and calculates the working space range. The work order issuing unit sends the preset working parameters corresponding to the calculated working space range to the gantry crane remote control execution unit through the central control processing unit to form an automated work instruction.

[0022] In practical applications, the gantry crane remote control execution unit can adopt a distributed industrial Ethernet communication architecture, using multi-point encoders, angle sensors, and speed sensors installed on the hoisting mechanism, luffing mechanism, and slewing mechanism of the gantry crane to collect status information in real time. The signal acquisition mechanism can use electromagnetic interference-resistant CAN bus nodes to ensure stable data transmission. Based on the real-time acquired operating status signals, the central control processing unit performs position mapping and trajectory prediction through an algorithm module to achieve synchronous control between different gantry cranes. The video acquisition mechanism can be a high-definition network camera, installed on the gantry crane's spreader or the front end of the main boom, for real-time monitoring of the hoisting area, and sends the video signal to the video linkage switching platform via a gigabit network. In the operation scenario, when an emergency stop signal or a control handle zeroing signal is detected for any gantry crane, the central control processing unit immediately interrupts the automatic task, generates a gantry crane identification signal, and triggers the video linkage module to switch to the corresponding channel, ensuring that the operator can see the gantry crane's operation in real time on the main display interface and manually take over.

[0023] In some embodiments, the central control processing unit includes a communication interface module, a task scheduling module, a status synchronization module, and a security takeover logic module, wherein: The communication interface module is used for bidirectional communication with the remote control console control unit, the intelligent management and control platform for the gantry crane, the video linkage switching platform, and the remote control execution units of each gantry crane, and classifies, caches, and prioritizes data streams from different sources. The task scheduling module is used to allocate and schedule tasks based on the operating status signals of each gantry crane after receiving the work order parameters. The task scheduling module adopts a time-slice polling method, receiving the uploaded operating status signals and spatial position signals from each gantry crane remote control execution unit at a preset period, and generating synchronous control commands after timestamp alignment of the received data. The status synchronization module is used to compare the output of the task scheduling module with the running status signal received by the communication interface module. When it detects that the response delay, displacement error or speed deviation of any gate machine exceeds the preset threshold, it adjusts the refresh frequency or priority of the control command of the corresponding gate machine. The safety takeover logic module is used to make logical judgments on the zero-position detection signal, emergency stop signal and manual takeover signal from the remote control console control unit during system operation. When the manual priority state is determined, the central control processing unit suspends the automatic scheduling thread and locks the automatic execution channel of the gantry crane, and transfers the control authority to the remote control console control unit.

[0024] In one specific implementation, the central control unit is built using a high-performance industrial server, running a real-time operating system. The communication interface module is equipped with multi-channel Ethernet ports and fieldbus interfaces, supporting real-time caching and priority management of parallel data streams. The task scheduling module, based on a time-slice polling mechanism, collects feedback data from each gantry crane at millisecond intervals, and combines this with the status synchronization module for error detection and correction, achieving synchronous control of multiple gantry cranes. The safety takeover logic module embeds an independent safety thread for real-time monitoring of manual intervention signals, ensuring that when an operator performs a takeover or emergency stop operation, the automatic thread immediately pauses without affecting the operation of other gantry cranes. This design guarantees the stability and security of the system in multi-task concurrent scenarios.

[0025] In some embodiments, the secure takeover logic module includes an active takeover control unit, an emergency interruption control unit, and an automatic takeover request control unit, wherein: The active takeover control unit is used to send a takeover request command to the task scheduling module when the remote control console control unit detects the takeover operation command signal and confirms that the zero position signal of the operating handle is valid. Upon receiving a takeover request instruction, the task scheduling module pauses the automatic scheduling thread of the current gantry crane and switches the control authority of the gantry crane to the remote control console control unit. The emergency interruption control unit is used to interrupt the synchronous control command issuance of the gantry crane and other gantry cranes that are performing automatic tasks when an emergency stop signal is detected from the remote control console control unit or an abnormal alarm signal is received by the central control processing unit from the gantry crane remote control execution unit. It also locks the drive output port of the gantry crane remote control execution unit and issues a safety stop command. The automatic takeover request control unit generates a takeover request signal and sends it to the safety takeover logic module when any remote control execution unit of the gantry crane uploads an abnormal code, communication packet loss, or response delay exceeding a threshold in its operating status signal during automatic operation. After confirming that the gantry crane is in an abnormal state, the safety takeover logic module sends a gantry crane identification signal to the video linkage switching platform. The video linkage switching platform outputs the gantry crane video image to the remote control console control unit with priority, and at the same time automatically switches the control mode of the gantry crane to manual takeover mode.

