CN104820409A - Dry bulk goods terminal bulk goods machinery remote operation system - Google Patents
Dry bulk goods terminal bulk goods machinery remote operation system Download PDFInfo
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- CN104820409A CN104820409A CN201510121615.4A CN201510121615A CN104820409A CN 104820409 A CN104820409 A CN 104820409A CN 201510121615 A CN201510121615 A CN 201510121615A CN 104820409 A CN104820409 A CN 104820409A
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- camera system
- remote operating
- integrated
- bulk cargo
- cargo terminals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/4188—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by CIM planning or realisation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention provides a dry bulk goods terminal bulk goods machinery remote operation system. The system comprises a control system for remote control of bulk goods machinery of a dry bulk goods terminal; an RCMS system for real-time monitoring of the condition of a large machine and real-time observation of current state information of the bulk goods machinery; a CCTV system for omni-directional observation of actual equipment operation and material placement conditions in a field; and an operation desk provided with multiple display screens and an RCMS display screen, wherein the control system, the RCMS system and the CCTV system are connected with each other for realizing remote operation of the bulk goods machinery of the dry bulk good terminal. According to the invention, one important sign of modernization of the bulk goods loading and unloading terminal is improved, and at the same time, the disposition of the system can greatly improve the working environment of operators of the bulk goods terminal.
Description
Technical field
The present invention relates to remote operating system, particularly dry bulk cargo terminals bulk handling machineries remote operating system.
Background technology
In the prior art, current terminal logistics facility and equipment and bulk goods modern port require apart from each other.In recent years, container wharf up-to-dateness is higher, but the technical equipment in China's major part harbour or port district is lower, particularly bulk cargo terminals.The modernization level of bulk cargo terminals greatly can be improved by the operated from a distance promoting bulk handling machineries.
In recent years, the working environment of bulk handling machineries driver was more and more paid attention to, and the working environment of present bulk handling machineries driver is quite severe, such as class within general 12 hours, all stay in narrow and small, simple and crude, do not stop to rock and uphang in cab in midair.Along with the development of bulk-handling equipment control technology, Long-distance Control becomes a reality gradually, by pulpit is moved in Central Control Room, thus greatly improves the working environment of driver.
Summary of the invention
The technical problem to be solved in the present invention is the defect that the technical equipment in order to overcome harbour or port district in prior art is lower, provides a kind of dry bulk cargo terminals bulk handling machineries remote operating system.
The present invention solves above-mentioned technical matters by following technical proposals: a kind of dry bulk cargo terminals bulk handling machineries remote operating system, and its feature is, described remote operating system comprises:
Control system, for carrying out Long-distance Control to the bulk handling machineries of bar bulk cargo terminals;
RCMS system, for realizing the real-time monitoring to large machine situation, the status information of the current bulk handling machineries of real-time monitored; Described RCMS system is Manage Large-scale Equipment surveillance.
CCTV system, runs and material placement situation for observing on-the-spot physical device in all directions; Described CCTV system is closed-circuit TV monitoring system.
Operator's console, described operator's console arranges multiple display screen, for showing the video of described CCTV system in real time, and the optimum position of described display screen is adjusted by CCTV controller, described operator's console is also provided with RCMS display screen, is grasped real-time status and the parameter of current large machine by described RCMS system;
Described control system, described RCMS system and described CCTV system are interconnected, and realize the operated from a distance to dry bulk cargo terminals bulk handling machineries.
Preferably, described control system comprises communication apparatus, opertaing device and some annexes.
Preferably, described communication apparatus comprises industrial ethernet switch and communication module.
Preferably, described opertaing device comprises controller, I/O module and touch-screen.
Preferably, described accessory bag purse rope line, optical cable and shielding line.
Preferably, described RCMS system comprises communication function module, condition monitoring functional module and warning function module.
