CN112758827B

CN112758827B - A remote control system for portal crane

Info

Publication number: CN112758827B
Application number: CN202110083078.4A
Authority: CN
Inventors: 陈悦; 冯志超; 常华强
Original assignee: Yichang Chuangxing Electronic Technology Development Co ltd
Current assignee: Yichang Chuangxing Electronic Technology Development Co ltd
Priority date: 2021-01-21
Filing date: 2021-01-21
Publication date: 2024-12-20
Anticipated expiration: 2041-01-21
Also published as: CN112758827A

Abstract

The remote control system of the portal crane comprises a cloud server platform, a client, a remote control console, a fixed base station, a portal crane monitoring terminal, a grab bucket monitoring part and a bow and stern positioning device. The cloud server platform is respectively connected with the client and the remote control console through a fifth switch. The cloud server platform is connected with the door seat machine monitoring terminal through the 5G communication module, and the door seat machine monitoring terminal is connected with the grab bucket monitoring part. The gate seat machine monitoring terminal, the grab bucket monitoring part and the bow and stern positioning device are all in communication connection with the fixed base station. The remote control system of the gantry crane realizes the remote control of the gantry crane, can be in communication networking with a production scheduling system, and provides technical support for unmanned operation and cost reduction and synergy of wharfs.

Description

Portal crane remote control system

Technical Field

The invention relates to the technical field of gantry crane control, in particular to a gantry crane remote control system.

Background

The gantry crane is also called a rotatable lifting device (called a rotating part for short) which is arranged on a gantry frame. The 4 legs of the portal frame form 4 "door openings" through which railway vehicles and other vehicles can pass. The gantry crane mostly runs along a crane track on the ground or a building to perform lifting and loading and unloading operations. Currently, gantry cranes are mainly used for harbour machinery operations. The bridge is supported on the ground rail or foundation through the two side supporting legs, and has the characteristics of running along the ground rail and passing through railway vehicles or other ground vehicles. Portal cranes are also gradually popularized and applied to shipway, hydropower station sites and the like with operation conditions similar to those of ports. The control part of the gantry crane is an important part of the gantry crane and is directly related to safe production and working efficiency. However, due to the special working condition environment of the gantry crane, a set of more advanced control system does not exist in the prior art, so that the increasingly accurate requirement of the current gantry crane is met.

The literature 'application of a PLC remote monitoring system on a gantry crane' (automatic control, rao Laiqing) describes a remote monitoring scheme of the gantry crane, which has certain disadvantages in that ① is used for remotely monitoring equipment faults of the gantry crane, and the proposal is not mentioned for improving productivity and reducing labor intensity of operators. ② . The scheme is that the GPRS transmission is adopted, the data channel is relatively small, the data volume of wireless transmission is small, and the remote transmission function is objectively limited. ③ . The scheme does not have the functions of GPS positioning, image recognition and anti-swing of the grab bucket. How to improve the working benefit of the portal crane, lighten the labor intensity of a driver, reduce the cost and improve the working efficiency is the aim of the portal crane for control pursuit.

Disclosure of Invention

In order to improve the working benefit of the portal crane, the labor intensity of a driver is reduced, the cost is reduced and the efficiency is improved. The invention provides a remote control system of a gantry crane, which realizes the remote control of the gantry crane, can be in communication networking with a production scheduling system, and provides technical support for unmanned operation and cost reduction and synergy of a wharf.

The technical scheme adopted by the invention is as follows:

A gantry crane remote control system, the system comprising:

The system comprises a cloud server platform, a client T5820, a remote control console CX-LHJBB, a fixed base station M300, a gate machine monitoring terminal, a grab bucket monitoring part and a bow and stern positioning device;

the cloud server platform is respectively connected with a client T5820 and a remote control console CX-LHJBB03 through a switch 5 HI-08;

the cloud server platform is connected with a door seat machine monitoring terminal through a 5G communication module CPEPRO, and the door seat machine monitoring terminal is connected with a grab bucket monitoring part;

The gate machine monitoring terminal, the grab bucket monitoring part and the bow and stern positioning device are all in communication connection with the fixed base station M300.

The exchanger 5HI-08 is connected with the streaming media server DVSCAR-51, and the streaming media server DVSCAR-51 is connected with the spliced screen CB5503S.

