CN111142470A - Automatic analog control system for wharf equipment and fault detection method - Google Patents
Automatic analog control system for wharf equipment and fault detection method Download PDFInfo
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- 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
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- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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Abstract
The invention provides an automatic analog control system and a fault detection method for wharf equipment, which utilize a plurality of touch-sensitive operation control panels butted to a PLC control framework platform and a plurality of detection pieces corresponding to field equipment to automatically simulate the operation state parameters of the field equipment; meanwhile, the detection pieces running on the touch-sensitive running control boards which are butted mutually are mutually matched and influenced, and the matching influence parameters are detected by the touch-sensitive running control boards and fed back to the PLC control framework platform. The PLC control architecture platform is connected to a Graphical User Interface (GUI), the comparison effect of the running tracks of the detection pieces corresponding to the wharf equipment is displayed on the GUI, and whether the working states of the plurality of wharf equipment which are paired currently are abnormal or not is judged according to the comparison effect. The scheme of the invention can be carried out for a long time, and can carry out early warning on possible fault phenomena of various wharf devices in time.
Description
Technical Field
The invention belongs to the technical field of automatic control, and particularly relates to an automatic simulation control system and a fault detection method for wharf equipment, a Graphical User Interface (GUI) connected with the control system, and a computer-readable storage medium for realizing the fault detection method.
Background
With the rapid development of the container transportation industry, the number of deep water container terminals and the handling capacity of the container terminals are rapidly increased, and a quayside container crane is developed towards the large-scale and high-efficiency direction as the main force for loading and unloading at the front edge of the terminal. The wharf equipment including a shore bridge crane, a cart, a cantilever beam, a trolley spreader and a shore container crane has the metal structure and working mechanisms with certain damage/faults more or less after years of use, and the faults of different degrees appear although the service life is not reached. Whether the wharf equipment can be used safely, whether the wharf equipment can be used under increased load, whether the wharf equipment can be used for a long time, and how long the wharf equipment can be used safely becomes a very concern for wharf equipment use departments. According to actual experience and known use data, port enterprises usually scrap mechanical equipment regularly, so that economic and safe balance points are difficult to grasp, the mechanical equipment which can be continuously used is scrapped prematurely, resource waste is caused, and serious potential safety hazards exist when the equipment which is out of service is continuously used.
The Chinese patent application with the application number of CN201711183673 provides a crane stability monitoring system and a crane stability monitoring method, and the pressure conditions of all supporting legs of a crane are measured and collected, so that the overall stability of the crane is monitored and analyzed in real time, and monitoring and analysis results can be fed back visually. The crane stability monitoring system comprises a data acquisition module, a control and communication module and a terminal display module. The data acquisition module comprises a pin shaft type sensor, the pin shaft type sensor is arranged on the crane supporting leg and used for detecting the wheel pressure of the crane supporting leg, and the pin shaft type sensor outputs the acquired wheel pressure to the control and communication module in the form of an analog signal. The control and communication module comprises a PLC system, a first communication line and a second communication line. The pin shaft type sensor is connected with the PLC system through the first communication line, the PLC system receives an analog signal output by the pin shaft type sensor and converts the analog signal into a digital signal, and the digital signal is output to the terminal display module through the second communication line; the terminal display module comprises a display screen, and the display screen receives the digital signal and outputs a real-time monitoring picture according to the digital signal.
The Chinese patent application with application number CN200810040376 proposes an automatic wharf equipment operation control system and method with emergency processing function, and firstly points out that the automatic wharf used in all parts of the world at present has a technical scheme of an efficient and economical container automatic wharf, the scheme is characterized by comprising a low bridge horizontal distribution mechanism which is parallel to the shore and is constructed by reinforcing steel bars, a low bridge hoisting trolley (OBC), a low bridge flat Trolley (TC) and a ground flat trolley (GC) are arranged on the mechanism, the hoisting trolley, the flat trolley and a track crane (RMG) in a storage yard run on a specific track, the whole low bridge system is controlled by a central control room, no loading and unloading workers are needed on the site, the whole underframe bridge system and other related equipment thereof receive a central master control instruction under the control of computer software, intelligently transporting the containers from the ship to the storage yard. In order to adapt to the efficient economical container automatic wharf, an efficient, flexible and reliable wharf control system is needed, so that the equipment operation of the automatic wharf is controlled in a full-automatic manner, but when the full-automatic control is inevitably in failure, the equipment of the wharf can continuously play a role, and an automatic wharf equipment operation control system with an emergency processing function and a method thereof are needed, wherein the emergency control system and the method can debug and control single-machine equipment under manual control. Therefore, the application provides an automatic dock equipment operation control system and method with an emergency processing function, which can control the operation of dock equipment on one hand, and on the other hand, can debug and control stand-alone equipment to avoid or reduce loss under the condition of control failure and the like.
