Bulk cargo terminal remote management and control system

Abstract

This invention discloses a remote control system for bulk cargo terminals, comprising: N gantry crane units; each gantry crane unit is equipped with two mobile hopper units; and a collaborative operation control unit: used to control the gantry crane units and mobile hopper units when the gantry crane units transmit vibration prevention steady-state, wire rope breakage prevention steady-state, and wind-resistant adaptive steady-state conditions, and when the gantry cranes and hoppers are aligned, thereby achieving collaborative operation control and monitoring of the N gantry crane units and their two mobile hopper units during unloading (without material) and loading (with material), as well as collision protection control and monitoring during the collaborative operation. This invention, by supplementing the collaborative operation control function of gantry cranes and mobile hoppers, achieves a dual improvement in the efficiency and safety of bulk cargo terminal operations.

Description

Technical Field

[0001] This invention belongs to the technical field of bulk cargo terminals equipped with gantry cranes and mobile hoppers, and relates to a remote control system for bulk cargo terminals. Background Technology

[0002] Gantry cranes are heavy-duty lifting equipment widely used in ports and shipyards. Their structural features include a tall portal frame with slewing, luffing, and hoisting mechanisms, enabling efficient material handling over large areas. Mobile hoppers are mobile devices used for temporary storage, transfer, and quantitative feeding of materials, widely used in bulk cargo terminals. Their core features are mobility and flexible unloading, allowing them to work in conjunction with gantry cranes, trucks, and other equipment to achieve efficient material flow. Some bulk cargo terminals typically have a number of gantry cranes and mobile hoppers. The gantry cranes are used to grab bulk cargo from the holds of bulk carriers and load it into the mobile hoppers. The mobile hoppers then align the loaded material with terminal transport trucks and load it into the trucks, completing the unloading operation. To further improve the operational efficiency and stability of bulk cargo terminals, there is an urgent need to develop a remote control system for bulk cargo terminals. Summary of the Invention

[0003] To solve the above problems, the technical solution adopted by the present invention is: a remote control system for bulk cargo terminals, comprising:

[0004] N gantry crane units; Each gantry crane unit is equipped with two mobile hopper units: Mobile Hopper Unit A and Mobile Hopper Unit B; Two mobile hopper units: each located in a different loading area for unloading and loading materials; Gantry crane unit: Used to control and monitor the unloading and loading process of gantry crane when the gantry crane is in vibration prevention steady state, wire rope breakage prevention steady state, or windproof adaptive steady state; Mobile hopper unit: used to control the storage, transfer and quantitative feeding of materials in the mobile hopper when the gantry crane and the hopper are aligned. Collaborative operation control unit: used to control the gantry crane unit and the mobile hopper unit based on the vibration prevention steady-state, wire rope breakage prevention steady-state, and windproof adaptive steady-state transmitted by the gantry crane unit, and when the gantry crane and hopper are aligned by the mobile hopper unit. This enables collaborative operation control and monitoring of N gantry crane units and their two configured mobile hopper units during unloading and loading of materials, as well as collision protection control and monitoring during collaborative operation.

[0005] Furthermore: the seated crane unit and its configuration of two mobile hopper units for coordinated operation control during unloading of empty materials and loading of materials include the following steps: S1: Align the gantry crane with the target positions of the A mobile hopper unit and the B mobile hopper unit respectively; S2: After completing the alignment control of their respective target positions, start the unloading and loading operations of the current hatch; S3: After activating the vibration prevention steady-state control, wire rope breakage prevention steady-state control, and windproof adaptive steady-state control functions of the gantry crane, the material-bearing capacity of the A mobile hopper unit and the B mobile hopper unit is judged, and the mobile hopper that bears the material first is unloaded. S4: After the material inside the mobile hopper that prioritizes receiving material is loaded, when the material load inside the mobile hopper reaches the allowable feeding amount, and the mobile hopper that prioritizes receiving material detects that the transfer truck has stopped below it and completed the alignment control, the mobile hopper that prioritizes receiving material loads material onto the transfer truck below it. S5: The material is then carried by another mobile hopper. When the material load inside the other mobile hopper reaches the allowable feeding amount, and the other mobile hopper detects that the transfer truck has stopped below it and has completed precise positioning control, the other mobile hopper loads the material onto the transfer truck below it.

[0006] Furthermore, the alignment control method is as follows: The positioning control speed of the gantry crane is given by V = (2 a 门座 (S 门座目标 -S 门座实际 )) 0.5 ; Where: a 门座 S is the acceleration of the trolley mechanism of a gantry crane. 门座目标 S represents the center position value of the hatch. 门座实际 This represents the actual position value of the gantry crane.

[0007] Furthermore, the process of determining the material-carrying capacity of mobile hopper unit A and mobile hopper unit B is as follows: When W 1A / W 1A额定 ≥(W 1A额定 -W 门座 ) / W 1A额定 At that time, mobile hopper A has a higher priority in receiving materials than mobile hopper B; When W 1A / W 1A额定 <(W) 1A额定 -W门座 ) / W 1A额定 And W 1B / W 1B额定 ≥(W 1B额定 -W 门座 ) / W 1B额定 At that time, the B mobile hopper unit has a higher priority in receiving materials than the A mobile hopper unit; When W 1A / W 1A额定 <(W) 1A额定 -W 门座 ) / W 1A额定 And W 1B / W 1B额定 <(W) 1B额定 -W 门座 ) / W 1B额定 At this time, both mobile hopper unit A and mobile hopper unit B are prohibited from receiving materials.

[0008] Furthermore, the method for determining whether the material load inside the mobile hopper has reached the allowable feeding amount is as follows: When the weight W of the material in the moving hopper 实际 >W 卡车 +a W 额定 At that time, the material load inside the current mobile hopper reaches the operating feed rate value; Among them: W 卡车 The rated load capacity of the transfer truck; 'a' is the impact protection coefficient for the mobile hopper; W 额定 The rated load capacity of the mobile hopper.

[0009] Furthermore, the process of controlling the unloading and loading of materials by the gantry crane unit for the two moving hopper units also includes: The current hatch unloading and loading operation volume of the unloading and loading equipment combination consisting of the gantry crane unit and two mobile hopper units is statistically analyzed. When the statistically analyzed real-time operation volume reaches the target operation volume, the unloading and loading equipment combination ends the unloading and loading operation task of the current hatch. The current hatch unloading and loading volume is statistically analyzed using the following method: Current hatch unloading and loading volume W=W 前序 +W 当前 -W 抓斗 ; Among them: W 前序 This refers to the statistical values ​​of unloading and loading operations during the preceding operation cycle of a gantry crane; W 当前 W represents the weight of the grab bucket during the uniform-speed closed-bucket lifting phase of the current operating cycle of the gantry crane. 抓斗 The weight of the grab bucket of the No. 1 gantry crane.

[0010] Further: the gantry crane unit includes: Steady-state monitoring device: used to realize vibration prevention steady-state control, wire rope breakage prevention steady-state control and wind-proof adaptive steady-state control for pedestal cranes; Gantry crane control device: used to realize unloading and loading operations of gantry cranes when vibration prevention steady-state control, wire rope breakage prevention steady-state control and wind-proof adaptive steady-state control are performed on the gantry crane based on the steady-state monitoring device; Gantry crane video monitoring device: used for video monitoring of the operating status of gantry cranes.

