CN107544291B - Storage yard management simulation system - Google Patents
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- CN107544291B CN107544291B CN201711026408.6A CN201711026408A CN107544291B CN 107544291 B CN107544291 B CN 107544291B CN 201711026408 A CN201711026408 A CN 201711026408A CN 107544291 B CN107544291 B CN 107544291B
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Abstract
The invention discloses a stock dump management simulation system, which provides a completely simulated on-site environment, can simulate each link of standard operation and management, is beneficial to early finding problems, saves financial and material resources, and provides a basis and a decision direction for subsequent on-site test. The technical scheme is as follows: the system of the invention connects an automatic wharf loading and unloading planning system (TOS) and a crane single machine automatic control system (ACCS) through a reliable and high-speed communication mode, receives the operation task, controls the execution of the operation instruction and feeds back the execution state of the task.
Description
Technical Field
The invention relates to a technology applied to a wharf storage yard, in particular to a technology related to an automatic wharf storage yard crane.
Background
The yard management is a series of yard planning works aiming at ensuring the normal operation of the wharf and improving the working efficiency of the wharf under the guidance of the overall yard arrangement principle. The method is an important link of wharf production operation, and comprises yard planning arrangement related to container feeding, yard arrangement, loading and unloading and the like. At present, competition between container terminals is essentially competition of efficiency, and any terminal which is to promote core competitiveness must improve efficiency when being built as a top-class container terminal in the world, and the competition depends on whether the management of container yards is reasonable or not to a large extent. Therefore, the excellent yard management system is a powerful means for improving management reasonableness, equipment utilization rate and reducing operation cost, and is one of the important components of the efficient automation wharf.
The stock dump management of the automated wharf becomes a necessary trend of the development of modern international hub ports, is gaining attention of all large ports, and becomes a key development direction of some international companies at present, and the management of part of stock dumps in the world achieves all networking, informatization and automation at present. Most of China still suffers from the limitation of factors such as technology, experience, capital ability and the like, and the operation mode cannot be completely converted into automatic management.
The yard management simulation is one of the important stages for developing the automatic construction process of the wharf, and the yard management simulation system is the technical core for completing the stage. At present, the stock yard management simulation system is in shortage in China.
Disclosure of Invention
The following presents a simplified summary of one or more aspects in order to provide a basic understanding of such aspects. This summary is not an extensive overview of all contemplated aspects, and is intended to neither identify key or critical elements of all aspects nor delineate the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description that is presented later.
The invention aims to solve the problems and provides a storage yard management simulation system which provides a complete simulation on-site environment, can simulate each link of standard operation and management, is beneficial to finding problems at an early stage, saves financial and material resources and provides a basis and a decision direction for subsequent on-site test.
The technical scheme of the invention is as follows: the invention discloses a stock yard management simulation system, which comprises a crane single machine automatic control layer module, a crane single machine automatic control system, a logic controller and a crane remote monitoring system, wherein:
the crane single-machine automatic control layer module is configured on the ARMG deployed in the storage yard, acquires and verifies the operation task, coordinates with the crane single-machine automatic control layer module on the other ARMG in the same storage yard, generates a task operation instruction according to the task data and the equipment state data of the two parties, sends the task operation instruction to the ARMG to execute the task, feeds back the task execution result to the automatic wharf loading and unloading planning system, and records the operation data in the task execution process;
the crane single-machine automatic control system is arranged on an automatic Rail Mounted crane (ARMG) deployed in a storage yard, obtains an action instruction of the ARMG from a crane single-machine automatic control layer module, analyzes and decomposes the action instruction to generate a motion command of a mechanism, and controls the motion through a control logic controller;
the logic controller is arranged on the ARMG deployed in the yard, receives a control signal of the crane single-machine automatic control system, processes and converts the control signal into an input/output point for controlling the electrical equipment;
and the crane remote monitoring system monitors the running state of each mechanism of the ARMG so as to obtain the equipment state information.