The Chinese patent application with the application number of CN200810039463 provides a three-dimensional display monitoring system and a method for wharf equipment, which adopts three-dimensional modeling and introduces the OpenGL display technology, so that the working condition of the wharf equipment is displayed through a three-dimensional model, the display effect and the display progress are effectively improved, and the whole wharf storage yard or operation area panorama and each equipment are conveniently monitored and displayed in real time; the invention can realize display monitoring only by carrying out related connection with equipment, thereby shortening the installation period, reducing the installation cost, increasing the flexibility of real-time monitoring, being used as an auxiliary means of video monitoring and being capable of carrying out independent monitoring, and field operators can realize real-time display monitoring on the operation conditions of all equipment in the wharf yard only by one display, one mouse and one network cable, thereby greatly increasing the simplicity and the flexibility of operation.
However, the inventor finds that, in the above technical solutions in the prior art, monitoring or detection or fault identification of a dock device is performed on a certain independent device itself, and it is not considered that multiple devices are actually cooperatively operated, and the operating state of one device is actually affected by another device cooperatively operated with the device, and if a state parameter of a certain device itself is simply considered, observation, early warning, etc. are performed on the device, which does not actually meet the actual management needs of the dock device; however, even if the problem is recognized, the prior art needs to actually perform the fitting test on the site, which is time-consuming and labor-consuming, and has low accuracy, and meanwhile, due to the high cost of the fitting test on the site, the long-time continuous on-site operation is not practical, which may cause the operation failure of the wharf equipment to be not early-warned and discovered in time.
Disclosure of Invention
In order to solve the technical problems, the invention provides an automated analog control system of wharf equipment, a fault detection method, a graphical user interface connected with the control system and a computer readable storage medium for realizing the fault detection method. By adopting the technical scheme of the invention, the operation state parameters of the field equipment are automatically simulated by utilizing a plurality of touch-sensitive operation control panels which are butted to the PLC control framework platform and a plurality of detection pieces corresponding to the field equipment; meanwhile, the detection pieces running on the touch-sensitive running control boards which are butted mutually are mutually matched and influenced, and the matching influence parameters are detected by the touch-sensitive running control boards and fed back to the PLC control framework platform. The PLC control architecture platform is connected to a Graphical User Interface (GUI), the comparison effect of the running tracks of the detection pieces corresponding to the wharf equipment is displayed on the GUI, and whether the working states of the plurality of wharf equipment which are paired currently are abnormal or not is judged according to the comparison effect. The technical scheme of the invention is carried out by adopting an automatic simulation means through the touch-sensitive element, the work of field equipment is not influenced, the operation can be carried out for a long time, and the early warning can be timely carried out on the possible fault phenomena of various wharf equipment.
In a first aspect of the invention, a terminal equipment automation simulation control system is presented, the simulation control system comprising a touch sensitive operational control panel detachably interfaced to a PLC control architecture station, the PLC control architecture station being connected to a Graphical User Interface (GUI).