[0011] Furthermore: the mobile hopper unit includes: Automatic alignment monitoring device: used for precise alignment control between the mobile hopper and the transfer truck; Precision feeding device: used to acquire the status of the moving hopper during the loading process and to precisely control the feeding of the moving hopper; Mobile hopper control device: Based on the precise alignment between the mobile hopper and the transfer truck transmitted by the automatic alignment monitoring device and the precise feeding device transmitted by the precise feeding device, the device controls the feeding of the mobile hopper to realize the temporary storage, transfer and quantitative feeding of materials in the mobile hopper. Mobile hopper video monitoring device: used for video monitoring of mobile hopper operations.

[0012] Furthermore: the collaborative operation control unit includes: Collaborative operation control device: used to coordinate and control the unloading of empty materials and loading of materials for N gantry crane units and their corresponding mobile hopper units; Collision avoidance control device: used to provide collision avoidance protection for N gantry crane units and their corresponding mobile hopper units during the unloading of empty materials and loading of materials. Remote control console: used for remote operation and remote monitoring of the N gantry crane units and their corresponding mobile hopper units transmitted by the collaborative operation control device, and for anti-collision protection during the unloading of no material and loading of material transmitted by the anti-collision control device.

[0013] The present invention provides a remote control system for bulk cargo terminals, which improves the steady-state operation function of gantry cranes, and equips mobile hoppers with functions such as precise automatic alignment and intelligent feeding control, and is supplemented by the collaborative operation control function of gantry cranes and mobile hoppers, thereby achieving a dual improvement in the efficiency and safety of bulk cargo terminal operations.

[0014] 1. This application has a simple structure and strong practicality; 2. Suitable for bulk cargo terminals, with a high degree of automation; 3. It helps bulk cargo terminals optimize staffing. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a diagram of the architecture of a remote control system for bulk cargo terminals; Figure 2 This is a layout diagram of the remote control system for bulk cargo terminals; Figure 3 This is a schematic diagram of a gantry crane unit; Figure 4 This is a schematic diagram of a mobile hopper unit; Figure 5 This is a unit layout diagram of a gantry crane; Figure 6 This is a layout diagram of the mobile hopper unit; Figure 7 This is a schematic diagram of the collaborative operation management interface; Figure 8 This is a layout diagram of the collaborative operation control unit; Figure 9 This is the wiring diagram for a gantry crane unit; Figure 10 This is the wiring diagram for the mobile hopper unit; Figure 11 This is a wiring diagram of the collaborative operation control unit; where (a) is a schematic diagram of collaborative operation control. Figure 1 (b) is a schematic diagram of collaborative operation control. Figure 2 ; Figure 12 This is the control flowchart of the bulk cargo terminal remote management and control system; Figure 13 It is a flowchart for the combined operation control of single-compartment unloading and loading equipment. Detailed Implementation

[0017] It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. 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.

[0019] Figure 1 This is a diagram of the architecture of a remote control system for bulk cargo terminals; A remote control system for bulk cargo terminals includes: N gantry crane units; N is a positive integer; To achieve higher operational efficiency, bulk cargo terminals typically configure gantry cranes and mobile hoppers in a 1:2 ratio. For each gantry crane, one mobile hopper is deployed in both its corresponding loading area A and loading area B to work in tandem, forming a "gantry crane + mobile hopper" unloading and loading equipment combination. For the entire bulk cargo terminal, multiple "gantry crane + mobile hopper" unloading and loading equipment combinations are configured based on the terminal site and operational planning. Two mobile hopper units: each located in a different loading area for unloading and loading materials; Gantry crane unit: Used to control and monitor the unloading and loading process of gantry crane when the gantry crane is in vibration prevention steady state, wire rope breakage prevention steady state, or windproof adaptive steady state; Mobile hopper unit: used to control the storage, transfer and quantitative feeding of materials in the mobile hopper when the gantry crane and the hopper are aligned. Collaborative operation control unit: used to control the gantry crane unit and the mobile hopper unit based on the vibration prevention steady-state, wire rope breakage prevention steady-state, and windproof adaptive steady-state transmitted by the gantry crane unit, and when the gantry crane and hopper are aligned by the mobile hopper unit. This enables collaborative operation control and monitoring of N gantry crane units and their two configured mobile hopper units during unloading and loading of materials, as well as collision protection control and monitoring during collaborative operation.

[0020] Figure 2 This is a layout diagram of the remote control system for bulk cargo terminals; Figure 3 This is a schematic diagram of a gantry crane unit; Figure 4 This is a schematic diagram of a mobile hopper unit; Furthermore: the gantry crane unit controls the unloading and loading of materials for the two moving hopper units respectively, including the following steps: S1: Align the gantry crane with the target positions of the A mobile hopper unit and the B mobile hopper unit respectively; S2: After completing the alignment control of their respective target positions, start the unloading and loading operations of the current hatch; S3: After activating the vibration prevention steady-state control, wire rope breakage prevention steady-state control, and windproof adaptive steady-state control functions of the gantry crane, the material-bearing capacity of the A mobile hopper unit and the B mobile hopper unit is judged, and the mobile hopper that bears the material first is unloaded. S4: After the material inside the mobile hopper that prioritizes receiving material is loaded, when the material load inside the mobile hopper reaches the allowable feeding amount, and the mobile hopper that prioritizes receiving material detects that the transfer truck has stopped below it and completed the alignment control, the mobile hopper that prioritizes receiving material loads material onto the transfer truck below it. S5: The material is then carried by another mobile hopper. When the material load inside the other mobile hopper reaches the allowable feeding amount, and the other mobile hopper detects that the transfer truck has stopped below it and has completed precise positioning control, the other mobile hopper loads the material onto the transfer truck below it.

[0021] Furthermore, the alignment control method is as follows: The positioning control speed of the gantry crane is given by V = (2 a 门座 (S 门座目标 -S 门座实际 )) 0.5 ; Where: a 门座 S is the acceleration of the trolley mechanism of a gantry crane. 门座目标 S represents the center position value of the hatch. 门座实际 This represents the actual position value of the gantry crane.

[0022] Furthermore, the process of determining the material-carrying capacity of mobile hopper unit A and mobile hopper unit B is as follows: When W 1A / W 1A额定 ≥(W 1A额定 -W 门座 ) / W 1A额定 At that time, mobile hopper A has a higher priority in receiving materials than mobile hopper B; When W 1A / W 1A额定 <(W)1A额定 -W 门座 ) / W 1A额定 And W 1B / W 1B额定 ≥(W 1B额定 -W 门座 ) / W 1B额定 At that time, the B mobile hopper unit has a higher priority in receiving materials than the A mobile hopper unit; When W 1A / W 1A额定 <(W) 1A额定 -W 门座 ) / W 1A额定 And W 1B / W 1B额定 <(W) 1B额定 -W 门座 ) / W 1B额定 At this time, both mobile hopper unit A and mobile hopper unit B are prohibited from receiving materials.

[0023] Furthermore, the method for determining whether the material load inside the mobile hopper has reached the allowable feeding amount is as follows: When the weight W of the material in the moving hopper 实际 >W 卡车 +a W 额定 At that time, the material load inside the current mobile hopper reaches the operating feed rate value; Among them: W 卡车 The rated load capacity of the transfer truck; 'a' is the impact protection coefficient for the mobile hopper; W 额定 The rated load capacity of the mobile hopper.