[0026] In practical use, the active takeover control unit initiates the takeover process when the operator executes the "takeover" command and confirms the handle is in the zero position. The system ensures no accidental operation through signal recognition. The emergency interruption control unit has a high-priority interruption channel. When it receives an emergency stop signal or detects an abnormal state, it immediately cuts off all automatic command outputs and executes motor braking to prevent collisions caused by the inertial movement of the spreader. The automatic takeover request control unit can automatically report the status when communication is abnormal or the delay is too large, allowing the system to prioritize the display of relevant video footage. The operator can directly switch to manual control mode to intervene, forming a complete safety response loop.

[0027] In some embodiments, the video linkage switching platform includes a video access module, an identifier resolution module, a screen scheduling module, and a display output module, wherein: The video access module is used to receive video signals output from multiple video acquisition mechanisms from the remote control execution units of each gantry crane, and to encode, buffer, and number the video streams. The identifier resolution module is used to receive the door operator identifier signal from the central control unit, resolve the current target door operator number according to the identifier signal, and send a switching command to the screen dispatch module; The screen scheduling module is used to call the signal stream of the corresponding video buffer channel according to the door number after receiving the switching instruction, and to allocate the screen according to the preset priority strategy; Priority strategies include: When the central control unit is in automatic operation mode, the screen scheduling module periodically displays the video screens of each gantry crane in a polling manner; When the safety takeover logic module is in manual takeover mode or receives an abnormal alarm signal, the screen scheduling module immediately increases the display priority of the corresponding door machine video channel and freezes its main screen display. The display output module is used to output the video signal output by the screen scheduling module to the remote control console control unit in a multi-screen layout. The main screen and auxiliary screen are displayed simultaneously on the console interface. The main screen corresponds to the video channel of the currently managed or abnormal gate machine, and the auxiliary screen corresponds to the monitoring screen of the other gate machines.

[0028] In one specific implementation, the video linkage switching platform is implemented using an industrial video server, supporting multi-channel high-definition video input and synchronous streaming. The video stream of each gantry crane is numbered and cached in the video access module, and the identifier resolution module automatically calls the corresponding video channel based on the gantry crane identifier generated by the central control processing unit. The screen scheduling module can dynamically switch the display logic according to the system mode, performing periodic rotation display during automatic operation, and immediately fixing the display of its screen when a gantry crane malfunctions. The display output module achieves partitioned display of main and auxiliary screens on the remote control console through a multi-screen distributed terminal, ensuring that operators can quickly identify key monitoring objects in complex multi-machine environments.

[0029] In some embodiments, the central control unit further includes a collision avoidance and collaborative control module. The collision avoidance and collaborative control module is used to compare and predict the spatial position signals uploaded by the remote control execution units of each gantry crane when multiple gantry cranes perform automated operations at the same time, and calculate the minimum safe distance between the spreaders or booms of each gantry crane based on the spatial mapping model. When the predicted distance between any two gantry cranes is less than a preset safety threshold, the following control logic is executed: The collision avoidance judgment unit calculates the gantry crane's operating trend based on the change rate of position parameters and the type of work order. When it determines that there is a risk of path intersection or overlapping work areas, it sends a speed limit command to the task scheduling module. The command corresponds to the gantry crane remote control execution unit to decelerate or suspend the slewing action. The priority allocation unit determines the operation priority based on the operation type, yard area and loading / unloading sequence of each gantry crane work order. When there is a path conflict, the control command of the gantry crane with higher priority is executed first, and the scheduling execution of the gantry crane with lower priority is suspended. After detecting that the path conflict has been resolved, the spatial mapping and correction unit recalculates the spatial trajectory of each gantry crane, generates updated synchronization control commands, and sends them to the task scheduling module to restore the normal operation of each gantry crane. The collision avoidance and collaborative control module is also used to monitor the spatial relationship between manually operated gantry cranes and automatically operated gantry cranes when the safety takeover logic module is in manual takeover mode. If it is detected that manual control actions may cause spatial interference, the central control unit will generate an avoidance path or restrict the action range of adjacent gantry cranes while maintaining the priority control of the manual gantry crane.