Corresponding to the actual operation condition of the field wharf equipment, as a first innovation point of the invention, the touch-sensitive operation control board is integrally L-shaped, and at least one detection piece operates on the touch-sensitive operation board along a preset track at a preset speed; the preset track comprises an edge or an area middle line along the L shape;
corresponding to the diversity of field terminal equipment, as a second innovation point of the invention, the touch-sensitive operation control boards are multiple, wherein a first detection piece operates on a first touch-sensitive operation control board, the first detection piece operates along the preset track, and the preset speed of the first detection piece is determined based on the first gravity of the first detection piece and the speed of multiple first sampling points corresponding to the first detection piece;
detecting a first pressure change generated by the operation of the first detection piece through the first touch-sensitive operation control panel, and sending the first pressure change to the PLC control framework platform;
different from the method that fault detection is carried out in the prior art and the parameter of a single device is detected in an isolated mode, the technical scheme of the invention needs to consider the influence of working parameters among different devices, and therefore as another important improvement of the invention, the PLC control framework platform feeds back the first pressure change to the second touch-sensitive operation console;
operating a second detecting member on the second touch-sensitive operation panel, the initial speed of the second detecting member being determined based on the second gravity of the second detecting member;
determining a second running track of the second detection piece on the second touch-sensitive running control board;
as a key inventive concept of the present invention, the second running trajectory is displayed on the Graphic User Interface (GUI) of the automated simulation control system.
Judging a continuous distance threshold value of the second running track of the second detection piece and the preset track;
if the continuous distance threshold value range meets a preset condition, changing the running track of the first detection piece, and/or re-detecting the speed of the first detection piece corresponding to a plurality of first sampling points;
the first detection piece and the second detection piece contain a wireless communication module, the sampling parameters of the wharf device corresponding to the first detection piece and the sampling parameters of the wharf device corresponding to the second detection piece are received through the wireless communication module, and the sampling parameters comprise speed or gravity.
The automatic simulation process of the invention is continuously carried out along with the actual running state of the on-site wharf equipment, if the actual running state meets the preset condition, the loading capacity, the running speed, the steering track and the like of the wharf equipment in the current state are all in accordance with the standard, and the loading capacity, the lifting speed, the steering acceleration and the like can be tried to be moderately improved in the next running period, so that the efficiency is further improved on the premise of meeting the safety criterion;
in an embodiment of the present invention, the first detecting member and the second detecting member are replaceable.
The technical scheme of the invention is mainly used for wharf equipment, and the wharf equipment comprises a shore bridge crane, a cart, a cantilever beam, a trolley and a lifting appliance.
As a specific application, wherein the PLC control gantry is connected to a cart movement system, a cantilever beam lifting system, a trolley movement system and a spreader lifting system.
As a further improvement point of the present invention, a detection angle sensor is further disposed on the touch-sensitive operation control panel, and the detection angle sensor is disposed at the junction of the long side and the short side of the L-shape.
Correspondingly, the cart moving system, the cantilever beam lifting system, the trolley moving system and the hanger lifting system are all provided with field angle sensors, if the monitoring data of the detection angle sensors and the monitoring data of the field angle sensors do not accord with preset conditions, the running track of the first detection piece is changed, and/or the speed of the first detection piece corresponding to the plurality of first sampling points is detected again.
Therefore, in a second aspect of the present invention, an automated dock device fault detection method is provided, which includes the following steps:
arranging a plurality of speed sensors on a running track of a cart of the wharf equipment, wherein the running track of the cart is L-shaped, arranging a field angle sensor at the joint of the long side and the short side of the L-shaped track, and acquiring a plurality of speed values V1-Vn acquired by the plurality of speed sensors at a plurality of sampling points, an angle value W acquired by the field angle sensor and the weight G1 of the cart in the running process of the cart;
selecting a first detecting piece J1 with corresponding weight based on the weight G1, wherein the first detecting piece J1 acquires the plurality of speed values V1-Vn through the wireless communication module, and determines the running speed of the first detecting piece J1 based on the plurality of speed values V1-Vn;
acquiring the weight G2 of at least one trolley butted with the cart and the starting speed QV of the trolley;
selecting a second detecting member J2 of a corresponding weight based on the weight G2;
operating a first detecting member on a first touch-sensitive operation panel, and simultaneously operating a second detecting member on a second touch-sensitive operation panel;
determining a second running track of the second detection piece on the second touch-sensitive running control board;
judging a continuous distance threshold value of the second running track of the second detection piece and the preset track;
and if the continuous distance threshold value range meets the non-preset condition, sending out a fault reminding alarm.