According to an embodiment of the yard management simulation system of the present invention, the crane stand-alone automatic Control layer module performs corresponding adjustment on the change of the task data and the device status data in the task execution Process, runs on the industrial personal computer, and performs data interaction with the crane stand-alone automatic Control system through Object connection and Embedding (OPC, i.e., OLE for Process Control, which represents OLE for Process Control, and OLE, i.e., Object Linking and Embedding) for Process Control.
According to an embodiment of the yard management simulation system, the crane single-machine automatic control system is further used for ARMG working mode control, mechanism motion path planning, safety control, exception handling, equipment state monitoring feedback and equipment operation log recording.
According to an embodiment of the yard management simulation system of the present invention, the logic controller further provides safety protection during the operation of the equipment, and the logic controller is divided into a main control CPU and a distributed I/O module, and connects the crane stand-alone automatic control system and the simulator.
According to an embodiment of the yard management simulation system of the present invention, the crane remote monitoring system is further configured to obtain and display equipment fault information, and provide a historical fault record statistics function.
According to an embodiment of the yard management simulation system of the present invention, the simulation system further includes:
the storage yard safety control module is configured in one storage yard and is used for collision avoidance protection among a plurality of ARMG, management of lane states of a plurality of exchange areas, state management of a cold storage area, application of ARMG box area occupation application and processing of entrance guard entrance application.
According to an embodiment of the yard management simulation system of the present invention, the simulation system further includes:
and the converter and the motor simulator are used for receiving an I/O signal command given by the logic controller, simulating the action of an electrical component in the ARMG and feeding the state back to the logic controller.
According to an embodiment of the yard management simulation system of the present invention, the simulation system further includes:
and the touch screen module is used for displaying the state of an operating mechanism in the ARMG, checking the operating parameters of the ARMG, providing a man-machine interaction interface and providing an ARMG operation control interface.
According to an embodiment of the yard management simulation system of the present invention, the simulation system further includes:
and the three-dimensional storage yard image display module displays the instruction completion process in a 3D dynamic visualization mode.
Compared with the prior art, the invention has the following beneficial effects: the stock yard management simulation system provides a complete set of simulation environment including a system, a server and equipment, combines software and hardware, cooperates with multiple subsystems, completes the operations of execution, pause, termination and the like of each operation task by simple and convenient instructions, and visually displays the whole process of the operation task through a three-dimensional dynamic visualization technology.
The yard management simulation System is connected with an automatic wharf loading and unloading planning System (TOS) and a crane single-machine automatic control System (ACCS) through a reliable and high-speed communication mode, receives an operation task, controls the execution of an operation instruction and feeds back the execution state of the task. The simulation system can simulate various operation tasks in the whole process through instructions, simultaneously considers the influence of environmental factors (such as wind power and the like) on the operation tasks, effectively ensures the effectiveness and the rationality of the simulated operation tasks, and provides sufficient and accurate basis for the development of subsequent work.
Drawings
The above features and advantages of the present disclosure will be better understood upon reading the detailed description of embodiments of the disclosure in conjunction with the following drawings. In the drawings, components are not necessarily drawn to scale, and components having similar relative characteristics or features may have the same or similar reference numerals.
FIG. 1 shows a schematic diagram of an embodiment of a yard management simulation system of the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. It is noted that the aspects described below in connection with the figures and the specific embodiments are only exemplary and should not be construed as imposing any limitation on the scope of the present invention.
FIG. 1 shows a schematic diagram of an embodiment of a yard management simulation system of the present invention. Referring to fig. 1, the simulation system of the present embodiment includes: the system comprises a crane single-machine automatic Control layer module (ACL), a crane single-machine automatic Control system (ACCS), a logic controller (Basic Control) and a crane remote monitoring system (RCMS).