[0024] Furthermore, the process of controlling the unloading and loading of materials by the gantry crane unit for the two moving hopper units also includes: The current hatch unloading and loading operation volume of the unloading and loading equipment combination consisting of the gantry crane unit and two mobile hopper units is statistically analyzed. When the statistically analyzed real-time operation volume reaches the target operation volume, the unloading and loading equipment combination ends the unloading and loading operation task of the current hatch. The current hatch unloading and loading volume is statistically analyzed using the following method: Current hatch unloading and loading volume W=W 前序 +W 当前 -W 抓斗 ; Among them: W 前序 This refers to the statistical values ​​of unloading and loading operations during the preceding operation cycle of a gantry crane; W 当前 W represents the weight of the grab bucket during the uniform-speed closed-bucket lifting phase of the current operating cycle of the gantry crane. 抓斗 The weight of the grab bucket of the No. 1 gantry crane.

[0025] Further: the gantry crane unit includes: Steady-state monitoring device: used to realize vibration prevention steady-state control, wire rope breakage prevention steady-state control and wind-proof adaptive steady-state control for pedestal cranes; Gantry crane control device: used to realize unloading and loading operations of gantry cranes when vibration prevention steady-state control, wire rope breakage prevention steady-state control and wind-proof adaptive steady-state control are performed on the gantry crane based on the steady-state monitoring device; Gantry crane video monitoring device: used for video monitoring of the operating status of gantry cranes.

[0026] Furthermore: the mobile hopper unit includes: Automatic alignment monitoring device: used for precise alignment control between the mobile hopper and the transfer truck; Precision feeding device: used to acquire the status of the moving hopper during the loading process and to precisely control the feeding of the moving hopper; Mobile hopper control device: Based on the precise alignment between the mobile hopper and the transfer truck transmitted by the automatic alignment monitoring device and the precise feeding device transmitted by the precise feeding device, the device controls the feeding of the mobile hopper to realize the temporary storage, transfer and quantitative feeding of materials in the mobile hopper. Mobile hopper video monitoring device: used for video monitoring of mobile hopper operations.

[0027] Furthermore: the collaborative operation control unit includes: Collaborative operation control device: used to coordinate and control the unloading of empty materials and loading of materials for N gantry crane units and their corresponding mobile hopper units; Collision avoidance control device: used to provide collision avoidance protection for N gantry crane units and their corresponding mobile hopper units during the unloading of empty materials and loading of materials. Remote control console: used for remote operation and remote monitoring of the N gantry crane units and their corresponding mobile hopper units transmitted by the collaborative operation control device, and for anti-collision protection during the unloading of no material and loading of material transmitted by the anti-collision control device.

[0028] Figure 5 This is a unit layout diagram of a gantry crane; The gantry crane unit corresponding to a single gantry crane includes: a steady-state monitoring device, a gantry crane control device, and a gantry crane video monitoring device; The control device for the gantry crane is installed on the gantry crane; Steady-state monitoring device: used to realize vibration prevention steady-state control, wire rope breakage prevention steady-state control and wind-proof adaptive steady-state control for pedestal cranes; Gantry crane control device: used to realize unloading and loading operations of gantry cranes when vibration prevention steady-state control, wire rope breakage prevention steady-state control and wind-proof adaptive steady-state control are performed on the gantry crane based on the steady-state monitoring device; Gantry crane video monitoring device: used for video monitoring of the operating status of gantry cranes; The gantry crane control device includes a PLC control unit, frequency converter units for each mechanism of the gantry crane, and motor units for each mechanism of the gantry crane. The PLC control unit includes a gantry PLC module, a gantry switch, a gantry DI module, and a gantry DO module installed in the PLC compartment of the gantry crane. The frequency converter units of each of the gantry-type mechanisms include frequency converters for the gantry luffing mechanism, the gantry hoisting mechanism, the gantry slewing mechanism, and the gantry trolley mechanism, all installed in the electrical room. Window frame luffing mechanism frequency converter: used to drive the motor of the window frame luffing mechanism to rotate in the forward and reverse directions; Window hoisting mechanism frequency converter: used to drive the gantry hoisting mechanism motor to rotate in the forward and reverse directions; Portal slewing mechanism frequency converter: used to drive the motor of the portal slewing mechanism to rotate in the forward and reverse directions; gantry crane mechanism frequency converter: used to drive the gantry crane mechanism motor to rotate in the forward and reverse directions; The motor units of each mechanism of the gantry type include a gantry luffing mechanism motor, a gantry lifting mechanism motor installed in the machine room, a gantry slewing mechanism motor installed on the slewing mechanism, a gantry trolley mechanism motor installed on the trolley mechanism, and an electric anchoring lock and its lock hole installed on the slewing mechanism. It is used to implement the unloading and loading operations and steady-state control functions of gantry cranes.

[0029] The gantry luffing mechanism motor achieves the raising and lowering actions of the gantry luffing mechanism by rotating in the forward and reverse directions; The gantry crane hoisting mechanism motor achieves the raising and lowering of the gantry crane's lifting device by rotating in the forward and reverse directions; The slewing mechanism motor of the gantry crane achieves clockwise and counterclockwise rotation of the upper structure through forward and reverse rotation; The gantry crane's trolley mechanism motor achieves forward and backward movement along the trolley track by rotating in the forward and reverse directions. Electric anchoring locks and their lock holes are used to anchor and release the slewing mechanism of a gantry crane.

[0030] The portal PLC module receives monitoring data from the steady-state monitoring device transmitted via the portal switch, and sends control commands to the portal luffing mechanism frequency converter, portal hoisting mechanism frequency converter, portal slewing mechanism frequency converter, and portal trolley mechanism frequency converter via the portal switch. These commands then control the corresponding motors of the portal luffing mechanism, portal hoisting mechanism, portal slewing mechanism, and portal trolley mechanism to perform corresponding actions, thereby realizing functions such as unloading and loading operations of the portal crane, vibration prevention steady-state control, wire rope breakage prevention steady-state control, and wind-resistant adaptive steady-state control. The gantry switch is used for data transmission between the gantry PLC module and the steady-state monitoring device, the gantry luffing mechanism frequency converter, the gantry hoisting mechanism frequency converter, the gantry slewing mechanism frequency converter, and the gantry trolley mechanism frequency converter, as well as data transmission between the gantry crane unit and the collaborative operation control unit. The DI module for the door seat is used to receive the anchoring and release signals of the electric anchor lock; The DO module of the gantry is used to control the anchoring and releasing actions of the electric anchor lock; Steady-state monitoring devices are classified into vibration prevention steady-state monitoring devices, wire rope breakage prevention steady-state monitoring devices, and wind-resistant adaptive steady-state monitoring devices.

[0031] The vibration prevention steady-state monitoring device includes a vibration monitoring server, a vibration data acquisition unit, and multiple vibration monitoring sensors to monitor data. Multiple vibration monitoring sensors: These are used to sample and receive monitoring data from vibration monitoring sensors installed on key structural parts of the gantry crane. Vibration data acquisition unit: used to transmit monitoring data of key structural parts of gantry cranes based on multiple vibration monitoring sensors; Vibration monitoring server: Used to perform abnormal vibration diagnosis and analysis based on the monitoring data of key structural parts of the gantry crane transmitted by the vibration data acquisition device, and then process the diagnosed abnormal vibration data.

[0032] The vibration monitoring server performs calculations to obtain the real-time vibration level of each key structural part during the operation of the gantry crane, and transmits this result to the gantry PLC module via the gantry switch.