Specifically, the method further comprises:
the detection angle sensor is arranged at the joint of the long side and the short side of the L shape of the first touch-sensitive operation control panel, and if an angle value JW obtained by the detection angle sensor does not correspond to an angle value W obtained by the field angle sensor, a fault reminding alarm is sent out.
The technical solution of the present invention can be realized by an interactive human-computer interface, and therefore, in a third aspect of the present invention, a Graphical User Interface (GUI) is further provided, where the Graphical User Interface (GUI) is configured on a remote control computer, and the remote control computer is connected to the simulation control system.
Through the human-computer interaction graphical user interface, a manager can complete the automatic simulation and fault detection process of the whole wharf equipment at the far end of the control room and observe the running track in real time, so that the feedback result can be intuitively and timely received.
The above methods of the present invention can be implemented automatically in the form of computer instruction programs, and the execution process does not require human intervention, so the present invention also provides a computer readable storage medium, on which a computer executable program instruction set is stored, and the instruction set is executed by a processor and a memory, so as to implement the automatic dock device fault detection method.
Further advantages of the invention will be apparent in the detailed description section in conjunction with the drawings attached hereto.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts. It is to be noted that the embodiments described in fig. 1-9 may all be combined in whole or in part.
Fig. 1 is an overall architecture diagram of an automated analog control system for dock equipment according to an embodiment of the present invention;
FIG. 2 is a schematic external view of a touch sensitive operating panel according to one embodiment of the present invention;
FIG. 3 is a schematic diagram of a touch sensitive operating panel according to one embodiment of the present invention corresponding to actual device sample points;
FIG. 4 is a schematic diagram of the internal circuitry of the touch sensitive operating panel of one embodiment of the present invention;
fig. 5 is a flow chart of a dock equipment automated fault detection method of one embodiment of the present invention;
fig. 6-9 are component diagrams of associated dock equipment used with embodiments of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. The invention is further described with reference to the following drawings and detailed description:
fig. 1 is a diagram illustrating an overall architecture of an automated analog control system for dock equipment according to an embodiment.
In fig. 1, the simulation control system includes a touch sensitive operating control panel that is removably interfaced to a PLC control architecture console that is connected to a Graphical User Interface (GUI).
In fig. 1, the touch-sensitive operation control board is an L-shaped touch-sensitive platform of four PLC control frameworks connected to a central control location.
In fig. 1, a command input component is further included, and the command input component is connected to the PLC control framework. Through the instruction input component, a manager can actively input related control parameters without being limited to parameters detected by the actual field working state. For example, on the basis of simulating the operation condition of key operation equipment (a field bridge and a shore bridge), human intervention is used as an external condition, an intervention result is used as a research object, and research on the condition and fault of the targeted equipment is carried out.
In fig. 1, the touch-sensitive operation control board is detachably connected to the PLC control framework, so as to facilitate simulation of the working state of the dock equipment in different scenes, because different dock equipment requires touch-sensitive components with different sizes and different sensing parameters for simulation. The detachable connection mode is adopted, so that the application range of the invention is expanded.
With further reference to FIG. 2, a schematic view of the appearance of a touch sensitive operating panel in accordance with one embodiment of the present invention is shown. In fig. 2, corresponding to the actual operation condition of the field dock device, the touch-sensitive operation control panel of this embodiment is L-shaped as a whole, and at least one detection element operates on the touch-sensitive operation panel along a preset track at a preset speed; the preset track comprises an edge or an area middle line along the L shape;
fig. 2 schematically shows a first preset track, namely a first preset track formed along a middle line of the L-shaped area, and a second preset track, namely a second preset track formed along an outer edge of the L-shaped area, where it is noted that the second preset track does not include a junction between a long side and a short side of the L-row area (the long side and the short side may also be symmetrically equal, which is not distinguished in this embodiment);
referring next to fig. 3, a schematic diagram of a touch-sensitive operation control board according to an embodiment of the present invention corresponding to an actual device sampling point is shown.
The embodiments described in fig. 1-2 are particularly applicable to automated simulation of dock equipment including quay crane cranes, carts, outriggers, trolleys and spreaders.