1-2 ARMGs are deployed in each yard, and each ARMG is provided with a crane single-machine automatic control layer module (ACL). The ACL acquires an operation task from a TOS interface of an automatic wharf loading and unloading planning system, checks the task, coordinates with another ACL module of the same yard, generates a safe, efficient and cooperative task operation instruction according to task data and equipment state data of both sides, sends the task operation instruction to the ARMG for execution, reasonably adjusts the change of the task data and the equipment state data in time in the execution process, feeds back the task execution result to the TOS, and records various required operation data in the task execution process. And the ACL module runs on an industrial personal computer and performs data interaction with an automatic control system (ACCS) of the crane stand-alone machine through OPC.
Each ARMG is provided with a crane single-machine automatic Control system (ACCS system), the ACCS obtains the action command of the ARMG from the ACL, splits and decomposes the action command to generate the motion command of each mechanism, and performs corresponding action Control through a signal point Control logic controller (Basic Control). The main functions of the ACCS system comprise real-time motion control, ACL instruction analysis, ARMG working mode control, motion path planning of mechanisms including a cart, a trolley, a lifting appliance and the like, safety control (including cart anti-collision protection, equipment self safety protection and safety protection rules based on business requirements), exception handling (including a processing mechanism during fault and maintenance), equipment state monitoring and feedback to an upper control system and equipment running log records. The ACCS system runs on a B & R high-performance industrial PLC, is connected with a logic controller (Basic Control) through ProfiNet, is connected with a yard safety Control module through POWERLINK, and is connected with an ACL through an Ethernet.
Each ARMG is provided with a logic controller (Basic Control), receives a Control signal of the ACCS, processes and converts the Control signal into an I/O point for controlling electrical equipment such as a relay, a frequency converter, a motor and the like, and simultaneously provides safety protection in the running process, including power-off protection, emergency stop protection, lifting process protection, cart and trolley lifting overtravel protection and overload protection. The logic controller is divided into a main control CPU and a distributed I/O module and is connected with the ACCS system and the simulator through ProfiNet.
The crane remote monitoring system (RCMS) is used for monitoring the running state of each mechanism of the ARMG, displaying equipment fault information and providing a historical fault record statistical function, can describe the real-time state information and the fault information of the equipment in detail, and helps development and debugging personnel of an electrical control system and an ACCS system to find, position and solve problems conveniently.
In addition, the simulation system of this embodiment further includes the following modules: the system comprises a yard Safety control module (Safety module), a current transformer and Motor Simulator (observer & Motor Simulator), a touch screen module and a three-dimensional yard image display module (3D Terminal View).
One yard is equipped with one yard security control module (security module), and in a system simulation environment of a single independent yard, only one security module is generally required. The module is responsible for collision avoidance between the two ARMGs; the lane state management system is responsible for managing lane states of two exchange areas, including lane occupation conditions of a straddle carrier, lane occupation conditions of an ARMG, berth occupation conditions of a container, lane activation states and lane traffic light states; the system is responsible for processing ARMG lane occupation application; the system is responsible for managing the states of four refrigerating cabinet areas, including the statistics of the number of people in the cabinet areas, the ARMG state in the cabinet areas and the alarm state of an alarm bell and alarm lamp; the system is responsible for processing ARMG box area occupation application; and the system is responsible for processing entrance guard entrance application. The Safety module runs on a Safety PLC, is connected with an ACCS system through POWERLINK, interacts with a touch screen through OPC to acquire the states of a straddle carrier and personnel, and feeds back information such as lane traffic lights, alarm bells and alarm lights in a cold storage area, entrance guard admission signs and the like to the touch screen.
And the converter and the motor simulator are responsible for receiving an I/O signal command given by the logic controller, simulating the action of each main electrical component of the ARMG and feeding the state back to the logic controller. The use of a simulator replaces real equipment, making it possible for the system to operate in a laboratory environment. The module is deployed on a PLC and is connected with two logic controllers through ProfiNet.