[0030] In actual operation, the spreader trajectories of multiple gantry cranes are mapped in real time using spatial coordinates to form a 3D model. The collision avoidance and collaborative control module calculates safe distances based on this model. When the spreader paths of two gantry cranes approach a set threshold, the system automatically slows down or stops the lower-priority gantry crane. The priority allocation unit can dynamically adjust the execution order according to the type of work task (such as loading or unloading) and the configuration of the yard area. If an operator manually takes over a gantry crane, the system will calculate its working path in real time and generate safety avoidance instructions for adjacent automatic gantry cranes, thereby avoiding dangerous situations such as spreader crossing or wire rope entanglement, ensuring continuous and safe operation.

[0031] In some embodiments, the intelligent gantry crane management platform further includes a gantry crane selection unit, an alarm display unit, and an operation data statistics unit, wherein: The gantry crane selection unit is used to filter and match available gantry cranes based on the operating status signals and spatial position signals of each gantry crane uploaded by the central control unit. When a gantry crane is detected to be idle or to have completed the previous work order, the unit generates gantry crane identification information and sends it to the central control unit. The alarm display unit is used to receive abnormal alarm signals forwarded from the central control unit and display and record them hierarchically on the interface of the intelligent management and control platform for the door machine. The hierarchical display includes three types of status: general alarm, serious alarm and emergency shutdown alarm. The operation data statistics unit is used to periodically summarize the operating status signals, operation instruction execution records and work order feedback data uploaded by the gantry crane remote control execution unit. It records the operation time, number of lifting operations, loading and unloading volume, energy consumption and fault frequency parameters of each gantry crane, and sends the statistical results to the central control processing unit for optimizing task scheduling and work order priority allocation.

[0032] In a typical implementation, the gantry crane selection unit automatically identifies the idle status of each gantry crane based on real-time status signals uploaded by the cranes. It then matches this information with the central control unit via crane identification to achieve automatic scheduling. The alarm display unit displays alarm levels according to severity when anomalies occur, allowing operators to visually view alarm levels and historical records on the management interface. The operation data statistics unit summarizes operational data and work order information at fixed time intervals, statistically analyzing gantry crane operation efficiency, energy consumption, and failure rate. This provides data support for subsequent scheduling algorithms and maintenance decisions, forming a closed-loop optimization mechanism to achieve system self-adaptation and long-term reliability.

[0033] In some embodiments, this application provides a method for one-to-many remote automated operation of a gantry crane, the method comprising the following steps: The gantry crane remote control execution unit collects the gantry crane's operating speed, angular position, and spatial coordinate information, generates operating status signals and spatial position signals, and sends these signals to the central control processing unit; the gantry crane remote control execution unit also acquires video signals and outputs them to the video linkage switching platform; The central control processing unit receives manual operation command signals from the remote control console control unit and work order parameters from the intelligent management and control platform of the gantry crane. It performs logical operations on the manual operation command signals and work order parameters, generates synchronous control commands and sends them to the remote control execution unit of the gantry crane. It also receives the operating status signals fed back by each gantry crane for timestamp alignment and synchronization determination. When the zero position signal of the operating handle, the emergency stop signal, or the abnormal alarm signal of the door operator is detected, the central control unit executes the takeover priority logic to switch to the manual control mode and generates a door operator identification signal to be sent to the video linkage switching platform. The video linkage switching platform receives video signals from the remote control execution unit of the gantry crane and gantry crane identification signals from the central control unit. Based on the gantry crane identification signals, it calls the corresponding video display template and outputs the video image to the remote control console control unit. The remote control console control unit receives operation start, takeover, or stop signals input by the operator, sends the operation signals to the central control processing unit, and receives the operation status signals returned by the central control processing unit to display on the interface. The intelligent management and control platform for gantry cranes receives and visualizes the gantry crane's operating status signals from the central control unit. Based on the operating status signals uploaded by the remote control execution unit of the gantry crane, it calculates the operating space range and sends the preset operating parameters corresponding to the operating space range to the remote control execution unit of the gantry crane via the central control unit, forming automated operation instructions to control the gantry crane to perform the corresponding operation tasks.