Fig. 3 shows a situation where the quay equipment comprises a cart and a shore crane.
In the dock device shown in fig. 3, a plurality of sensors are arranged on a running track of the device in advance, and the sensors are used to acquire real-time working parameters of the current steamed bun device and send the real-time working parameters to the detection member in a wireless communication manner, so that the detection member runs on the touch-sensitive running board in a preset manner.
The method comprises the following steps that a first detection piece runs on a first touch-sensitive running control board, the first detection piece runs along a preset track, and the preset speed of the first detection piece is determined based on the combination of the first gravity of the first detection piece and the speeds of a plurality of first sampling points corresponding to the first detection piece;
and detecting a first pressure change generated by the operation of the first detection piece through the first touch-sensitive operation control panel, and sending the first pressure change to the PLC control framework platform.
The PLC control framework platform feeds the first pressure change back to a second touch-sensitive operation console;
operating a second detecting member on the second touch-sensitive operation panel, the initial speed of the second detecting member being determined based on the second gravity of the second detecting member;
determining a second running track of the second detection piece on the second touch-sensitive running control board;
and displaying the second trajectory on the Graphical User Interface (GUI) of the automated simulation control system.
Referring further to FIG. 4, a schematic diagram of the internal circuitry of the touch sensitive operating panel of one embodiment of the present invention is shown.
In fig. 4, in two mutually perpendicular areas of the L-shaped touch-sensitive operation control panel, a plurality of pressure-capacitance conversion assemblies are arranged; the pressure-capacitance conversion assemblies are closely attached to each other in a first direction (the lower part of fig. 4 is shown in the horizontal direction) and are spaced from each other in a second direction (the lower part of fig. 4 is shown in the vertical direction);
in the first direction, a tangent area resistance line is arranged; in the second direction, a separation area resistance line is provided.
In this embodiment, the touch-sensitive operation control panel of this embodiment is different from a conventional integrated touch-sensitive device, but needs to be configured differently in two directions, corresponding to the touch-sensitive operation control panel that is to detect the pressure and speed of the operating detection member on a preset track; in the first direction, the speed change needs to be continuously detected, and in the second direction, the continuous detection is not needed, so that the use of the touch-sensitive component can be saved to the greatest extent; meanwhile, the resistance change of the separation area is detected by matching with the resistance line of the separation area, so that the track change can still be detected when the detection piece changes the preset track; the cooperation tangent line region electron line can be when the detection piece is unchangeable along the present track of predetermineeing, can be lastingly predetermine the detection of the state parameter on the track.
It should be noted that the above-mentioned key technical means belonging to the technical effects of the present invention.
Although not shown one by one, as a specific application, the PLC control gantry is connected to a cart moving system, a cantilever beam lifting system, a trolley moving system, and a spreader lifting system.
Automated fault detection of a dock device may be achieved using the automated dock device simulation control system described in figures 1-4. On the basis, further referring to fig. 5, a main flow chart of the automated dock equipment fault detection method is shown.
The detection method mainly adopts continuous state detection, and after detection is carried out in each period, if no alarm occurs, the working state of the current wharf equipment is changed, the efficiency is improved, and the detection is continued; if the alarm is monitored, the previous working state is detected, so that the efficiency is further improved on the premise of meeting the safety criterion.
Referring to fig. 5, the method mainly comprises the following steps:
s101: obtaining a plurality of speed values V1-Vn acquired by the plurality of speed sensors at a plurality of sampling points, an angle value W acquired by the field angle sensor and the weight G1 of the cart;
s102: selecting a first detecting piece J1 with corresponding weight based on the weight G1, wherein the first detecting piece J1 acquires the plurality of speed values V1-Vn through the wireless communication module, and determines the running speed of the first detecting piece J1 based on the plurality of speed values V1-Vn;
s103: acquiring the weight G2 of at least one trolley butted with the cart and the starting speed QV of the trolley; selecting a second detecting member J2 of a corresponding weight based on the weight G2;
the corresponding weight can be a weight value which is determined by scaling down based on a pressure input threshold value of the touch-sensitive operation control panel;
the operating speed may also be a scaled down determined operating speed based on the size of the touch sensitive operating control panel.