Preferably, described CCTV system comprises multiple camera system:
First integrated special camera system, is arranged on material casting above-head;
Second semifixed camera system, is arranged on below jib;
3rd semifixed camera system, is arranged on trailer;
4th semifixed camera system, is arranged on cable drum;
5th integrated ball-type camera system and the 6th integrated ball-type camera system, be arranged on engine house inside;
7th integrated special camera system, is arranged on cab head.
Preferably, described CCTV system comprises multiple camera system:
First integrated special camera system, is arranged on the mounting bracket of bucket wheel front upper;
Second integrated special camera system, is arranged on above cab;
3rd semifixed camera system, is arranged near large machine front;
4th semifixed camera system, is arranged near large machine rear;
5th integrated ball-type camera system, is arranged on electric panel room;
6th hemisphere camera system, is arranged in cab;
7th integrated special camera system, is arranged on Hydraulic Station ladder landing platform place;
8th semifixed camera system, is arranged on below jib;
9th semifixed camera system, is arranged on hopper outlet place.
Preferably, described CCTV system comprises multiple camera system:
First integrated special camera system, is arranged on sea and surveys doorframe entablature;
Second integrated special camera system, is arranged on the turning point of crossbeam staircase at the highest level;
3rd integrated special camera system and the 4th integrated special camera system, be arranged on ship unloaders both sides respectively;
5th integrated special camera system, is arranged on cab Hai Cepingtai;
6th integrated special camera system, is arranged on funnel place;
7th integrated ball-type camera system, is arranged on electrical house;
8th integrated ball-type camera system, is arranged on engine house;
9th integrated special camera system, is arranged on crossbeam head maintenance platform place.
Preferably, described CCTV system comprises multiple camera system:
First integrated special camera system, is arranged on ship loader sliding tube front;
Second integrated special camera system, is arranged on cab head;
3rd semifixed camera system, is arranged on trailer;
4th semifixed camera system, is arranged near cable drum.
Positive progressive effect of the present invention is: dry bulk cargo terminals bulk handling machineries remote operating system of the present invention improves an important symbol of bulk-handling harbour up-to-dateness, and the deployment of this system simultaneously can substantially improve the working environment of bulk cargo terminals operating personnel.Described remote operating system can improve the modern degree of bulk cargo terminals, the centralized dispatching control of site machinery and the lifting of operating personnel's condition of work.
Accompanying drawing explanation
The above and other feature of the present invention, character and advantage are by more obvious by what become below in conjunction with the description of drawings and Examples, and Reference numeral identical in the accompanying drawings represents identical feature all the time, wherein:
Fig. 1 is the schematic diagram one in dry bulk cargo terminals bulk handling machineries remote operating system of the present invention, reclaimer being arranged seven camera systems.
Fig. 2 is the schematic diagram two in dry bulk cargo terminals bulk handling machineries remote operating system of the present invention, reclaimer being arranged seven camera systems.
Fig. 3 is that in dry bulk cargo terminals bulk handling machineries remote operating system, schematic diagram arranged by operator's console.
Fig. 4 is the schematic diagram in dry bulk cargo terminals bulk handling machineries remote operating system of the present invention, reclaimer being arranged nine camera systems.
Fig. 5 is the schematic diagram one in dry bulk cargo terminals bulk handling machineries remote operating system of the present invention, ship unloaders being arranged nine camera systems.
Fig. 6 is the schematic diagram two in dry bulk cargo terminals bulk handling machineries remote operating system of the present invention, ship unloaders being arranged nine camera systems.
Fig. 7 is the schematic diagram one in dry bulk cargo terminals bulk handling machineries remote operating system of the present invention, ship loader being arranged four camera systems.
Fig. 8 is the schematic diagram two in dry bulk cargo terminals bulk handling machineries remote operating system of the present invention, ship loader being arranged four camera systems.
Embodiment
For above-mentioned purpose of the present invention, feature and advantage can be become apparent, below in conjunction with accompanying drawing, the specific embodiment of the present invention is elaborated.
Set forth a lot of detail in the following description so that fully understand the present invention, but the present invention can also adopt other to be different from alternate manner described here to implement, therefore the present invention is not by the restriction of following public specific embodiment.