[0034] In practical implementation, the remote control execution unit for the gantry crane is installed on each gantry crane body. Encoders and tilt sensors installed on the hoisting and slewing mechanisms collect motion parameters in real time and transmit them to the central control processing unit via a high-speed bus. This unit uses embedded control algorithms to dynamically evaluate the motion status of the gantry crane and allocates work tasks according to the division of the yard operation area. Video signal acquisition is accomplished by cameras positioned above the gantry crane spreader or at the boom end. The video data is synchronously transmitted to the video linkage switching platform via an industrial network, enabling real-time fusion and encoded display of multiple crane images. This structure ensures continuous visual monitoring of the operating status of each gantry crane from the operator's perspective and achieves high stability and low latency in information transmission.

[0035] In some embodiments, when the central control processing unit performs timestamp alignment and synchronization determination on the operating status signals uploaded by the remote control execution units of each gantry crane, it compares the rate of change of operating speed, angular displacement and spatial coordinate difference in adjacent sampling periods. When it detects that the difference between the operating status signal of any gantry crane and the previous period exceeds the preset synchronization deviation threshold, it adjusts the control command refresh period of the gantry crane or suspends the synchronization update.

[0036] In a typical multi-crane yard operation scenario, the operator issues a start command via a remote control console. The central control unit compares and allocates the real-time positions of each gantry crane with the operating area, ensuring the minimum safe distance between the spreader trajectories. When the system operates in automatic mode, the video linkage switching platform polls the display screen according to the gantry crane number. If a speed fluctuation or alarm signal is detected on a gantry crane, the corresponding video screen is automatically fixed as the main display interface, triggering the manual takeover logic, allowing the operator to directly take over the operation of that gantry crane. Once the anomaly is resolved, the system recalculates the spatial trajectories of each gantry crane, restoring synchronized automatic operation, thus achieving a complete control closed loop of "automatic operation—intelligent detection—manual takeover—automatic recovery".

[0037] In some embodiments, this application provides a terminal, including: The memory is used to store the one-to-many remote automated operation program of the gantry crane; A processor is used to execute the steps of the one-to-many remote automated operation method for the gantry crane when performing the one-to-many remote automated operation system for the gantry crane.

[0038] In some embodiments, this application provides a computer-readable storage medium that stores computer instructions. When a computer reads the computer instructions in the storage medium, the computer executes the one-to-many remote automated operation method for the gantry crane.

[0039] It is understood that the systems, devices, modules, or units described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer, which can be a personal computer, a laptop computer, a personal digital assistant, a tablet computer, a wearable device, or any combination of these devices.

[0040] In a typical configuration, a computer includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0041] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0042] Computer-readable media, including both permanent and non-permanent, removable and non-removable media, can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage, quantum memory, graphene-based storage media or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0043] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0044] It should be understood that although the terms first, second, third, etc., may be used to describe various information in one or more embodiments of this specification, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, first information may also be referred to as second information without departing from the scope of one or more embodiments of this specification, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "in response to a determination," or "when," or "in the event of a determination."

[0045] The above description is merely a preferred embodiment of one or more embodiments of this specification and is not intended to limit the scope of one or more embodiments of this specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of one or more embodiments of this specification should be included within the protection scope of one or more embodiments of this specification.