The gate seat machine monitoring terminal comprises a PLC controller S7-1500 and a touch screen VMC1100, wherein the touch screen VMC1100 is connected with the PLC controller S7-1500, the PLC controller S7-1500 is connected with a switch 2HI-08, the switch 2HI-08 is respectively connected with a 5G communication module CPEPRO, a data transmission station 3SZ02, a scanner controller, a GPS positioning mobile base station 2CX-E728 and an anti-collision signal collector, the scanner controller is connected with a 3D laser scanner CX-JS800, the GPS positioning mobile base station 2CX-E728 is respectively connected with the data transmission station 4SZ02, a GPS positioning antenna 2AT300 and a GPS directional antenna 3AT300, and the anti-collision signal collector is connected with an anti-collision sensor CX-HB100;

The PLC controllers S7-1500 are respectively connected with a wind speed sensor YS-CF, a height encoder 1GM58S10K6MA12WN, a height encoder 2GM58S10K6MA12WN, a grab bucket supporting frequency converter ATV930, a grab bucket opening and closing frequency converter ATV930 and a left and right cart travelling frequency converter;

The PLC controller S7-1500 is respectively connected with the anti-swing module 1CX-FY400, the anti-swing module 2CX-FY400 and the anti-swing module 3CX-FY400, wherein the anti-swing module 1CX-FY400, the anti-swing module 2CX-FY400 and the anti-swing module 3CX-FY400 are respectively connected with the left rotary frequency converter, the right rotary frequency converter and the variable amplitude frequency converter;

The PLC S7-1500 is connected with a moment limiter CX-AV, and the moment limiter CX-AV is respectively connected with a weight sensor 1JZ-1, a weight sensor 2JZ-1 and an angle sensor CX-JD90;

the PLC controller S7-1500 is connected with a remote control receiver JT-KP.

The grab bucket monitoring part comprises hysteresis type power supply reels MH1800-28/180, a power cat 2WD-200M and a power cat 1WD-200M;

The AC220V power supply is connected with the hysteresis type power supply winding drum MH1800-28/180, the hysteresis type power supply winding drum MH1800-28/180 is connected with the switching power supply 1LRS-350-24, the switching power supply 1LRS-350-24 is respectively connected with the switch 1005, the grab camera 1BS-CA33-IP, the grab camera 2BS-CA33-IP, the mobile base station 1CX-E728 and the power supply manager CX-DY02, the mobile base station 1CX-E728 is respectively connected with the GPS antenna 1AT300 and the data radio station 1SZ02, and the power supply manager CX-DY02 is respectively connected with the data radio station 2SZ02, the grab searchlight 1SM-2009 and the grab searchlight 2SM-2009;

Grab camera 1BS-CA33-IP, grab camera 2BS-CA33-IP are all connected with switch 1005, switch 1005 is connected with electric power cat 1WD-200M, electric power cat 1WD-200M is connected with hysteresis power supply reel MH1800-28/180;

Hysteresis power reel MH1800-28/180 is connected to power cat 2WD-200M, power cat 2WD-200M is connected to switch 2HI-08, and switch 2HI-08 is connected to switch 3HI-08.

The system also comprises a lifting hook monitoring camera CX-SXJ02, a cab side ball machine DHK-EX300, a lifting rope camera BS-CA33-IP, an electric cab camera BS-CA33-IP, a left cart running track camera, a right cart running track camera, a switch 4005, a left grab bucket camera and a right grab bucket camera, wherein the electric cat 3WD-200M and the electric cat 4WD-200M;

The cameras of the left cart walking track and the cameras of the right cart walking track are both connected with a switch 4005, and the switch 4005 is connected with a power cat 3WD-200M;

The electric cat 3WD-200M is connected with the exchanger 3HI-08, and the exchanger 3HI-08 is respectively connected with the electric room camera BS-CA33-IP, the lifting hook monitoring camera CX-SXJ02, the cab side ball machine DHK-EX300 and the lifting rope camera BS-CA33-IP;

switch 3HI-08 connects to video recorder DS-7804N-K2, video recorder DS-7804N-K2 connects to display E1715SC;

Switch 2HI-08 connects switch 1HI-08, and switch 1HI-08 connects left and right grab cameras, respectively.

The bow and stern positioning device comprises:

The ship head positioning device comprises a mobile base station 3CX-E708, wherein the mobile base station 3CX-E708 is respectively connected with a switching power supply 1LRS-150-12, a data transmission station 6SZ02, a GPS positioning antenna 4BT5630 and a data transmission station 5SZ02;

The stern positioning device comprises a mobile base station 4CX-E708, wherein the mobile base station 4CX-E708 is respectively connected with a switching power supply 2LRS-150-12, a data transmission station 8SZ02, a GPS positioning antenna 5BT5630 and a data transmission station 7SZ02.