Embodiment one:
The invention discloses a kind of dry bulk cargo terminals bulk handling machineries remote operating system, it is based on industrial bus technology, by the exploitation of PLC and upper computer software, combine the implementing monitoring that industrial television monitoring system is run field apparatus, achieve the operated from a distance of bulk cargo terminals handling machinery.This system frees bulk handling machineries driver from closed, narrow and small cab, allows driver can complete operations at relative clean, comfortable central control room.
The target of described bulk handling machineries remote operating system be ground level control room can realize with in the same operation of cab, it mainly comprises control system, RCMS system, CCTV system and operator's console.Described RCMS system is Manage Large-scale Equipment surveillance.Described CCTV system is closed-circuit TV monitoring system.Described control system, described RCMS system and described CCTV system are interconnected, and realize the operated from a distance to dry bulk cargo terminals bulk handling machineries.
Respectively dispose a set of controller (such as B & R controller) at harbour central control room and large machine, middle control RCCS system carries out communication by PowerLink agreement and large machine ACCS system.Described system is an independently system, not limiting, can dispose separately, being connected with the former control system of harbour by ProfiBus DP by controlling PLC system type selecting in harbour, ensure that the safety of communication is with reliable.The impact on the former control system of harbour can not be caused like this.
Preferably, described control system comprises communication apparatus, opertaing device and some annexes.Described communication apparatus comprises industrial ethernet switch and communication module.Described opertaing device comprises controller, I/O module and touch-screen.Described accessory bag purse rope line, optical cable and shielding line etc.
According to the rich RCMS system targetedly of CMS system development on the actual bulk handling machineries of harbour, described RCMS system can in central control room, be realized in the real-time monitoring of Central Control Room to large machine state by described RCMS system by flexible deployment according to demand.The status information of the bulk handling machineries that operating personnel can be controlled by described RCMS system real-time monitored current remote, thus judge current work situation.
Described RCMS system mainly comprises communication function module, condition monitoring functional module and warning function module.For described communication function module, whole described RCMS system all realizes by reading site work device data and processing, described communication module is responsible for obtaining data from field apparatus and being translated into data available, and connect between equipment and described RCMS system passage at the scene.Described condition monitoring functional module is used for the running status of the real-time monitoring site equipment of operating personnel, mainly comprise hoist, cart, dolly, opening and closing, pitching, the mechanism such as auxiliary body monitoring interface.Operating personnel grasp duty and the correlation parameter of each mechanism in real time by respective interface.Described warning function module can be reminded operating personnel when equipment breaks down and show corresponding failure message.When trouble shooting, this record can be saved in a database, and help maintainer to understand failure cause and rule, such maintainer just can fix a breakdown faster.
CCTV system, runs and material placement situation for observing on-the-spot physical device in all directions.In remote operating system, described CCTV system is exactly eyes, and all field conditions all will obtain from described CCTV system.According to different type of machines, we have selected some representative positions and install camera.By the layout of these cameras, operating personnel can run and material placement situation at the on-the-spot physical device of the omnibearing observation of Central Control Room, realize the operation feeling same with cab at the scene.
The camera installation position of each bulk goods type is equipped with various ways.Fig. 1 is the schematic diagram one in dry bulk cargo terminals bulk handling machineries remote operating system of the present invention, reclaimer being arranged seven camera systems.Fig. 2 is the schematic diagram two in dry bulk cargo terminals bulk handling machineries remote operating system of the present invention, reclaimer being arranged seven camera systems.As depicted in figs. 1 and 2, the first integrated special camera system 11 is arranged on material casting above-head, for monitoring head material casting situation.Second semifixed camera system 12 is arranged on below jib, for monitoring blanking situation, large arm and material pile up neatly between relation.3rd semifixed camera system 13 is arranged on trailer, for observing trailer supplied materials situation.4th semifixed camera system 14 is arranged on cable drum, for observing the situation of the folding and unfolding cable of cable drum.5th integrated ball-type camera system 15 and the 6th integrated ball-type camera system 16 are arranged on engine house inside, for observing the working condition of the inner panorama of engine house.7th integrated special camera system 17 is arranged on cab head, for observing the working condition of stockyard panorama.