The touch screen module is responsible for displaying the states of each running mechanism of the ARMG, including a cart position, a trolley position, a lifting height, a hanger size, an opening and closing lock state, a guide plate state and the like, and displaying a traffic light state of a lane in an exchange area, an occupation condition of a lane straddle carrier in the exchange area, an alarm light state of a cold storage area and a locking state of entrance guard; checking ARMG operation parameters including information of maximum speed, acceleration, action range and the like of a cart, a trolley and lifting; providing a human-computer interaction interface for setting and checking the number and the position of straddle carriers in the exchange area, the number and the position of personnel in the refrigeration area, the weight of an ARMG with a box, the field wind speed and other information; providing a human-computer interaction interface for controlling the entrance and the exit of a straddle carrier in an exchange area and the entrance of entrance guard personnel; an ARMG operation control interface is provided, which comprises the control of opening and closing, remote/local mode selection, equipment emergency stop, fault reset, mechanism bypass, and the action control operation of mechanisms such as a cart, a trolley, a lifting appliance and a lifting appliance. The control function replaces the functions of a remote console and a remote control handle, and the capability of simulating the operation or fault handling of the ARMG under the non-automatic control condition is realized.
The three-dimensional storage yard image display module displays an instruction completion process in a 3D dynamic visualization mode, different devices can be selected according to user requirements, and display angles can be changed randomly to facilitate viewing. The interface acquires and displays the states of ARMG in a plurality of storage yards in real time through OPC, the states comprise the positions of a cart, a trolley, a lifting appliance and a lifting appliance, and the motion processes of the cart, the trolley, the lifting appliance and the lifting appliance are displayed through animation. In addition, the interface shows the whole structure of the storage yard and the planning of the shell position and the column position; by accessing the OPC points, the distribution conditions of personnel in a straddle carrier and a refrigeration area in the exchange area can be displayed, and the locking area of the ARMG can be displayed in the movement process of the cart to help analyze the anti-collision strategy of the cart; by accessing the database, the distribution condition of the containers in the storage yard can be shown, the task process can be known, and the sensory experience equivalent to the real environment of the site can be obtained.
The simulation process of the yard management simulation system of the above embodiment is as follows.
(1) Preparation work:
firstly, all the modules of the system are started to ensure that the mutual connection is normal and the data interaction is normal. And then checking whether system operation parameters are configured according to the requirements of the project test case, wherein the system operation parameters comprise the maximum speed, the acceleration and other numerical values of the ARMG cart, the trolley and the lifting. The equipment is adjusted to the initial state required by the test, including numerical values such as the position of a cart, the position of a trolley, the lifting height, the locking and unlocking state of a lifting appliance, the size of the lifting appliance and the like, and the distribution of containers in a storage yard and an exchange area. The residual data in the database needs to be cleaned up before debugging of the ACL is performed.
(2) Starting simulation:
the task is imported into the database through the TOS or database access tool. When the ACL reads a new task, the operation instruction is sent to the ACCS, and then the ACCS controls the logic controller to drive the equipment simulator to act, so that the simulation of the whole system starts to operate normally.
(3) Simulation control:
in the running process of the system, the lane straddle carrier occupation condition, the box distribution condition of the exchange area and the personnel distribution condition of the refrigeration area can be controlled by clicking the setting interfaces of the exchange area and the refrigeration area on the touch screen so as to meet the requirements of different test working conditions. When the system is abnormal or other conditions requiring manual intervention occur, the test of working condition processes such as fault handling, manual box grabbing and releasing, emergency stop safety control and the like can be completed through the action of the touch screen operation equipment.
(4) And (3) process monitoring:
besides the log recording and data monitoring functions of each module, the simulation system provides graphical interfaces such as a touch screen, a three-dimensional heap image display and an RCMS (remote control system), and helps development and debugging personnel to check the running conditions of the current system and each subsystem more quickly and intuitively.