The invention relates to a remote control system of a gantry crane, which has the following technical effects:

1) The digital modeling of the gate seat machine code head place vector electronic map, the gate seat machine, the grab bucket, the rail, the berth and the ship is realized by using a GIS electronic map technology and a satellite positioning technology, so that the gate seat machine is digitized and visualized in the whole process, and the whole process digital operation of grabbing, lifting, amplitude changing, turning, lowering, discharging and the like of the grab bucket is realized, and the automatic operation is realized.

2) According to the production scheduling instruction, an operator can give a working target and a grabbing task to a gate seat machine monitoring terminal through a client or a remote control console, the gate seat machine terminal automatically reaches a target station and a cabin position according to the client instruction, and according to the number, the specification and the model number of a target cargo ship, the gate seat machine control curve and the control flow are automatically adjusted, and grabbing operation can be automatically or semi-automatically carried out according to the control flow through client permission;

3) Through big data analysis, machine learning and simulation, an anti-swing model and an aerial bucket-throwing operation model are established, so that the automatic anti-swing and aerial bucket-throwing operation functions of the grab bucket are realized, the operation time of the grab bucket is shortened, and the operation efficiency of the grab bucket is improved;

4) The invention develops the door seat machine electronic safety fence by using the GIS vector electronic map technology and the satellite positioning technology, realizes the safety isolation between the grab bucket of the door seat machine and the shipway, prevents collision between the door seat machine and the like, and can effectively prevent the grab bucket from grabbing the shipway by mistake and collision safety risks with surrounding obstacles;

5) According to the invention, 3D laser scanning and cloud computing analysis are used to realize automatic material identification, automatic calculation of the size of a material pile, the height of the material pile, the position of a ship edge, the height of a cabin mouth, the height of a hopper position and the like, so that an important foundation is laid for automatic control and bucket throwing operation of a grab bucket;

6) The automatic anti-collision function of the door seat machine arm frame can monitor the dynamic distance of the adjacent door seat machine arm frame on line through the microwave radar arranged on the door seat machine arm frame, if the safety distance between the adjacent door seat machine arm frame and the door seat machine arm frame is sensed to be smaller than a set value, the system can automatically alarm and automatically control, and the door seat machine arm frame is prevented from approaching to the adjacent door seat machine, so that the collision risk of the two vehicle arm frames is avoided;

7) The intelligent grab bucket has the functions of GPS positioning, automatic high-efficiency illumination, grab bucket video monitoring, intelligent anti-collision, weighing metering, overload and super-moment automatic alarm, automatic protection and the like;

8) The system has the advantages that the system can be controlled in various modes such as automatic control, manual remote control, on-site wireless remote control and the like, and a customer can select according to on-site working conditions;

9) The video monitoring system can effectively assist operators in monitoring operation;

10 A person remotely controls the operation of a plurality of door holders.

Drawings

Fig. 1 is a general architecture diagram of the system of the present invention.

Fig. 2 is a flowchart of the development of the GIS electronic map for the bulk and grocery dock.

Fig. 3 is a digital working flow chart of the gantry crane walking track.

Fig. 4 is a flow chart of digitized berth establishment.

Fig. 5 is a flow chart for digital vessel setup.

FIG. 6 is a flow chart of digital door operator modeling.

FIG. 7 is a flow chart of digital grapple modeling.

Fig. 8 is a flow chart for establishing an electronic security fence of the gantry crane.

FIG. 9 is a flow chart of the establishment of the electronic security fence of the grab bucket.

Fig. 10 is a flow chart for establishing an electronic security fence for a surrounding building.

Fig. 11 is a flow chart for establishing the cabin mouth electronic security fence.

Fig. 12 is a configuration diagram of a fixed base station according to the present invention.

Fig. 13 is a schematic diagram of the operation of the system of the present invention.

Fig. 14 is a schematic diagram of the operation of the monitoring terminal of the door phone of the system of the present invention.

FIG. 15 is a schematic diagram of the operation of the grab bucket monitoring portion of the system of the present invention.

Fig. 16 is a schematic diagram of the video surveillance system of the present invention.

FIG. 17 is a functional schematic diagram of the system of the present invention for anti-sway and aerial bucket swing operation positioning.

Fig. 18 is a schematic diagram of the system of the present invention for identifying the position of the hold and the position of the stockpile.

Fig. 19 is a schematic diagram of the bow positioning operation of the system of the present invention.

Fig. 20 is a stern positioning operation schematic diagram of the system of the present invention.