Fig. 3 is that in dry bulk cargo terminals bulk handling machineries remote operating system, schematic diagram arranged by operator's console.As shown in Figure 3, the operator's console 20 of middle control can be seen all situations of on-the-spot bulk handling machineries equipment, and handled easily controls.Three display screens 21 are set in operator's console front, in real time the video of each large machine CCTV of display, thus allow operator's comprehensive observation operation real-time condition, and adjust the optimum position of display by CCTV controller 23.Place a RCMS display screen 22 on right side, grasped real-time status and the parameter of current large machine by described RCMS system.Primarily of handle 25, button and touch-screen composition on the guidance panel of operator's console 20, realize the Long-distance Control to large machine by the combination of three.
Embodiment two:
The structure of the present embodiment is substantially identical with embodiment one, and its difference is: in described dry bulk cargo terminals bulk handling machineries remote operating system, reclaimer is furnished with nine camera systems.
Fig. 4 is the schematic diagram in dry bulk cargo terminals bulk handling machineries remote operating system of the present invention, reclaimer being arranged nine camera systems.First integrated special camera system 31 is arranged on the mounting bracket of bucket wheel front upper, for observe heap feeding time bucket duty and windrow situation.Second integrated special camera system 32 is arranged on above cab, for observing stockyard surrounding situation.3rd semifixed camera system 33 is arranged near large machine front, for observing large vehicle walking situation.4th semifixed camera system 34 is arranged near large machine rear, for observing large vehicle walking situation.5th integrated ball-type camera system 35 is arranged on electric panel room, for observing the working condition of the inner panorama of electric panel room.6th hemisphere camera system 36 is arranged in cab, for observing driver's indoor situations.7th integrated special camera system 37 is arranged on Hydraulic Station ladder landing platform place, for observing the working condition of stockyard panorama.8th semifixed camera system 38 is arranged on below jib, for observing the situation of feeding incision.9th semifixed camera system 39 is arranged on hopper outlet place, for observing discharging situation.
Embodiment three:
The structure of the present embodiment is substantially identical with embodiment one, and its difference is: in described dry bulk cargo terminals bulk handling machineries remote operating system, ship unloaders are furnished with nine camera systems.
Fig. 5 is the schematic diagram one in dry bulk cargo terminals bulk handling machineries remote operating system of the present invention, ship unloaders being arranged nine camera systems.Fig. 6 is the schematic diagram two in dry bulk cargo terminals bulk handling machineries remote operating system of the present invention, ship unloaders being arranged nine camera systems.As shown in Figure 5 and Figure 6, the first integrated special camera system 41 is arranged on sea and surveys doorframe entablature, for observing grab bucket discharging situation.Second integrated special camera system 42 is arranged on the turning point of crossbeam staircase at the highest level, for observing panorama working condition of unloading a ship.3rd integrated special camera system 43 and the 4th integrated special camera system 44 are arranged on ship unloaders both sides, respectively for observing large vehicle walking situation.5th integrated special camera system 45 is arranged on cab Hai Cepingtai, for observing grab bucket material grasping situation.6th integrated special camera system 46 is arranged on funnel place, for observing funnel mechanism ruuning situation.7th integrated ball-type camera system 47 is arranged on electrical house, for observing the working condition of the inner panorama of electric panel room.8th integrated ball-type camera system 48 is arranged on engine house, for observing the working condition of the inner panorama of cab.9th integrated special camera system 49 is arranged on crossbeam head maintenance platform place, comes and goes funnel overall process situation for observing grab bucket.
Embodiment four:
The structure of the present embodiment is substantially identical with embodiment one, and its difference is: in described dry bulk cargo terminals bulk handling machineries remote operating system, ship loader is furnished with four camera systems.