Claims

1. A one-to-many remote automated operation system for gantry cranes, characterized in that, This includes a video linkage switching platform, a remote control console control unit, a gantry crane intelligent management and control platform, a central control processing unit, and a gantry crane remote control execution unit; The gantry crane remote control execution unit is connected to the central control unit for communication. It is used to drive the gantry crane to move according to the operation instructions issued by the central control unit. The gantry crane remote control execution unit collects the gantry crane's running speed, angle position and spatial coordinate information through the signal acquisition mechanism configured on the gantry crane, and sends the gantry crane running status signal and spatial position signal to the central control unit. The gantry crane remote control execution unit also includes a video acquisition mechanism, which is used to acquire video signals and output them to the video linkage switching platform; The central control processing unit is bidirectionally connected to the remote control console control unit, the intelligent management and control platform for gantry cranes, the video linkage switching platform, and the remote control execution unit for gantry cranes. It is used to receive manual operation command signals from the remote control console control unit and work order parameters from the intelligent management and control platform for gantry cranes. It performs logical operations and task scheduling on the manual operation command signals and work order parameters from the intelligent management and control platform for gantry cranes, generates synchronous control commands and sends them to the remote control execution unit for gantry cranes, and receives the operating status signals fed back by each gantry crane for timestamp alignment and synchronization determination. When the zero position signal of the operating handle, the emergency stop signal, or the abnormal alarm signal of the door operator is detected, the central control unit executes the takeover priority logic to switch to the manual control mode and generates a door operator identification signal to be sent to the video linkage switching platform. The video linkage switching platform receives video acquisition signals from the remote control execution unit of the gantry crane and gantry crane identification signals from the central control processing unit. Based on the identification information, it automatically calls the corresponding video display template and outputs the video image to the remote control console control unit. The remote control console control unit includes an operating handle, control buttons, and an emergency stop switch. It is used to receive operation start, takeover, or stop signals input by the operator, send operation signals to the central control processing unit, and receive operation status signals returned by the central control processing unit for display on the interface. The intelligent management and control platform for gantry cranes includes a position parameter adjustment unit, an equipment status display unit, and a work order issuance unit. It is used to receive gantry crane operation status signals from the central control unit and to visualize the operation status signals. The position parameter adjustment unit obtains the operating status signal uploaded by the gantry crane remote control execution unit and calculates the working space range. The work order issuing unit sends the preset working parameters corresponding to the calculated working space range to the gantry crane remote control execution unit through the central control processing unit to form an automated work instruction.

2. The one-to-many remote automated operation system for gantry cranes according to claim 1, characterized in that, The central control unit includes a communication interface module, a task scheduling module, a status synchronization module, and a security takeover logic module, among which: The communication interface module is used for bidirectional communication with the remote control console control unit, the intelligent management and control platform for the gantry crane, the video linkage switching platform, and the remote control execution units of each gantry crane, and classifies, caches, and prioritizes data streams from different sources. The task scheduling module is used to allocate and schedule tasks based on the operating status signals of each gantry crane after receiving the work order parameters. The task scheduling module adopts a time-slice polling method, receiving the uploaded operating status signals and spatial position signals from each gantry crane remote control execution unit at a preset period, and generating synchronous control commands after timestamp alignment of the received data. The status synchronization module is used to compare the output of the task scheduling module with the running status signal received by the communication interface module. When it detects that the response delay, displacement error or speed deviation of any gate machine exceeds the preset threshold, it adjusts the refresh frequency or priority of the control command of the corresponding gate machine. The safety takeover logic module is used to make logical judgments on the zero-position detection signal, emergency stop signal and manual takeover signal from the remote control console control unit during system operation. When the manual priority state is determined, the central control processing unit suspends the automatic scheduling thread and locks the automatic execution channel of the gantry crane, and transfers the control authority to the remote control console control unit.