Detailed Description

A remote control system for a portal crane is characterized in that a portal crane working characteristic and working condition requirements are met, an SOA (service oriented architecture) technology architecture and a B/S (browser/Server) structure are adopted to build a portal crane automatic monitoring management platform, a GIS (geographic information system) electronic information technology, big data and an AI (advanced technology) technology are utilized to provide a digital and visual basis for portal crane automatic control, and then advanced means such as GPS (global positioning system) positioning, 3D (three-dimensional) digital scanning, CAE (computer aided engineering) on-line monitoring analysis and 5G (fourth generation) communication are adopted to realize portal crane anti-swing, space anti-collision, material identification, obstacle identification, mechanical structure fatigue predictive maintenance and the like.

The overall system architecture is shown in fig. 1:

The system comprises a data acquisition and control part, a cloud service part and a management scheduling part, wherein the data acquisition and control part mainly comprises various sensors, a PLC controller S7-1500, a frequency converter, a touch screen VMC1100 and the like and is mainly responsible for door seat machine information acquisition and control, the cloud service part mainly comprises a GIS electronic map, a cloud server platform, a database and the like and is mainly responsible for providing GIS electronic map support, cloud computing, AI computing support service and the like for a door seat machine terminal, and the management scheduling part is mainly responsible for door seat machine task arrangement and remote control.

Realizing all functions of the system:

2.1. and (3) designing a GIS electronic map of a bulk and grocery wharf:

Firstly, CAD maps of scattered goods wharfs, equipment and the like are provided by a client unit, on the basis, MO (Map Objects) assembly GIS software of American ESRI company is adopted to organize and manage vector data and image data in a file form, so that multi-source space data are displayed in the same environment, and the operation function of the geographic space data is realized. And then establishing an oracle-based database, and connecting the graph and the attribute data by using the ID to realize the comprehensive application of the space information and the attribute information. Microsoft VB (Visual Basic) ENTERPRISE EDITION is used as a software development tool, a system user interface is established by combining the GIS function and the oracle relational database management function of MO, and system tools such as space and attribute data browsing, inquiring, statistics, calling and drawing are provided, so that an application platform for real-time and dynamic navigation positioning, display and storage release of various devices in a field is realized, conditions are created for controlling a door seat machine, and the development flow of GIS electronic maps of scattered and grocery wharfs is shown in figure 2.

2.2. After the electronic map is designed, modeling the walking track, berth, door seat machine, grab bucket and ship of the door seat machine by using the electronic map, and then solidifying and numbering the walking track, berth, door seat machine, grab bucket and ship respectively and storing the walking track, berth, door seat machine, grab bucket and ship into a database.

2.2.1. Modeling a digital rail of the door seat machine:

Through the establishment of the digital track, visual basis can be provided for searching for berths of ships for the large vehicle, and the grab bucket positioning lays a foundation for automatic control of the system. The digital working flow chart of the gate machine walking track is shown in fig. 3.

2.2.2. Digital modeling of ship berth:

By establishing the digital berth, a digital foundation can be established for the ship berth, the berth can be found for a large vehicle, a visual basis is provided for grab bucket positioning, and the flow of the digital berth establishment is shown in fig. 4.

2.2.3. And (3) digital modeling of the ship:

Through the establishment of the digital ship, a digital foundation can be established for the positioning of a gate seat machine, the operation of a grab bucket, the arrangement of an electronic fence and a 3D digital scanner, a visual basis is provided for the searching of the ship by a cart, the positioning of the electronic fence and the grab bucket, and the flow of the digital establishment of the ship is shown in figure 5.

2.2.4. Digital modeling of the door seat machine:

Through the establishment of the digital door seat machine, a digital foundation can be established for grab bucket operation, door seat machine collision prevention and a 3D digital scanner, a visual basis is provided for locating a grab bucket for a cart, and the digital modeling flow of the door seat machine is shown in fig. 6.

2.2.5. Digital modeling of grab bucket:

Through the establishment of the digital grab bucket, a digital foundation can be established for the accurate operation of the grab bucket, the swing prevention, the false grab edge prevention, the ship cabin in and out, the bucket throwing operation and the like, a visual basis is provided for the accurate positioning of the grab bucket and the grab bucket operation, and the digital modeling flow of the grab bucket is shown in figure 7.

2.2.6. Establishing an electronic security fence of the door base machine:

the system comprises a GIS electronic map, a database, a 5G communication module CPEPRO, a switch 2HI-08, a PLC controller S7-1500, a touch screen VMC1100, a door holder mobile base station 2CX-E728, a GPS positioning antenna 2AT300, a GPS positioning antenna 3AT300, a grab mobile base station 1CX-E728, a GPS positioning antenna 1AT300, a portable ship mobile base station 3CX-E728, a GPS positioning antenna 4AT300, a portable ship mobile base station 4CX-E728, a GPS positioning antenna 5AT300 and the like.