Fig. 7 is the schematic diagram one in dry bulk cargo terminals bulk handling machineries remote operating system of the present invention, ship loader being arranged four camera systems.Fig. 8 is the schematic diagram two in dry bulk cargo terminals bulk handling machineries remote operating system of the present invention, ship loader being arranged four camera systems.As shown in Figure 7 and Figure 8, the first integrated special camera system 51 is arranged on ship loader sliding tube front, for observing the stacking of situation in chute and front side cabin and material.Second integrated special camera system 52 is arranged on cab head, for observing shipment panorama working condition.3rd semifixed camera system 53 is arranged on trailer, for observing the ruuning situation of trailer belt supplied materials.4th semifixed camera system 54 is arranged near cable drum, for observing the working condition of cable drum.
In sum, dry bulk cargo terminals bulk handling machineries remote operating system of the present invention improves an important symbol of bulk-handling harbour up-to-dateness, and the deployment of described remote operating system simultaneously can substantially improve the working environment of bulk cargo terminals operating personnel.
Described remote operating system has various features: the first, which raises bulk cargo terminals up-to-dateness.China's most bulk cargo terminals equipment is relatively old, and up-to-dateness is lower, can improve the modernization controlling extent of pier facilities by adding operated from a distance, is realize the unmanned necessaries of unit.Operator does not need large machine to complete the work of loading and unloading operation, whole work that only can need complete on large machine before Central Control Room just can complete.
The second, the centralized dispatching of site machinery controls.Described remote operating system is concentrated and is deployed in harbour central control room, selects correct position to dispose each bulk goods large machine operator's console particular location according to actual conditions, concentrates in principle and is deployed in Central Control Room one place, can conveniently to centralized control and the monitoring of each large machine in scene.Situation can only be confirmed by each large machine personnel of harbour communication apparatus contact to each large machine situation in scene relative to Central Control Room yardman before, present Central Control Room yardman directly just can see the actual conditions at each large machine scene at Central Control Room, facilitate its scheduling controlling, greatly reduce the setup time of dress ship-discharging operation, have certain promotion to the efficiency improving pier facilities management.
Three, the lifting of operating personnel's condition of work.It is exactly harbour operating personnel that the deployment of described remote operating system is benefited maximum, and relative to originally narrow and small, inaccessible operation room, after operator's console is arranged on middle control, the working environment of operating personnel improves greatly.Operation room is originally narrow and small, simple and crude, do not stop to rock and uphang in midair, and to add after this system operator can complete operation work in spacious, bright, comfortable environment, allow operator that better state can be kept to complete every loading and unloading.
Although the foregoing describe the specific embodiment of the present invention, it will be understood by those of skill in the art that these only illustrate, protection scope of the present invention is defined by the appended claims.Those skilled in the art, under the prerequisite not deviating from principle of the present invention and essence, can make various changes or modifications to these embodiments, but these change and amendment all falls into protection scope of the present invention.
Claims (10)
1. a dry bulk cargo terminals bulk handling machineries remote operating system, is characterized in that, described remote operating system comprises:
Control system, for carrying out Long-distance Control to the bulk handling machineries of bar bulk cargo terminals;
RCMS system, for realizing the real-time monitoring to large machine situation, the status information of the current bulk handling machineries of real-time monitored;
CCTV system, runs and material placement situation for observing on-the-spot physical device in all directions;
Operator's console, described operator's console arranges multiple display screen, for showing the video of described CCTV system in real time, and the optimum position of described display screen is adjusted by CCTV controller, described operator's console is also provided with RCMS display screen, is grasped real-time status and the parameter of current large machine by described RCMS system;
Described control system, described RCMS system and described CCTV system are interconnected, and realize the operated from a distance to dry bulk cargo terminals bulk handling machineries.
2. dry bulk cargo terminals bulk handling machineries remote operating system as claimed in claim 1, it is characterized in that, described control system comprises communication apparatus, opertaing device and some annexes.