3. The one-to-many remote automated operation system for gantry cranes according to claim 2, characterized in that, The safe takeover logic module includes an active takeover control unit, an emergency interruption control unit, and an automatic takeover request control unit, wherein: The active takeover control unit is used to send a takeover request command to the task scheduling module when the remote control console control unit detects the takeover operation command signal and confirms that the zero position signal of the operating handle is valid. Upon receiving a takeover request instruction, the task scheduling module pauses the automatic scheduling thread of the current gantry crane and switches the control authority of the gantry crane to the remote control console control unit. The emergency interruption control unit is used to interrupt the synchronous control command issuance of the gantry crane and other gantry cranes that are performing automatic tasks when an emergency stop signal is detected from the remote control console control unit or an abnormal alarm signal is received by the central control processing unit from the gantry crane remote control execution unit. It also locks the drive output port of the gantry crane remote control execution unit and issues a safety stop command. The automatic takeover request control unit generates a takeover request signal and sends it to the safety takeover logic module when any remote control execution unit of the gantry crane uploads an abnormal code, communication packet loss, or response delay exceeding a threshold in its operating status signal during automatic operation. After confirming that the gantry crane is in an abnormal state, the safety takeover logic module sends a gantry crane identification signal to the video linkage switching platform. The video linkage switching platform outputs the gantry crane video image to the remote control console control unit with priority, and at the same time automatically switches the control mode of the gantry crane to manual takeover mode.

4. The one-to-many remote automated operation system for gantry cranes according to claim 1, characterized in that, The video linkage switching platform includes a video access module, an identifier resolution module, a screen scheduling module, and a display output module, among which: The video access module is used to receive video signals output from multiple video acquisition mechanisms from the remote control execution units of each gantry crane, and to encode, buffer, and number the video streams. The identifier resolution module is used to receive the door operator identifier signal from the central control unit, resolve the current target door operator number according to the identifier signal, and send a switching command to the screen dispatch module; The screen scheduling module is used to call the signal stream of the corresponding video buffer channel according to the door number after receiving the switching instruction, and to allocate the screen according to the preset priority strategy; Priority strategies include: When the central control unit is in automatic operation mode, the screen scheduling module periodically displays the video screens of each gantry crane in a polling manner; When the safety takeover logic module is in manual takeover mode or receives an abnormal alarm signal, the screen scheduling module immediately increases the display priority of the corresponding door machine video channel and freezes its main screen display. The display output module is used to output the video signal output by the screen scheduling module to the remote control console control unit in a multi-screen layout. The main screen and auxiliary screen are displayed simultaneously on the console interface. The main screen corresponds to the video channel of the currently managed or abnormal gate machine, and the auxiliary screen corresponds to the monitoring screen of the other gate machines.

5. The one-to-many remote automated operation system for gantry cranes according to claim 2, characterized in that, The central control unit also includes a collision avoidance and collaborative control module. The collision avoidance and collaborative control module is used to compare and predict the spatial position signals uploaded by the remote control execution units of each gantry crane when multiple gantry cranes perform automated operations at the same time, and calculate the minimum safe distance between the spreaders or booms of each gantry crane based on the spatial mapping model. When the predicted distance between any two gantry cranes is less than a preset safety threshold, the following control logic is executed: The collision avoidance judgment unit calculates the gantry crane's operating trend based on the change rate of position parameters and the type of work order. When it determines that there is a risk of path intersection or overlapping work areas, it sends a speed limit command to the task scheduling module. The command corresponds to the gantry crane remote control execution unit to decelerate or suspend the slewing action. The priority allocation unit determines the operation priority based on the operation type, yard area and loading / unloading sequence of each gantry crane work order. When there is a path conflict, the control command of the gantry crane with higher priority is executed first, and the scheduling execution of the gantry crane with lower priority is suspended. After detecting that the path conflict has been resolved, the spatial mapping and correction unit recalculates the spatial trajectory of each gantry crane, generates updated synchronization control commands, and sends them to the task scheduling module to restore the normal operation of each gantry crane. The collision avoidance and collaborative control module is also used to monitor the spatial relationship between manually operated gantry cranes and automatically operated gantry cranes when the safety takeover logic module is in manual takeover mode. If it is detected that manual control actions may cause spatial interference, the central control unit will generate an avoidance path or restrict the action range of adjacent gantry cranes while maintaining the priority control of the manual gantry crane.