The simulation object of the yard management simulation system of the above embodiment is as follows.
(1) ACL simulation:
because the ACL is an upper-layer control system, the system is separated from actual equipment, and the program version of the formal ACL of the project can be completely used in the system. Therefore, the simulation system can be used as a laboratory development test environment of ACL, including the test with TOS interface, the test with ACCS interface and the working condition test for different business processes of the program. The possibility that the ACL debugging progress is influenced due to equipment problems is reduced, the development efficiency is improved, the ACL on-site debugging time is shortened, and the software development and debugging cost is saved.
(2) ACCS simulation:
except that detection modules like TDS, SDS and the like do not have the simulation under the laboratory condition, most ACCS functional modules can be tested, including the test with an ACL interface, a logic controller interface and the working condition test of different business processes of a program. The development of main functions and the verification of program logic can be carried out under the laboratory condition, the program development starting time is advanced, the development and debugging progress is accelerated, the field debugging time of the ACCS is shortened, and the development and debugging cost is saved.
(3) And (3) yard safety control simulation:
the system simulates the states of the exchange area, the cold storage area and the access control system through the input of the touch screen, so that the yard safety control module can get rid of actual field facilities, carry out development and test in a simulation system environment, verify program logic, advance the program development starting time, accelerate the development and debugging progress, shorten the ACCS field debugging time and save the development and debugging cost.
(4) And (3) simulating by a logic controller:
in an automated yard system, the logical controller is the module closest to the underlying equipment. Typically, system commissioning can only be done in the field by connecting real devices. Thanks to the simulators of the inverter and the motor, the logic controller can also perform program testing, test the interface with the ACCS, and verify part of the control logic. The program development starting time is advanced, the development and debugging progress is accelerated, the field debugging time is shortened, and the development and debugging cost is saved.
(5) And (3) system performance simulation:
in addition to providing a test environment for each subsystem, the system has another main function of showing the overall performance of the automated yard system, including task execution efficiency, equipment execution conditions under each working condition, and verifying whether equipment motion and a safety control mechanism meet business requirements or not together with a client, so as to find problems as early as possible, adjust design ideas, even help the client to adjust port business rules, modify demand design in time and reduce rework cost.
In summary, the yard management simulation system of the present invention provides a touch screen, a converter and motor simulator, a 3D Terminal View and an RCMS as external condition parameter inputs and an internal operation state output interface to provide a simulation test environment for each subsystem including an ACL, an ACCS, a yard safety control module and a logic control module. In a laboratory environment, most functions can be developed and tested under the condition of no real equipment, the field debugging time is shortened, the danger in the debugging process is reduced, the debugging efficiency is improved, and the debugging cost is reduced. Through simulation of the performance of the whole system, the running efficiency of the equipment is counted, the system defects on the design level can be discovered as early as possible in the early development stage, and the progress of the whole project is promoted.
While, for purposes of simplicity of explanation, the methodologies are shown and described as a series of acts, it is to be understood and appreciated that the methodologies are not limited by the order of acts, as some acts may, in accordance with one or more embodiments, occur in different orders and/or concurrently with other acts from that shown and described herein or not shown and described herein, as would be understood by one skilled in the art.
Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The various illustrative logical blocks, modules, and circuits described in connection with the embodiments disclosed herein may be implemented or performed with a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In the alternative, the processor and the storage medium may reside as discrete components in a user terminal.
In one or more exemplary embodiments, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software as a computer program product, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a computer. By way of example, and not limitation, such computer-readable media can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a web site, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, Digital Subscriber Line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. Disk (disk) and disc (disc), as used herein, includes Compact Disc (CD), laser disc, optical disc, Digital Versatile Disc (DVD), floppy disk and blu-ray disc where disks (disks) usually reproduce data magnetically, while discs (discs) reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.