The door seat machine electronic safety fence comprises a door seat machine electronic safety fence, a door seat machine cart, a door seat machine arm support and a door seat machine grab bucket, and a control coordinate range of a ship edge and a funnel, wherein the door seat machine electronic safety fence is formed by encircling the door seat machine cart, the door seat machine arm support and the door seat machine grab bucket on a GIS electronic map through a field GIS electronic map and a database technology, an alarm system of a GIS monitoring platform is triggered when the door seat machine cart or the arm support and the grab bucket are driven out or intruded into the coordinate range, the cloud service monitoring platform sends alarm information to a touch screen VMC1100 of a PLC controller S7-1500 of the door seat machine monitoring terminal through a 5G communication module CPEPRO to alarm, and the touch screen VMC1100 can command the PLC controller S7-1500 to stop the cart running or the rotary frequency converter ATV930 or the variable frequency converter ATV930 to continue running in a dangerous direction, so that the arm support seat machine cart, the arm support or the grab bucket is prevented from colliding with surrounding obstacles. The setup flow is shown in fig. 8.

2.2.7. The establishment of the grab bucket electronic security fence is shown in fig. 9.

2.2.8. Building electronic security fence of surrounding buildings, barriers and cabin openings:

The system comprises a GIS electronic map, a database, a 5G communication module CPEPRO, a switch 2HI-08, a PLC controller S7-1500, a touch screen VMC1100, a door frame mobile base station 2CX-E728, a GPS positioning antenna 2AT300, a GPS positioning antenna 3AT300, a portable ship mobile base station 3CX-E728, a GPS positioning antenna 4AT300, a portable ship mobile base station 4CX-E728, a GPS positioning antenna 5AT300 and the like.

The operation principle is that the functions of the electronic safety fences of the surrounding buildings, the barriers and the cabin openings of the door seat machine are also that the buildings, the barriers, the cabin openings and the like are marked on the GIS electronic map through the on-site GIS electronic map and the database technology, and the satellite positioning antenna 3AT300 or the grab bucket GPS positioning antenna 1AT300 on the trunk bridge of the door seat machine can trigger the alarm of the GIS monitoring platform once entering or exiting the range, the GIS platform can alarm to the touch screen VMC1100 of the PLC controller S7-1500 of the monitoring terminal of the door seat machine through the 5G communication module CPEPRO, and the touch screen VMC1100 can command the PLC controller S7-1500 to stop the running of the rotary transducer ATV930 or the variable amplitude transducer ATV930 to continue to protect the cart, the arm support or the grab bucket of the door seat machine from collision with the surrounding buildings, the barriers, the cabin openings and the like. The flow chart is shown in fig. 10.

2.2.9. The establishment of the electronic security fence at each cabin opening is shown in fig. 11.

2.3. Establishing a cloud server:

In order to effectively utilize cloud resources to automatically serve the door seat machine, a cloud server is configured as follows:

2.4. And (3) fixed base station installation:

The fixed base station is an important device for real-time calibration of the Beidou satellite mobile receiving base station, and high-precision positioning control cannot be realized without the fixed base station, so that the system must be provided with a fixed base station within the 75KM range, and the configuration of the fixed base station is shown in fig. 12.

2.5. Realization of a remote control function of the door seat machine:

2.5.1. Working principle of the door seat machine remote control system:

2.5.1.1 composition of the door frame remote control system:

The system consists of a cloud server platform (GIS monitoring management platform), a 5G communication module CPEPRO, a client T5820, a remote control console CX-LHJBB03, a streaming media server DVSCAR-51, a splicing screen CB5503S, GPS, a fixed base station M300, an on-site remote controller JT-KP, a video monitoring system CX-SXJ03, a 3D laser scanner CX-X8000, a door seat machine monitoring terminal S7-1500, a grab bucket monitoring part CX-E728, a bow portable mobile base station CX-E728, a stern portable mobile base station CX-E728 and the like, and the schematic diagram is shown in figure 13.

2.5.1.2. The working principle of the system is as follows:

When the system works, an operator firstly carries out video inspection on a door base machine working environment on a spliced screen CB5503S through a remote control console CX-LHJBB03 to check whether the field environment is suitable for remote control operation, when no abnormality exists, various control instructions are issued to S7-1500 of a door base machine monitoring terminal according to the position of an electronic map through a client T5820, a cloud platform forwards a command to S7-1500 of the door base machine monitoring terminal through a 5G communication module CPEPRO, and S7-1500 of the door machine monitoring terminal is executed according to the command of the client T5820; after the grab bucket reaches a designated position, the 3D laser scanner CX-X8000 scans the cabin grabbing scene, then the scanning result is sent to the gantry crane monitoring terminal, and the monitoring terminal adjusts the gantry crane arm frame posture according to the 3D laser scanner CX-X8000, so that the grab bucket starts to work in place.