[0033] The vibration monitoring server is installed in the PLC room; The abnormal vibration data diagnosed by the vibration monitoring server is transmitted to the gantry crane control device for steady-state control aimed at suppressing the abnormal vibration. The wire rope breakage prevention steady-state monitoring device includes a high-definition camera for the gantry, a magnetic flux monitoring sensor for the hoisting wire rope, and a wire rope monitoring server; First gate high-definition camera: used to collect image data of the hoisting mechanism wire rope between the top of the elephant trunk beam and the lifting device; Magnetic flux monitoring sensor for hoisting wire rope: used to monitor the magnetic flux value of the hoisting wire rope passing through the rope outlet of the machine room; Wire rope monitoring server: Based on the image data of the hoisting mechanism wire rope from the top of the elephant trunk beam to the lifting device transmitted by the high-definition camera of the first gantry crane, and the magnetic flux value of the hoisting wire rope passing through the rope outlet of the machine room transmitted by the magnetic flux monitoring sensor of the hoisting wire rope, the server calculates and processes the data to obtain the degree of wire rope breakage and the location of wire breakage throughout the entire stroke of the hoisting mechanism of the gantry crane. The wire rope monitoring server transmits the degree and location of wire rope breakage throughout the entire stroke of the hoisting mechanism of the gantry crane to the gantry crane control device (the switch transmits the data to the gantry PLC module) for steady-state control to prevent wire rope breakage. The wire rope monitoring server is installed in the PLC room; The magnetic flux monitoring sensor for the hoisting wire rope is installed at the rope outlet in the machine room; The first high-definition camera is installed on the top of the elephant's trunk. The windproof adaptive steady-state monitoring device includes a wind speed detection sensor, a wind direction detection sensor, and an absolute encoder module; Wind speed detection sensor: used to collect real-time wind speed data at bulk cargo terminals; Wind direction sensor: used to collect real-time wind direction data at bulk cargo terminals; Absolute encoder module: used to detect the real-time angle of the rotary mechanism; The wind speed sensor, wind direction sensor, and absolute encoder module transmit the detected data to the gantry crane control device (the gantry switch transmits the data to the gantry PLC module).

[0034] Gantry crane video monitoring device: used to collect and transmit video information of gantry crane operation to the collaborative operation control unit; The gantry video monitoring device includes a second high-definition camera installed on the top of the gantry crane's trunk beam and a gantry video monitoring switch installed in the gantry crane's PLC room. Second gantry high-definition camera: used to collect image data of the working area under the trunk beam of the gantry crane; Portal video surveillance switch: Used to transmit image data of the working area under the elephant trunk beam of the gantry crane captured by the high-definition camera on the second portal to the collaborative operation control unit.

[0035] Figure 6 This is a layout diagram of the mobile hopper unit; A single mobile hopper unit includes a mobile hopper control device, an automatic alignment monitoring device, a precision feeding device, and a mobile hopper video monitoring device, all installed on the mobile hopper. Automatic alignment monitoring device: used for precise alignment control between the mobile hopper and the transfer truck; Precision feeding device: used to acquire the status of the moving hopper during the loading process and to precisely control the feeding of the moving hopper; Mobile hopper control device: Based on the precise alignment between the mobile hopper and the transfer truck transmitted by the automatic alignment monitoring device and the precise feeding device transmitted by the precise feeding device, the device controls the feeding of the mobile hopper to realize the temporary storage, transfer and quantitative feeding of materials in the mobile hopper. Mobile hopper video monitoring device: used for video monitoring of mobile hopper operations.

[0036] Automatic alignment monitoring device: used to achieve precise alignment monitoring of the mobile hopper with the transfer truck; The automatic alignment monitoring device includes a hopper image processing server installed in the control box at the trolley structure, a hopper trolley absolute encoder installed on the trolley structure, and a hopper high-definition camera installed on the mobile hopper frame. The absolute encoder of the hopper trolley is used to monitor the real-time position of the moving hopper trolley mechanism and transmit the monitoring data to the moving hopper control device. High-definition camera for hoppers: used to acquire image data of the upper surface of the transfer truck located below the mobile hopper and transmit it to the hopper image processing server; Hopper Image Processing Server: Used to process and analyze the image data captured by the high-definition camera, thereby obtaining the alignment deviation value between the mobile hopper and the transfer truck, and transmitting it to the mobile hopper control device.

[0037] Precision feeding device: used to open and close the hopper gate at the discharge port at the bottom of the hopper and control the opening degree, and at the same time realize the start, stop and speed control of the feeder; The precision feeding device includes a hopper gate opening and closing contactor installed in the control box at the trolley structure, four weighing sensors installed at the bottom of the hopper, a laser rangefinder installed on the moving hopper frame, and an electro-hydraulic actuator for the hopper gate installed at the discharge port, along with its built-in displacement sensor. The hopper gate opening and closing contactor is controlled by the mobile hopper control device to release and engage, thereby driving the hopper gate electro-hydraulic push rod to extend and retract. Weighing sensors: Pressure type weighing sensors are used and installed at the four corners of the moving hopper. The detected pressure values ​​are transmitted to the moving hopper control device in the form of 4-20mA signals. The laser rangefinder is directed towards the cargo bed of the transfer truck to detect the material loading height in real time. The detection data is transmitted to the mobile hopper control device to determine whether the cargo bed of the transfer truck is full and to prevent overflow protection. The hopper gate electro-hydraulic actuator: It realizes the opening, closing and opening degree adjustment control of the hopper gate through the extension and retraction action; the displacement sensor built into the hopper gate electro-hydraulic actuator adopts the form of a pull rope sensor, which outputs a 4-20mA signal to the moving hopper control device.

[0038] The mobile hopper control device includes a hopper PLC control unit and a hopper drive unit; the hopper PLC control unit and the hopper drive unit are connected. Hopper PLC control unit: Receives monitoring data from the automatic alignment monitoring device and the precision feeding device transmitted via the hopper exchange; Hopper drive unit: Based on the monitoring data transmitted by the hopper PLC control unit from the automatic alignment monitoring device and the precision feeding device, it realizes the functions of temporary material storage, transfer and quantitative feeding of the moving hopper; The hopper PLC control unit includes a hopper PLC module, a hopper switch, a hopper DO module, and a hopper AI module installed in the control box at the trolley structure. The hopper PLC module is used to receive monitoring data from the automatic alignment monitoring device and the precision feeding device transmitted by the hopper switch, and to send control commands to the feeder frequency converter and the hopper trolley mechanism frequency converter through the hopper switch, thereby controlling the feeder and hopper trolley mechanism motors to perform corresponding actions, realizing functions such as temporary storage, transfer and quantitative feeding of materials in the mobile hopper, precise alignment control between the mobile hopper and the transfer truck, and precise feeding control of the mobile hopper; Hopper switch: Used for data transmission between the hopper PLC module and the automatic alignment monitoring device, precision feeding device, feeder frequency converter, and hopper trolley mechanism frequency converter, as well as data transmission between the moving hopper unit and the collaborative operation control unit; Hopper DO module: Used to control the release and engagement of the hopper gate opening and closing contactor in the precision feeding device, thereby driving the hopper gate electro-hydraulic push rod to extend and retract, so as to realize the opening, closing and opening degree adjustment of the hopper gate; Hopper AI module: Used to receive data from the weighing sensor in the precision feeding device and the displacement sensor built into the electro-hydraulic push rod of the hopper gate; The hopper drive unit includes a feeder frequency converter and a hopper trolley mechanism frequency converter installed in the control box at the trolley structure. The feeder is installed at the discharge port, and the hopper trolley mechanism motor is installed on the trolley structure.