6. The one-to-many remote automated operation system for gantry cranes according to claim 1, characterized in that, The intelligent management and control platform for gantry cranes also includes a gantry crane selection unit, an alarm display unit, and an operation data statistics unit, among which: The gantry crane selection unit is used to filter and match available gantry cranes based on the operating status signals and spatial position signals of each gantry crane uploaded by the central control unit. When a gantry crane is detected to be idle or to have completed the previous work order, the unit generates gantry crane identification information and sends it to the central control unit. The alarm display unit is used to receive abnormal alarm signals forwarded from the central control unit and display and record them hierarchically on the interface of the intelligent management and control platform for the door machine. The hierarchical display includes three types of status: general alarm, serious alarm and emergency shutdown alarm. The operation data statistics unit is used to periodically summarize the operating status signals, operation instruction execution records and work order feedback data uploaded by the gantry crane remote control execution unit. It records the operation time, number of lifting operations, loading and unloading volume, energy consumption and fault frequency parameters of each gantry crane, and sends the statistical results to the central control processing unit for optimizing task scheduling and work order priority allocation.

7. A method for remote automated operation of a gantry crane to multiple locations, employing the remote automated operation system for a gantry crane to multiple locations as described in any one of claims 1-6, characterized in that, The method includes the following steps: The gantry crane remote control execution unit collects the gantry crane's operating speed, angular position, and spatial coordinate information, generates operating status signals and spatial position signals, and sends these signals to the central control processing unit; the gantry crane remote control execution unit also acquires video signals and outputs them to the video linkage switching platform; The central control processing unit receives manual operation command signals from the remote control console control unit and work order parameters from the intelligent management and control platform of the gantry crane. It performs logical operations on the manual operation command signals and work order parameters, generates synchronous control commands and sends them to the remote control execution unit of the gantry crane. It also receives the operating status signals fed back by each gantry crane for timestamp alignment and synchronization determination. When the zero position signal of the operating handle, the emergency stop signal, or the abnormal alarm signal of the door operator is detected, the central control unit executes the takeover priority logic to switch to the manual control mode and generates a door operator identification signal to be sent to the video linkage switching platform. The video linkage switching platform receives video signals from the remote control execution unit of the gantry crane and gantry crane identification signals from the central control unit. Based on the gantry crane identification signals, it calls the corresponding video display template and outputs the video image to the remote control console control unit. The remote control console control unit receives operation start, takeover, or stop signals input by the operator, sends the operation signals to the central control processing unit, and receives the operation status signals returned by the central control processing unit to display on the interface. The intelligent management and control platform for gantry cranes receives and visualizes the gantry crane's operating status signals from the central control unit. Based on the operating status signals uploaded by the remote control execution unit of the gantry crane, it calculates the operating space range and sends the preset operating parameters corresponding to the operating space range to the remote control execution unit of the gantry crane via the central control unit, forming automated operation instructions to control the gantry crane to perform the corresponding operation tasks.

8. The one-to-many remote automated operation system for gantry cranes according to claim 7, characterized in that, When the central control processing unit performs timestamp alignment and synchronization determination on the operating status signals uploaded by the remote control execution units of each gantry crane, it compares the rate of change of operating speed, angular displacement and spatial coordinate difference in adjacent sampling periods. When it detects that the difference between the operating status signal of any gantry crane and the previous period exceeds the preset synchronization deviation threshold, it adjusts the refresh cycle of the control command of that gantry crane or suspends the synchronization update.

9. A terminal, characterized in that, include: The memory is used to store the one-to-many remote automated operation program of the gantry crane; A processor is used to implement the steps of the one-to-many remote automated operation method for gantry cranes as described in claim 7 when executing the one-to-many remote automated operation system for gantry cranes.

10. A computer-readable storage medium, characterized in that, The storage medium stores computer instructions. When the computer reads the computer instructions from the storage medium, the computer executes the one-to-many remote automated operation method for the gantry crane as described in claim 7.

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