S104: operating a first detecting member on a first touch-sensitive operation panel, and simultaneously operating a second detecting member on a second touch-sensitive operation panel;
s105: determining a second running track of the second detection piece on the second touch-sensitive running control board;
s106: calculating a continuous distance threshold value of the second running track of the second detection piece and the preset track;
s107: judging whether the continuous distance threshold value meets a preset condition or not;
if not, sending out an alarm prompt; and the working state of the cart returns to the previous cycle;
otherwise, the relevant working parameters of the cart are changed, and the step S101 is returned.
As an illustrative example, relevant operating parameters of the cart are changed, including a modest increase in load, speed of lift, increased steering, etc.
The calculating of the continuous distance threshold between the second moving track of the second detecting element and the preset track has various common calculating manners in the art, and the present invention is not limited thereto. For example, a plurality of sampling point pairs corresponding to time on a preset track and a second running track are respectively selected, the distances between the sampling point pairs are calculated, whether the distances are all larger than a preset threshold value is judged, and if yes, the preset condition is not met; in this embodiment, the preset trajectory and the second moving trajectory both belong to L-shaped regions, and sampling comparison can be performed in one L-shaped region (although the two touch-sensitive moving control panels are from the two touch-sensitive moving control panels, the shapes and the sizes of the two touch-sensitive moving control panels are completely the same, and the two touch-sensitive moving control panels can be aligned in an overlapping manner).
Although not shown, as a further preferred embodiment of the present invention, a detection angle sensor is further disposed on the touch-sensitive operation control panel, and the detection angle sensor is disposed at the intersection of the long side and the short side of the L-shape.
Correspondingly, the cart moving system, the cantilever beam lifting system, the trolley moving system and the hanger lifting system are all provided with field angle sensors, if the monitoring data of the detection angle sensors and the monitoring data of the field angle sensors do not accord with preset conditions, the running track of the first detection piece is changed, and/or the speed of the first detection piece corresponding to the plurality of first sampling points is detected again.
As mentioned above, the foregoing embodiments are exemplified by the case of a trolley and a trolley, but as a specific application, the PLC control gantry may also be connected to a trolley moving system, a cantilever beam lifting system, a trolley moving system and a spreader lifting system.
Referring to fig. 6-9, control circuit connection diagrams for the cart movement system, the cantilever beam lift system, the cart movement system, and the spreader lift system are shown, respectively.
Referring to fig. 6, the cart moving system mainly comprises three limit switches, a frequency converter, two motors, an electric cylinder, a programmable controller and the like. The limit switch detects the position of the cart, and the electric cylinder is used for the wind-proof device.
Referring to fig. 7, the cantilever beam lifting system mainly comprises two limit switches, an angle sensor, a rotary encoder, two frequency converters, a motor, a steering engine, a programmable controller and the like.
Referring to fig. 8, the trolley moving system mainly comprises five limit switches, a frequency converter, a motor, a controllable program controller and the like.
Referring to fig. 9, the spreader lifting system includes limit switches and electromagnet sensors and a spreader.
According to the details, a person skilled in the art can also use the technical solution of the present invention to perform automatic simulation and related fault detection on relevant devices such as a cantilever beam, a spreader, etc., which are not described in one-to-one list by the present invention.