[0039] Feeder frequency converter: used to drive the feeder to start, stop, and adjust its speed; Container inverter for hopper trolley mechanism: used to drive the motor of hopper trolley mechanism to rotate in the forward and reverse directions; The feeder is used to feed materials downward from the moving hopper; The hopper trolley mechanism motor achieves the forward and backward movement of the hopper by rotating in the forward and reverse directions.

[0040] Hopper video monitoring device: used to collect and transmit video information of mobile hopper operations to the collaborative operation control unit; Hopper video monitoring device: includes a high-definition camera for hopper monitoring installed at the door frame of the mobile hopper and a hopper video monitoring switch installed in the control box at the mobile hopper trolley; The high-definition camera for hopper monitoring is used to collect image data of the working area below the mobile hopper, which is then transmitted to the collaborative operation control unit via the hopper video monitoring switch.

[0041] Figure 7 This is a schematic diagram of the collaborative operation management interface; Figure 8 This is a layout diagram of the collaborative operation control unit; The collaborative operation control unit includes a remote control console installed in the central control room, collaborative operation control devices, and anti-collision control devices distributed throughout the bulk cargo terminal. The remote control device is used to realize the remote operation and remote monitoring of the gantry cranes and mobile hoppers at the bulk cargo terminal. Collaborative operation control device: Enables collaborative operation control of gantry cranes and mobile hoppers at bulk cargo terminals; Collision avoidance control device: used for collision avoidance protection during the coordinated operation of gantry cranes and mobile hoppers at bulk cargo terminals; The number of remote control units is consistent with the number of "gantry crane + mobile hopper" unloading and loading equipment combinations configured in the bulk cargo terminal. Each remote control unit includes a four-screen display and a control panel, used for remote monitoring and manual intervention by operators. Of the four screens, screen #1 displays video information of the gantry crane operation, screen #2 displays video information of the mobile hopper operation in loading area A, screen #3 displays video information of the mobile hopper operation in loading area B, and screen #4 displays the collaborative operation management interface. The control panel is equipped with corresponding remote control components for the gantry crane and mobile hopper, used only for remote manual intervention during fault handling.

[0042] The collaborative operation management and control device includes a collaborative operation management and control server, a video surveillance switch, a video surveillance server, a collaborative operation management and control PLC, a collaborative operation management and control DI module, a collaborative operation management and control DO module, and a data switch. The collaborative operation management server is used to run the collaborative operation management interface and send multi-machine collaborative scheduling instructions from the bulk cargo terminal to the collaborative operation management PLC. The collaborative operation management interface is displayed on screen #4 of the four-screen display. Video surveillance switch: Used to receive image data of the working area below the gantry crane and the working area below the mobile hopper, and transmit them to the video surveillance server. Video monitoring server: used to send the above image data to screens 1#, 2#, and 3# of the four-screen display for displaying video images of the working area below the moving hopper of the gantry crane; Collaborative operation control PLC: Used to receive scheduling command signals from the collaborative operation control server and remote control command signals from the control panel, and transmit the corresponding control commands to the gantry crane unit and the mobile hopper unit respectively via the data exchange. Collaborative Operation Management DI Module: Used to receive remote control command signals from the control panel; Collaborative Operation Management (DO) Module: Used to send remote control status display information to the control panel; Data switch: Used to establish data transmission links between the collaborative operation control unit, the gantry crane unit, and the mobile hopper unit.

[0043] The aforementioned collaborative operation management interface is used to implement collaborative operation management functions for a single "gantry crane + mobile hopper" unloading and loading equipment combination. The interface details are as follows: Figure 4 As shown, The collaborative operation management interface is divided into a 3D presentation area, an operation data display area, and an operation task input area. The 3D presentation area is used to display in real time the 3D image information of the operation of the gantry crane and the mobile hopper in the unloading and loading equipment combination of a single "gantry crane + mobile hopper", so that the on-duty personnel can intuitively understand the real-time operating status of the equipment. Operation data display area: Used to display in real time the operation data information of the gantry crane and the mobile hopper in the "gantry crane + mobile hopper" unloading and loading equipment combination, such as real-time location, load weight, work order task execution status, equipment health status, etc., so that the on-duty personnel can grasp the operation status of the entire unloading and loading equipment combination; The task entry area is used to create work orders for a single "gantry crane + mobile hopper" unloading and loading equipment combination. It can realize functions such as creating the target workload of the unloading and loading equipment combination for the current work hatch, the hatch number and workload of the next work order, setting the feeding area of ​​the mobile hopper, and setting the target feeding amount of the mobile hopper.

[0044] Collision protection devices include: collision protection elements for gantry cranes, collision protection elements for mobile hoppers, and collision protection elements for central control coordination. Anti-collision protection components for gantry cranes: used to achieve anti-collision protection between gantry cranes and adjacent equipment, dock machinery and personnel, as well as electronic fence alarms for the gantry crane's operating area; Mobile hopper anti-collision protection element: used to realize anti-collision protection between the mobile hopper and adjacent equipment, dock flow machine and personnel, as well as electronic fence human and machine intrusion alarm in the mobile hopper operation area; Central control collaborative collision avoidance protection element: Used to realize collision avoidance protection function between equipment based on three-dimensional spatial positioning when multiple machines are operating collaboratively in bulk cargo terminals. The anti-collision protection components for gantry cranes include: millimeter-wave radar anti-collision devices installed at the four corners of the gantry crane trolley and electronic fence devices installed in the gantry crane's operating area. Mobile hopper anti-collision protection components: including millimeter-wave radar anti-collision devices for hoppers installed at the four corners of the mobile hopper trolley, and electronic fence devices for hoppers installed in the mobile hopper operating area; The central control collaborative anti-collision protection components include: a gantry crane Beidou differential mobile station installed on the top of the gantry crane machine room; an absolute encoder installed on the gantry crane's slewing, luffing, and hoisting mechanisms; a hopper Beidou differential mobile station installed on the top of the mobile hopper; a Beidou differential reference station installed on the top of the dock's central control room; and a collaborative anti-collision PLC module, a collaborative anti-collision switch, and a Beidou differential positioning server installed in the dock's central control room.