The previous description of the disclosure is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to the disclosure will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other variations without departing from the spirit or scope of the disclosure. Thus, the disclosure is not intended to be limited to the examples and designs described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. The utility model provides a stack yard management simulation system, its characterized in that, the system includes hoist single-machine automatic control layer module, hoist single-machine automatic control system, logic controller, hoist remote monitering system and three-dimensional stack yard image display module, wherein:
the crane single-machine automatic control layer module is arranged on an automatic rail crane ARMG deployed in a storage yard, acquires and verifies an operation task, coordinates with a crane single-machine automatic control layer module on another ARMG in the same storage yard, generates a task operation instruction according to task data and equipment state data of the two parties, sends the task operation instruction to the ARMG to execute the task, feeds back a task execution result to an automatic wharf loading and unloading planning system, and records operation data in a task execution process;
the crane single-machine automatic control system is arranged on the ARMG deployed in a storage yard, obtains an action instruction of the ARMG from a crane single-machine automatic control layer module, analyzes and decomposes the action instruction, generates a motion command of a mechanism, and controls the motion through a control logic controller, wherein the main functions of the crane single-machine automatic control system comprise real-time motion control, ACL instruction analysis, ARMG working mode control, motion path planning, safety control, exception handling and equipment state monitoring of the mechanisms including a cart, a trolley, a lifting appliance and a lifting appliance, and are fed back to an upper control system and equipment operation log record;
the logic controller is arranged on the ARMG deployed in the yard, receives a control signal of the crane single-machine automatic control system, processes and converts the control signal into an input/output point for controlling the electrical equipment;
the crane remote monitoring system monitors the running state of each mechanism of the ARMG so as to obtain equipment state information;
and the three-dimensional storage yard image display module displays the instruction completion process in a 3D dynamic visualization mode.
2. The yard management simulation system of claim 1, wherein the crane stand-alone automatic control layer module performs corresponding adjustment on the change of task data and equipment state data in the task execution process, runs on an industrial personal computer and performs data interaction with the crane stand-alone automatic control system through object connection for process control and embedded OPC.
3. The yard management simulation system of claim 1, wherein the crane stand-alone automatic control system is further used for ARMG operation mode control, mechanism motion path planning, safety control, exception handling, equipment state monitoring feedback, and equipment operation log recording.
4. The yard management simulation system of claim 1, wherein the logic controller further provides security protection during operation of the equipment, the logic controller is divided into a main control CPU and a distributed I/O module, and connects the crane stand-alone automatic control system and the simulator.
5. The yard management simulation system of claim 1, wherein the crane remote monitoring system is further configured to obtain and display equipment failure information and provide historical failure log statistics.
6. The yard management simulation system of claim 1, wherein the simulation system further comprises:
the storage yard safety control module is configured in one storage yard and is used for collision avoidance protection among a plurality of ARMG, management of lane states of a plurality of exchange areas, state management of a cold storage area, application of ARMG box area occupation application and processing of entrance guard entrance application.
7. The yard management simulation system of claim 1, wherein the simulation system further comprises:
and the converter and the motor simulator are used for receiving an I/O signal command given by the logic controller, simulating the action of an electrical component in the ARMG and feeding the state back to the logic controller.
8. The yard management simulation system of claim 1, wherein the simulation system further comprises:
and the touch screen module is used for displaying the state of an operating mechanism in the ARMG, checking the operating parameters of the ARMG, providing a man-machine interaction interface and providing an ARMG operation control interface.
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| CN110147069B (en) * | 2019-04-28 | 2022-04-12 | 武汉理工大学 | Working method of port real-time monitoring system based on digital twin |
| CN110264128A (en) * | 2019-05-25 | 2019-09-20 | 宁波梅山岛国际集装箱码头有限公司 | Harbour container handling method and system |
| CN110244648B (en) * | 2019-06-13 | 2021-08-31 | 中国神华能源股份有限公司 | Control method and control system for storage yard |
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