When the GPS fixed base station M300 works, satellite positioning information received by the GPS fixed base station M is continuously communicated with mobile base stations 1CX-E728, mobile base stations 2CX-E728, mobile base stations 3CX-E728 and mobile base stations 4CX-E728 of a door seat machine control system, the coordinates of the GPS fixed base station M are continuously sent to the mobile base stations, and the mobile base stations continuously correct the coordinates of the GPS fixed base station M, so that the accuracy of the door seat machine position, the grab bucket position and the cabin position is improved, the GPS fixed base station M is used for positioning of the door seat machine control system, and if the GPS fixed base station M belongs to a non-standard environment, operators can perform manual operation control through an operation console.

2.5.2. Door machine monitor terminal theory of operation:

the portal crane monitoring terminal comprises a crane operating handle, a crane working mode selection switch (automatic/semi-automatic), a PLC controller S7-1500, a touch screen VMC1100, a 3D laser scanner CX-JS800, a GPS positioning mobile base station 2CX-E728, a GPS positioning antenna 2AT300, a GPS directional antenna 3AT300, a data transmission station 4SZ02, a moment limiter CX-AV, a wind speed sensor YS-CF, a rotation angle sensor (provided by the GPS directional antenna 3AT 300), a height encoder 1GM58S10K6MA12WN, a height encoder 2GM58S10K6MA12WN, an anti-collision sensor CX-HB100, an anti-collision signal collector, a grab bucket supporting frequency converter ATV930, a grab bucket switching frequency converter ATV930, a left rotation frequency converter ATV930, a right rotation frequency converter ATV930, a luffing frequency converter ATV930, a cart left-swing frequency converter ATV930, a cart right-swing frequency converter ATV930, an anti-collision frequency converter CX-Y1 CX-Y2X 2, an anti-FY module CX-FY400, an anti-collision module CPEPRO and the like.

The working schematic diagram of the gate machine monitoring terminal is shown in fig. 14, and when the gate machine monitoring terminal works, the touch screen VMC1100 receives a GIS electronic map, a ship ID number, a berth on the shore, ship satellite positioning coordinate information, target station coordinate information, preset blanking point coordinate information, electronic security fence information and the like sent by the cloud server platform through the 5G communication module CPEPRO; the door operator touch screen VMC1100 can automatically call the ship performance parameters stored in the hard disk according to the ship ID number, PLCS7-1500 automatically starts the left traveling frequency converter ATV930 of the cart and the right traveling frequency converter ATV930 of the cart to travel to the berth according to the information such as the ship coordinates and the like, after the cart is in place, the door operator touch screen VMC1100 control system adjusts the arm support posture and the working amplitude according to the starting point set by a program, at the moment, the 3D laser scanner CX-JS800 starts to work, scans the designated area according to the program setting, and indicates the direction for grab bucket work; the gate seat machine touch screen VMC1100 control system automatically judges the work starting position according to the material pile information provided by the 3D laser scanner CX-JS800 and according to the material pile height, the material pile is grabbed from left to right or from right to left, when the gate seat machine touch screen VMC1100 is used for grabbing according to the program setting from left to right, the large cart is positioned on the left first block, then the grab bucket is started to be grabbed from 1 according to the program setting from front to back or from back to front, because the first bucket generally starts from the No. 1 position of the first block, at the moment, the grab bucket is close to the ship edge, at the moment, red electronic fence protection information appears on the touch screen VMC1100, virtual grab bucket movement information appears, an alarm is triggered if the virtual grab bucket is close to the electronic fence, the PLCS7-1500 control system can automatically adjust the arm support posture in the process of lowering the grab bucket, and automatically avoids the ship edge which is possibly touched, thereby playing a role in preventing false grabbing;