[0045] Example 2 It consists of a gantry crane unit, a mobile hopper A unit, a mobile hopper B unit, and a collaborative operation control unit; Mobile hopper unit A and mobile hopper unit B have the same structure; Figure 9 This is the wiring diagram for a gantry crane unit; The gantry crane unit includes a gantry crane control device, a steady-state monitoring device, and a gantry crane video monitoring device; The gantry crane control device includes a gantry PLC module, a gantry switch, a gantry DI module, a gantry DO module, a gantry luffing mechanism frequency converter, a gantry hoisting mechanism frequency converter, a gantry slewing mechanism frequency converter, a gantry trolley mechanism frequency converter, a gantry luffing mechanism motor, a gantry hoisting mechanism motor, a gantry slewing mechanism motor, a gantry trolley mechanism motor, and an electric anchor lock and its lock hole; The gantry video monitoring device includes a gantry high-definition camera and a gantry video monitoring switch. The gantry PLC module, using the Profinet protocol, sends drive control commands via the gantry switch to the frequency converters for the gantry luffing mechanism, gantry hoisting mechanism, gantry slewing mechanism, and gantry trolley mechanism. The gantry luffing mechanism frequency converter drives the gantry luffing mechanism motor via hard-wiring; the gantry hoisting mechanism frequency converter drives the gantry hoisting mechanism motor via hard-wiring; the gantry slewing mechanism frequency converter drives the gantry slewing mechanism motor via hard-wiring; the gantry trolley mechanism frequency converter drives the gantry trolley mechanism motor via hard-wiring; the gantry DI module receives anchoring and release signals from the electric anchoring lock via hard-wiring; and the gantry DO module controls the electric anchoring lock to perform anchoring and release actions via hard-wiring. Steady-state monitoring devices are categorized into vibration prevention steady-state monitoring devices, wire rope breakage prevention steady-state monitoring devices, and wind-resistant adaptive steady-state monitoring devices. The vibration prevention steady-state monitoring device includes a vibration monitoring server, a vibration data acquisition unit, and vibration monitoring sensors. The vibration monitoring server transmits abnormal vibration monitoring data to the gantry PLC module via the gantry switch using the Profinet protocol. The vibration monitoring sensors are accelerometers that output 4-20mA signals. Vibration monitoring sensors installed on key structural parts of the gantry crane transmit monitoring data to the vibration data acquisition unit via hardwiring. The data acquisition unit is equipped with 16 AI signal receiving channels. After receiving the vibration monitoring sensor data, it transmits it to the vibration monitoring server using the Profinet protocol. The wire rope breakage prevention steady-state monitoring device includes a wire rope monitoring server, a hoisting wire rope magnetic flux monitoring sensor, and a high-definition camera for the gantry. The hoisting wire rope magnetic flux monitoring sensor transmits the monitored magnetic flux value of the hoisting wire rope at the rope outlet in the machine room to the wire rope monitoring server via the gantry switch using the TCP / IP protocol. The gantry high-definition camera transmits the image data of the hoisting mechanism wire rope from the top of the gantry crane to the lifting device to the wire rope monitoring server via the gantry switch using the TCP / IP protocol. The wire rope monitoring server processes the received data to determine the degree and location of wire rope breakage throughout the entire stroke of the gantry crane's hoisting mechanism, and transmits the results to the gantry PLC module via the gantry switch using the TCP / IP protocol. The windproof adaptive steady-state monitoring device includes a wind speed detection sensor and a wind direction detection sensor; The wind speed and wind direction sensors use the Profinet protocol to transmit wind speed and wind direction data to the portal PLC module via the portal switch. The gantry crane's high-definition monitoring camera transmits the collected video image data of the work area to the collaborative operation control unit via the gantry crane video monitoring switch using the TCP / IP protocol; the gantry crane's PLC module transmits the gantry crane's operating status data to the collaborative operation control unit via the gantry crane switch using the Profinet protocol.

[0046] Figure 10 This is the wiring diagram for the mobile hopper unit; The mobile hopper unit includes a mobile hopper control device, an automatic alignment monitoring device, a precision feeding device, and a hopper video monitoring device; The automatic alignment monitoring device includes a hopper image processing server, a hopper trolley absolute encoder, and a hopper high-definition camera; The high-definition camera in the hopper collects image data of the upper surface of the transfer truck in the area below the moving hopper and transmits it to the hopper image processing server in the form of TCP / IP protocol. The hopper image processing server processes the received image data to obtain the alignment deviation value between the moving hopper and the transfer truck, and transmits it to the hopper PLC module in the form of TCP / IP protocol. The absolute encoder of the hopper trolley collects the real-time position value of the hopper trolley and transmits it to the hopper PLC module in the form of Profinet protocol via the hopper switch. The weighing sensor transmits the detected 4-20mA signal to the hopper AI module in the form of hardwired connection. The precision feeding device includes a hopper gate opening and closing contactor, a weighing sensor, a laser rangefinder, an electro-hydraulic push rod for the hopper gate, and its built-in displacement sensor. The electro-hydraulic actuator of the hopper gate has a built-in displacement sensor that transmits the detected 4-20mA signal to the hopper AI module via hardwire; the laser rangefinder transmits the detected data to the hopper PLC module via the hopper switch using the Profinet protocol. The mobile hopper control device includes a hopper PLC module, a hopper switch, a hopper DO module, a hopper AI module, a feeder frequency converter, a hopper trolley mechanism frequency converter, a feeder, and a hopper trolley mechanism motor. The hopper PLC module sends drive control commands to the feeder frequency converter and the hopper trolley mechanism frequency converter via the hopper switch using the Profinet protocol. The feeder frequency converter drives the feeder through hard-wiring. The hopper trolley mechanism frequency converter drives the hopper trolley mechanism motor through hard-wiring. The hopper DO module controls the engagement and disengagement of the hopper gate opening and closing contactor through hard-wiring. In turn, the hopper gate opening and closing contactor drives the hopper gate electro-hydraulic push rod to extend and retract through hard-wiring, thereby realizing the opening, closing, and opening degree adjustment control of the hopper gate. The hopper video monitoring device includes a high-definition camera for hopper monitoring and a hopper video monitoring switch; The high-definition camera monitoring the hopper transmits the collected video image data of the work area to the collaborative operation control unit via the hopper video monitoring switch using the TCP / IP protocol; the hopper PLC module transmits the mobile hopper operation status data to the collaborative operation control unit via the hopper switch using the Profinet protocol.

[0047] Figure 11 This is a wiring diagram of the collaborative operation control unit; where (a) is a schematic diagram of collaborative operation control. Figure 1 (b) is a schematic diagram of collaborative operation control. Figure 2 ; The collaborative operation control unit includes a remote control device, a collaborative operation control device, and a collision avoidance control device; The remote control unit includes a four-screen display and a control panel; The collaborative operation management and control device includes a collaborative operation management and control server, a video surveillance switch, a video surveillance server, a collaborative operation management and control PLC, a collaborative operation management and control DI module, a collaborative operation management and control DO module, and a data switch. The anti-collision protection device includes anti-collision protection elements for gantry cranes, anti-collision protection elements for mobile hoppers, and anti-collision protection elements for central control coordination.

[0048] Among them, monitors #1, #2, and #3 of the four-screen display are connected to the video surveillance server via HDMI cables; The fourth monitor in the four-screen display is connected to the collaborative operation management server via an HDMI cable. The control panel transmits remote control operation command signals to the collaborative operation management DI module via hardwiring; the control panel also receives and displays the remote control status display information transmitted by the collaborative operation management DO module via hardwiring. The collaborative operation management server transmits scheduling command signals to the collaborative operation management PLC via a data exchange in the form of Profinet protocol; the collaborative operation management PLC transmits the corresponding control commands to the gate PLC module and the hopper PLC module respectively via a data exchange in the form of Profinet protocol. The video surveillance switch receives video image data of the corresponding working areas of the gantry crane unit and the mobile hopper unit in the form of TCP / IP protocol, and transmits it to the video surveillance server. The portal millimeter-wave radar anti-collision device in the anti-collision protection element of the portal crane is connected to the collaborative anti-collision PLC module in the dock control room via hard wiring through the portal PLC module in the portal crane unit. The portal crane's anti-collision protection element, specifically the portal electronic fence device, is connected to the collaborative anti-collision PLC module in the dock control room via TCP / IP protocol. The millimeter-wave radar anti-collision device in the mobile hopper anti-collision protection element is connected to the collaborative anti-collision PLC module in the dock control room via a hard-wired connection through the mobile hopper single-hopper PLC module. The hopper electronic fence device in the mobile hopper anti-collision protection element is connected to the collaborative anti-collision PLC module in the dock control room via TCP / IP protocol; The portal Beidou differential mobile station, hopper Beidou differential mobile station, and Beidou differential reference station in the central control collaborative anti-collision protection element are connected wirelessly via TCP / IP protocol to build a Beidou differential positioning network. The BeiDou differential reference station transmits data from the mobile station and the reference station to the BeiDou differential positioning server via the TCP / IP protocol. The Beidou differential positioning server transmits the real-time position values ​​of the monitored gantry crane and mobile hopper to the collaborative anti-collision PLC module via the collaborative anti-collision switch through the TCP / IP protocol. The absolute encoders for slewing, luffing, and hoisting of the gantry crane transmit the real-time position values ​​of the slewing, luffing, and hoisting mechanisms of the gantry crane to the anti-collision switch via the Profinet protocol. The anti-collision PLC module then sends multi-machine collaborative anti-collision control commands to the gantry crane unit and the moving hopper unit via the Profinet protocol for anti-collision protection control.