In conclusion, the scheme of the invention adopts an automatic simulation means to perform simulation through the touch-sensitive element, does not need to influence the work of field equipment, can be performed for a long time, and can timely perform early warning on possible fault phenomena of various wharf equipment.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A terminal equipment automation simulation control system, the simulation control system comprising a touch sensitive operational control panel detachably interfaced to a PLC control architecture console, the PLC control architecture console connected to a Graphical User Interface (GUI),
the method is characterized in that:
the touch-sensitive operation control panel is L-shaped as a whole, and at least one detection piece operates on the touch-sensitive operation panel along a preset track at a preset speed; the preset track comprises an edge or an area middle line along the L shape;
the touch-sensitive operation control panel is in a plurality,
the method comprises the following steps that a first detection piece runs on a first touch-sensitive running control board, the first detection piece runs along a preset track, and the preset speed of the first detection piece is determined based on the combination of the first gravity of the first detection piece and the speeds of a plurality of first sampling points corresponding to the first detection piece;
detecting a first pressure change generated by the operation of the first detection piece through the first touch-sensitive operation control panel and sending the first pressure change to the PLC control framework platform;
the PLC control framework platform feeds the first pressure change back to a second touch-sensitive operation console;
operating a second detecting member on the second touch-sensitive operation panel, the initial speed of the second detecting member being determined based on the second gravity of the second detecting member;
determining a second running track of the second detection piece on the second touch-sensitive running control board;
displaying the second running trajectory on the Graphical User Interface (GUI);
judging a continuous distance threshold value of the second running track of the second detection piece and the preset track;
if the continuous distance threshold value range meets a preset condition, changing the running track of the first detection piece, and/or re-detecting the speed of the first detection piece corresponding to a plurality of first sampling points;
the first detection piece and the second detection piece contain a wireless communication module, the sampling parameters of the wharf device corresponding to the first detection piece and the sampling parameters of the wharf device corresponding to the second detection piece are received through the wireless communication module, and the sampling parameters comprise speed or gravity.
2. The automated dock equipment simulation control system of claim 1, wherein the first detector and the second detector are replaceable.
3. The automated analog control system of a terminal device of claim 1, wherein said terminal device comprises a crane, a cart, a cantilever beam, a trolley, and a spreader.
4. The automated analog control system of quay equipment of claim 3, wherein said PLC control gantry is connected to a cart movement system, a cantilever beam lifting system, a trolley movement system, and a spreader lifting system.
5. The automated dock equipment analog control system of claim 3, wherein the touch sensitive operating panel further comprises a detection angle sensor disposed at the intersection of the long side and the short side of the L-shape.
6. The automated analog control system for wharf equipment of claim 5, wherein the cart moving system, the cantilever beam lifting system, the trolley moving system and the spreader lifting system are all provided with an on-site angle sensor, and if the monitoring data of the detection angle sensor and the on-site angle sensor do not meet a predetermined condition, the running track of the first detection member is changed, and/or the speed of the first detection member corresponding to the plurality of first sampling points is re-detected.
7. An automated dock equipment fault detection method implemented based on the simulation control system of any one of claims 1-6, the method comprising:
arranging a plurality of speed sensors on a running track of a cart of the wharf equipment, wherein the running track of the cart is L-shaped, arranging a field angle sensor at the joint of the long side and the short side of the L-shaped track, and acquiring a plurality of speed values V1-Vn acquired by the plurality of speed sensors at a plurality of sampling points, an angle value W acquired by the field angle sensor and the weight G1 of the cart in the running process of the cart;
selecting a first detecting piece J1 with corresponding weight based on the weight G1, wherein the first detecting piece J1 acquires the plurality of speed values V1-Vn through the wireless communication module, and determines the running speed of the first detecting piece J1 based on the plurality of speed values V1-Vn;
acquiring the weight G2 of at least one trolley butted with the cart and the starting speed QV of the trolley;
selecting a second detecting member J2 of a corresponding weight based on the weight G2;
operating a first detecting member on a first touch-sensitive operation panel, and simultaneously operating a second detecting member on a second touch-sensitive operation panel;
determining a second running track of the second detection piece on the second touch-sensitive running control board;
judging a continuous distance threshold value of the second running track of the second detection piece and the preset track;
and if the continuous distance threshold value range meets the non-preset condition, sending out a fault reminding alarm.
8. The fault detection method according to claim 7, wherein the detection angle sensor is arranged at the junction of the long side and the short side of the L shape of the first touch-sensitive operation control board, and if the angle value JW obtained by the detection angle sensor does not correspond to the angle value W obtained by the field angle sensor, a fault reminding alarm is sent out.
9. A Graphical User Interface (GUI) configured with a remote control computer connected to the simulation control system of any of claims 1-6.
10. A computer readable storage medium having stored thereon computer executable program instructions for execution by a computer for implementing the method of any one of claims 7 to 8.
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