3. dry bulk cargo terminals bulk handling machineries remote operating system as claimed in claim 2, it is characterized in that, described communication apparatus comprises industrial ethernet switch and communication module.
4. dry bulk cargo terminals bulk handling machineries remote operating system as claimed in claim 2, it is characterized in that, described opertaing device comprises controller, I/O module and touch-screen.
5. dry bulk cargo terminals bulk handling machineries remote operating system as claimed in claim 2, is characterized in that, described accessory bag purse rope line, optical cable and shielding line.
6. dry bulk cargo terminals bulk handling machineries remote operating system as claimed in claim 1, it is characterized in that, described RCMS system comprises communication function module, condition monitoring functional module and warning function module.
7. dry bulk cargo terminals bulk handling machineries remote operating system as claimed in claim 1, it is characterized in that, described CCTV system comprises multiple camera system:
First integrated special camera system, is arranged on material casting above-head;
Second semifixed camera system, is arranged on below jib;
3rd semifixed camera system, is arranged on trailer;
4th semifixed camera system, is arranged on cable drum;
5th integrated ball-type camera system and the 6th integrated ball-type camera system, be arranged on engine house inside;
7th integrated special camera system, is arranged on cab head.
8. dry bulk cargo terminals bulk handling machineries remote operating system as claimed in claim 1, it is characterized in that, described CCTV system comprises multiple camera system:
First integrated special camera system, is arranged on the mounting bracket of bucket wheel front upper;
Second integrated special camera system, is arranged on above cab;
3rd semifixed camera system, is arranged near large machine front;
4th semifixed camera system, is arranged near large machine rear;
5th integrated ball-type camera system, is arranged on electric panel room;
6th hemisphere camera system, is arranged in cab;
7th integrated special camera system, is arranged on Hydraulic Station ladder landing platform place;
8th semifixed camera system, is arranged on below jib;
9th semifixed camera system, is arranged on hopper outlet place.
9. dry bulk cargo terminals bulk handling machineries remote operating system as claimed in claim 1, it is characterized in that, described CCTV system comprises multiple camera system:
First integrated special camera system, is arranged on sea and surveys doorframe entablature;
Second integrated special camera system, is arranged on the turning point of crossbeam staircase at the highest level;
3rd integrated special camera system and the 4th integrated special camera system, be arranged on ship unloaders both sides respectively;
5th integrated special camera system, is arranged on cab Hai Cepingtai;
6th integrated special camera system, is arranged on funnel place;
7th integrated ball-type camera system, is arranged on electrical house;
8th integrated ball-type camera system, is arranged on engine house;
9th integrated special camera system, is arranged on crossbeam head maintenance platform place.
10. dry bulk cargo terminals bulk handling machineries remote operating system as claimed in claim 1, it is characterized in that, described CCTV system comprises multiple camera system:
First integrated special camera system, is arranged on ship loader sliding tube front;
Second integrated special camera system, is arranged on cab head;
3rd semifixed camera system, is arranged on trailer;
4th semifixed camera system, is arranged near cable drum.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510121615.4A CN104820409A (en) | 2015-03-19 | 2015-03-19 | Dry bulk goods terminal bulk goods machinery remote operation system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510121615.4A CN104820409A (en) | 2015-03-19 | 2015-03-19 | Dry bulk goods terminal bulk goods machinery remote operation system |
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| CN104820409A true CN104820409A (en) | 2015-08-05 |
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| CN201510121615.4A Pending CN104820409A (en) | 2015-03-19 | 2015-03-19 | Dry bulk goods terminal bulk goods machinery remote operation system |
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| CN115903701A (en) * | 2022-11-15 | 2023-04-04 | 山东朝辉自动化科技有限责任公司 | Optimization technology optimization system, method and application of full-flow ship unloading line of dry bulk cargo wharf |
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| CN115903701A (en) * | 2022-11-15 | 2023-04-04 | 山东朝辉自动化科技有限责任公司 | Optimization technology optimization system, method and application of full-flow ship unloading line of dry bulk cargo wharf |
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