[0049] This technology provides a remote control system for bulk cargo terminals. By improving the steady-state operation function of the gantry crane control system, and configuring functions such as precise automatic alignment and intelligent feeding control for the mobile hopper, and supplementing it with the collaborative operation control function of the gantry crane and the mobile hopper, the system achieves a dual improvement in the efficiency and safety of bulk cargo terminal operations.

[0050] Taking a bulk cargo terminal equipped with three 40t gantry cranes and six mobile hoppers as an example, this paper explains the control method of the remote control system for bulk cargo terminals for unloading 200,000-ton bulk carriers with seven hatches. The bulk cargo terminal is constructed with three unloading and loading equipment combinations of "gantry cranes + mobile hoppers". For ease of description, the three gantry cranes are numbered as 1#, 2#, and 3# gantry cranes, and the six mobile hoppers are numbered as 1A#, 1B#, 2A#, 2B#, 3A#, and 3B# mobile hoppers.

[0051] Figure 12 This is the control flowchart of the bulk cargo terminal remote management and control system; S1: Ship berths, bulk cargo terminal remote control system function activated; S2: Compile and enter the work orders for the unloading and loading equipment combinations #1, #2, and #3 at the remote control devices corresponding to the unloading and loading equipment combinations #1, #2, and #3 respectively; S3: After the work order task is entered, the gantry crane and mobile hopper in the unloading and loading equipment combination of No. 1, No. 2 and No. 3 move to the corresponding work hatch and loading area respectively; S4: After the gantry crane and mobile hopper in the unloading and loading equipment combination of #1, #2, and #3 are aligned, they will start the unloading and loading operations facing the corresponding hatches. S5: During the unloading and loading operations of individual hatches corresponding to the combination of unloading and loading equipment #1, #2, and #3, the workload is statistically analyzed in real time. S6: When the workload of the unloading and loading equipment combinations #1, #2, and #3 reaches the target workload of the work order recorded in S2, the corresponding unloading will commence. The loading equipment combination will automatically perform hatch alignment, unloading, and loading operations for its next work order task. S7: Repeat steps S3 to S6 until the entire ship operation is completed, and then the remote control system for bulk cargo terminals is turned off.

[0052] Taking the No. 1 gantry crane and the 1A# / 1B# mobile hopper as an example, the operation control process for a single hatch corresponding to the unloading and loading equipment combination of a "gantry crane + mobile hopper" is as follows: Figure 13 As shown: S11: After the combination of gantry crane and mobile hopper unloading and loading equipment #1 is started to execute the work order task, gantry crane #1 performs precise alignment control to No.1 hatch corresponding to work order task 1. Mobile hopper #1A activates its precise alignment control function based on image recognition technology and performs alignment control to loading area #1A. Mobile hopper #1B activates its precise alignment control function based on image recognition technology and performs alignment control to loading area #1B.

[0053] The positioning control method for gantry cranes is as follows: The positioning control speed of the No. 1 gantry crane is given by V = (2 a 门座 (S 门座目标 -S 门座实际 )) 0.5 ; Where a 门座 S is the acceleration of the trolley mechanism of the No. 1 gantry crane. 门座目标 S represents the center position value of hatch No. 1.门座实际 This represents the actual position value of the No. 1 gantry crane; S12: After the gantry crane #1, mobile hopper #1A, and mobile hopper #1B complete the alignment control of their respective target positions, the unloading and loading equipment combination #1 will start the unloading and loading operation of the current hatch. S13: After activating its vibration prevention steady-state control, wire rope breakage prevention steady-state control, and windproof adaptive steady-state control functions, the No. 1 gantry crane grabs materials in the No. 1 hull, then judges the material-bearing capacity of the No. 1A# and No. 1B# mobile hoppers, and then unloads materials into the mobile hopper that takes priority in receiving materials. The method for determining the priority of material acceptance between mobile hopper 1A# and mobile hopper 1B# is as follows: When W 1A / W 1A额定 ≥(W 1A额定 -W 门座 ) / W 1A额定 At that time, the material receiving priority of mobile hopper 1A# is higher than that of mobile hopper 1B#; When W 1A / W 1A额定 <(W) 1A额定 -W 门座 ) / W 1A额定 And W 1B / W 1B额定 ≥(W 1B额定 -W 门座 ) / W 1B额定 At that time, the material receiving priority of mobile hopper 1B# is higher than that of mobile hopper 1A#; When W 1A / W 1A额定 <(W) 1A额定 -W 门座 ) / W 1A额定 And W 1B / W 1B额定 <(W) 1B额定 -W 门座 ) / W 1B额定 At this time, both the 1A# and 1B# mobile hoppers are prohibited from receiving materials.

[0054] S14: After the 1A# mobile hopper has loaded material inside, when the material load inside reaches the allowable feeding amount, and the 1A# mobile hopper detects that the transfer truck has stopped below it and has completed precise positioning control, the 1A# mobile hopper loads material onto the transfer truck below it. The method for determining whether the material load inside the mobile hopper has reached the allowable feeding value is as follows: When the weight W of the material in the moving hopper 实际 >W 卡车 +a W 额定 At that time, the material load inside the current mobile hopper reaches the operating feed rate value; Among them W 卡车 The rated load capacity of the transfer truck; 'a' is the impact protection coefficient for the mobile hopper, typically taken as 20%; W 额定 The rated load capacity of the mobile hopper.

[0055] S15: After the material inside the 1B# mobile hopper is loaded, when the material load inside reaches the allowable feeding amount, and the 1B# mobile hopper detects that the transfer truck has stopped below it and has completed precise positioning control, the 1B# mobile hopper loads material onto the transfer truck below it. The method for judging whether the material load inside the mobile hopper has reached the allowable feeding amount is the same as above. S16: Repeat S13 to S15, and simultaneously count the current hatch unloading and loading workload of the No. 1 unloading and loading equipment combination. When the counted real-time workload reaches the target workload recorded in the work order, the No. 1 unloading and loading equipment combination ends the current hatch unloading and loading task, and automatically performs the hatch alignment and unloading and loading task of the next task order in the work order. The single hatch operation task is completed.