When the grab bucket is full of materials, the touch screen VMC1100 control system judges whether the grab bucket leaves a ship hatch according to the ship cabin height provided by the GPS mobile base station 3CX-E728 and the GPS mobile base station 4CX-E728 installed on the current ship, after the grab bucket leaves the ship hatch, the door seat machine touch screen VMC1100 drives the lifting supporting frequency converter ATV930 through the PLCS7-1500 to accelerate, meanwhile, the PLCS7-1500 controller automatically drives the variable amplitude frequency converter ATV930 to perform variable amplitude operation, when the grab bucket height reaches a set value, the PLCS7-1500 control system starts the swing frequency converter ATV930, according to a preset blanking place, the swing prevention module CX-FY400 module automatically starts to enter the swing prevention control curve, when the arm support rotates to the preset place, the swing frequency converter ATV930 automatically decelerates until the blanking point stops rotating, at the moment, the 3D laser scanner CX-JS800 automatically sends the blanking area material pile information, the PLCS7-1500 control system automatically selects a material pile low position as the blanking point, and then automatically starts the blanking point to stop when the blanking point automatically starts to reach the set value, and the blanking point can be started until the blanking point is started and the system is started to stop at a constant speed, and the blanking point can be started when the blanking point is started and the system can be started and the blanking point is started.

If the grab bucket of the gate base machine is changed into a lifting hook, other sundries are lifted, when the grab bucket works, a control center operator can start the gate base machine to the starting point of the lifted object after the coordinates of the starting point, the finishing point, the lifting hook height and the like of the fallen sundries are set, after the lifting hook is lowered to the set height, the operator waits for the operation of the on-site remote controller JT-KP of the on-site crane to lower the lifting hook to a proper position, then, after the lifting hook is lifted to the set height, the operator enters an automatic mode, the gate base machine automatically rotates, the lifted object is lifted to the finishing point automatically, then the lifting hook is lowered to the set height, and the operator waits for the remote controller JT-KP of the on-site crane to lower the lifted object to the ground, and the operation is repeated;

If overload or over-torque occurs in the system during lifting, the CX-AV system of the torque limiter can automatically alarm and automatically control, so that the safety of the crane is ensured.

2.5.3. Realization of intelligent grab bucket monitoring function:

The system comprises hysteresis power supply reels MH1800-28/180, electric power cat 2WD-200M, electric power cat 1WD-200M, switch 1005, grab camera 1BS-CA33-IP, grab camera 2BS-CA33-IP, mobile base station 1CX-E728, GPS antenna 1AT300, data transmission station 1SZ02, power supply manager CX-DY02, grab searchlight 1SM-2009, grab searchlight 2SM-2009, data transmission station 2SZ02, switching power supply 1LRS-350-24 and the like, and the schematic diagram is shown in figure 15.

When the intelligent control system works, an AC220V power supply of the gate seat machine supplies power to a hysteresis type power supply reel MH1800-28/180, an output end of the power supply reel supplies AC220V power to a switching power supply 1LRS-350-24, and then the switching power supply 1LRS-350-24 converts the AC220V power supply into DC24V to be supplied to a switch 1005, a grab camera 1BS-CA33-IP, a grab camera 2BS-CA33-IP, a mobile base station 1CX-E728, a GPS antenna 1AT300, a data transmission radio station 1SZ02, a power supply manager CX-DY02, a data transmission radio station 2SZ02, a grab searchlight 1SM-2009, a grab searchlight 2SM-2009 and the like.

The grab camera 1BS-CA33-IP, the grab camera 2BS-CA33-IP transmit the acquired video signals, the mobile base station 1CX-E728 and the GPS antenna 1AT300 transmit the acquired grab positioning signals to the electric power cat 1WD-200M through the switch 1005, the electric power cat 1WD-200M converts the grab positioning signals into carrier signals and transmits the carrier signals to the electric power cat 2WD-200M through the hysteresis power winding drum MH1800-28/180, the electric power cat 2WD-200M decodes the received signals and transmits the received signals to the switch 2HI-08, one path of the switch 2HI-08 transmits the video signals to the video recorder DS-7808N-K2 through the switch 3HI-08 for storage and then transmits the video signals to the display E1715SC for display, and the other path of the switch 2HI-08 transmits the video signals to the streaming media server DVSCAR-51 through the 5G communication module CPEPRO G for display and monitoring, and the streaming media server DVSCAR-51 transmits the video signals to the splicing screen CB5503S for display and monitoring;

the grab bucket positioning signal is sent to the PLC controller S7-1500 through the exchanger 2HI-08 and then sent to the touch screen VMC1100 for calculation, control and positioning;

the grab searchlight 1SM-2009 and the grab searchlight 2SM-2009 are subjected to power control management, namely a client T5820 or a remote control console CX-LHJBB03, when the grab searchlight is in operation, a remote control operator issues a command to the switch 2HI-08 through the client T5820 or the remote control console CX-LHJBB03 through the 5G communication module CPEPRO, then the command is transmitted to the data transmission station 2SZ02 through the data transmission station 3SZ02 in a wireless mode, the data transmission station 2SZ02 transmits the command to the power manager CX-DY02, and the power manager CX-DY02 is used for carrying out switching control on the searchlight 1SM-2009 and the searchlight 2 SM-2009.