[0056] The current hatch unloading and loading volume is statistically analyzed using the following method: Current hatch unloading and loading volume W=W 前序 +W 当前 -W 抓斗 ; Among them W 前序 The statistical values ​​for unloading and loading operations during the preceding operation cycle of the No. 1 gantry crane; W 当前 W represents the weight of the grab bucket during the uniform-speed closed-bucket lifting phase of the current operating cycle of the No. 1 gantry crane. 抓斗 The weight of the grab bucket of the No. 1 gantry crane.

[0057] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A remote control system for bulk cargo terminals: characterized in that: include: N gantry crane units; Each gantry crane unit is equipped with two mobile hopper units: Mobile Hopper Unit A and Mobile Hopper Unit B; Two mobile hopper units: each located in a different loading area for unloading and loading materials; Gantry crane unit: Used to control and monitor the unloading and loading process of gantry crane when the gantry crane is in vibration prevention steady state, wire rope breakage prevention steady state, or windproof adaptive steady state; Mobile hopper unit: used to control the storage, transfer and quantitative feeding of materials in the mobile hopper when the gantry crane and the hopper are aligned. Collaborative operation control unit: used to control the gantry crane unit and the mobile hopper unit based on the vibration prevention steady-state, wire rope breakage prevention steady-state, and windproof adaptive steady-state transmitted by the gantry crane unit, and when the gantry crane and hopper are aligned by the mobile hopper unit. This enables collaborative operation control and monitoring of N gantry crane units and their two configured mobile hopper units during unloading and loading of materials, as well as collision protection control and monitoring during collaborative operation.

2. The remote control system for bulk cargo terminals according to claim 1, characterized in that: The gantry crane unit and its configuration of two mobile hopper units for coordinated operation control during unloading of empty materials and loading of materials include the following steps: S1: Align the gantry crane with the target positions of the A mobile hopper unit and the B mobile hopper unit respectively; S2: After completing the alignment control of their respective target positions, start the unloading and loading operations of the current hatch; S3: After activating the vibration prevention steady-state control, wire rope breakage prevention steady-state control, and windproof adaptive steady-state control functions of the gantry crane, the material-bearing capacity of the A mobile hopper unit and the B mobile hopper unit is judged, and the mobile hopper that bears the material first is unloaded. S4: After the material inside the mobile hopper that prioritizes receiving material is loaded, when the material load inside the mobile hopper reaches the allowable feeding amount, and the mobile hopper that prioritizes receiving material detects that the transfer truck has stopped below it and completed the alignment control, the mobile hopper that prioritizes receiving material loads material onto the transfer truck below it. S5: The material is then carried by another mobile hopper. When the material load inside the other mobile hopper reaches the allowable feeding amount, and the other mobile hopper detects that the transfer truck has stopped below it and has completed precise positioning control, the other mobile hopper loads the material onto the transfer truck below it.

3. The remote control system for bulk cargo terminals according to claim 2, characterized in that: The alignment control method is as follows: The positioning control speed of the gantry crane is given by V = (2 a 门座 (S 门座目标 -S 门座实际 )) 0.5 ; Where: a 门座 S is the acceleration of the trolley mechanism of a gantry crane. 门座目标 S represents the center position value of the hatch. 门座实际 This represents the actual position value of the gantry crane.

4. The remote control system for bulk cargo terminals according to claim 2, characterized in that: The process for determining the material-carrying capacity of mobile hopper unit A and mobile hopper unit B is as follows: When W 1A / W 1A额定 ≥(W 1A额定 -W 门座 ) / W 1A额定 At that time, the material receiving priority of mobile hopper unit A is higher than that of mobile hopper unit B; When W 1A / W 1A额定 <(W) 1A额定 -W 门座 ) / W 1A额定 And W 1B / W 1B额定 ≥(W 1B额定 -W 门座 ) / W 1B额定 At that time, the B mobile hopper has a higher priority in receiving materials than the A mobile hopper; When W 1A / W 1A额定 <(W) 1A额定 -W 门座 ) / W 1A额定 And W 1B / W 1B额定 <(W) 1B额定 -W 门座 ) / W 1B额定 At this time, both mobile hopper unit A and mobile hopper unit B are prohibited from receiving materials.

5. A remote control system for bulk cargo terminals according to claim 2, characterized in that: The method for determining whether the material load inside the mobile hopper has reached the allowable feeding value is as follows: When the weight W of the material in the moving hopper 实际 >W 卡车 +a W 额定 At that time, the material load inside the current mobile hopper reaches the operating feed rate value; Among them: W 卡车 The rated load capacity of the transfer truck; 'a' is the impact protection coefficient for the mobile hopper; W 额定 The rated load capacity of the mobile hopper.

6. A remote control system for bulk cargo terminals according to claim 2, characterized in that: The gantry crane unit's control process for unloading and loading materials from the two moving hopper units also includes: The current hatch unloading and loading operation volume of the unloading and loading equipment combination consisting of the gantry crane unit and two mobile hopper units is statistically analyzed. When the statistically analyzed real-time operation volume reaches the target operation volume, the unloading and loading equipment combination ends the unloading and loading operation task of the current hatch. The current hatch unloading and loading volume is statistically analyzed using the following method: Current hatch unloading and loading volume W=W 前序 +W 当前 -W 抓斗 ; Among them: W 前序 This refers to the statistical values ​​of unloading and loading operations during the preceding operation cycle of a gantry crane; W 当前 W represents the weight of the grab bucket during the uniform-speed closed-bucket lifting phase of the current operating cycle of the gantry crane. 抓斗 The weight of the grab bucket of the No. 1 gantry crane.

7. A remote control system for bulk cargo terminals according to claim 2, characterized in that: The gantry crane unit includes: Steady-state monitoring device: used to realize vibration prevention steady-state control, wire rope breakage prevention steady-state control and wind-proof adaptive steady-state control for pedestal cranes; Gantry crane control device: used to realize unloading and loading operations of gantry cranes when vibration prevention steady-state control, wire rope breakage prevention steady-state control and wind-proof adaptive steady-state control are performed on the gantry crane based on the steady-state monitoring device; Gantry crane video monitoring device: used for video monitoring of the operating status of gantry cranes.

8. A remote control system for bulk cargo terminals according to claim 2, characterized in that: The mobile hopper unit includes: Automatic alignment monitoring device: used for precise alignment control between the mobile hopper and the transfer truck; Precision feeding device: used to acquire the status of the moving hopper during the loading process and to precisely control the feeding of the moving hopper; Mobile hopper control device: Based on the precise alignment between the mobile hopper and the transfer truck transmitted by the automatic alignment monitoring device and the precise feeding device transmitted by the precise feeding device, the device controls the feeding of the mobile hopper to realize the temporary storage, transfer and quantitative feeding of materials in the mobile hopper. Mobile hopper video monitoring device: used for video monitoring of mobile hopper operations.

9. A remote control system for bulk cargo terminals according to claim 2, characterized in that: The collaborative operation control unit includes: Collaborative operation control device: used to coordinate and control the unloading of empty materials and loading of materials for N gantry crane units and their corresponding mobile hopper units; Collision avoidance control device: used to provide collision avoidance protection for N gantry crane units and their corresponding mobile hopper units during the unloading of empty materials and loading of materials. Remote control console: used for remote operation and remote monitoring of the N gantry crane units and their corresponding mobile hopper units transmitted by the collaborative operation control device, and for anti-collision protection during the unloading of no material and loading of material transmitted by the anti-collision control device.

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