2.5.4. The realization of the video monitoring function:

The system comprises a lifting hook monitoring camera CX-SXJ02 with anti-swing damping function, an omnibearing monitoring ball camera DHK-EX300 arranged below a trunk bridge, a lifting wire rope monitoring camera BS-CA33-IP arranged at a machine room of equipment, a camera BS-CA33-IP arranged at an electric room monitoring electric device, a camera BS-CA33-IP arranged at a left cart running track beside a platform, a camera BS-CA33-IP arranged at a right cart running track beside the platform, a switch 4005 electric cat 1WD-200M, an electric cat 2WD-200M, a camera BS-CA33-IP arranged at the left side of a grab pulley block, a camera BS-CA33-IP arranged at the right side of the grab pulley block, a switch 1005, a switch 2HI-08, an electric cat 3WD-200M, an electric cat 4-200M, a hysteresis power supply reel MH1800-28/180, a 3HI-08, a communication DS-7804N-K2 WD, a display screen 535G 5, a video screen 1715, a video screen 17116, a video screen display module, and the like.

When the intelligent crane monitoring system is in operation, a left large car travel monitoring camera BS-CA33-IP, a right large car travel monitoring camera BS-CA33-IP and the like jointly enter a switch 3HI-08 through a switch 4005, video signals are sent to a power cat 3WD-200M through an upper car power slip ring and a lower car power slip ring, the power cat 3WD-200M converts the video signals into microwave signals, the video signals are sent to the power cat 4WD-200M through an upper car power slip ring, the power cat 4WD-200M, a lifting hook monitoring camera CX-SXJ02, an omnibearing monitoring ball camera DHK-EX300, a lifting wire rope monitoring camera BS-CA33-IP, an electric room equipment monitoring camera BS-CA33-IP and the like jointly enter the switch 3HI-08, then one way sends the video signals to a video camera DS-7804N-K2 to be stored and then sent to a display E1715SC to be displayed, and the other way of the switch 3HI-08 sends the video signals to the switch 2HI-08 together with video signals of a grab camera 1BS-CA33-IP and a grab camera 2BS-CA33-IP through a 5G communication module 5324 to a monitor media screen 5351 for splicing operators to display the operators.

2.5.5. Realizing the anti-collision monitoring and alarming functions of the arm support:

The system comprises microwave radar sensors CX-HB100, anti-collision signal collectors CX-KC16, PLCS7-1500 controllers, touch screen VMC1100, 5G communication modules CPEPRO, a GIS platform server and the like which are arranged on two sides of an arm support;

When the microwave radar sensor CX-HB100 is in operation, the microwave radar sensor CX-HB100 continuously detects the movement information of the adjacent door seat machine arm frames at the two sides of the arm frame, the information is sent to the anti-collision collector CX-KC16, the collector CX-KC16 is processed and then sent to the switch 2HI-08, then sent to the door seat machine remote control terminal PLCS7-1500, the PLCS7-1500 is sent to the touch screen VMC1100, the touch screen VMC1100 is used for analysis processing, when the distance between the local arm frame and the adjacent door seat machine arm frame is smaller than a set value, the touch screen VMC1100 immediately issues a control command to the PLCS7-1500, the rotary frequency converter ATV930 is instructed to prohibit the rotary, so that the collision risk of the two door seat machine arm frames is avoided, meanwhile, the touch screen VMC1100 sends anti-collision information to the 5G communication module CPEPRO G communication module 3935 through the PLCS7-1500 and the switch 2HI-08, the anti-collision alarm information is sent to the GIS platform server through the 5G communication module CPEPRO, and the GIS platform server is sent to the 5HI-08 through the network and then sent to the client T5820 for display.

2.5.6. Realization of automatic control function of door seat machine:

The system comprises a client T5820, a GIS electronic map of a cloud platform, a fixed satellite positioning base station M300 arranged on the roof outside a center room of a bulk cargo wharf, a satellite positioning antenna AT300 of the fixed base station, a data transmission station SZ02 of the fixed base station, a gate-seat GPS mobile base station 2CX-E728, a GPS antenna 2AT300, a GPS antenna 3AT300, a data transmission station 4SZ02, a grab bucket GPS mobile base station 1CX-E728, a GPS antenna 1AT300, a data transmission station 1SZ02, a portable ship mobile base station 3CX-E728, a GPS antenna 4AT300, a data transmission station 5SZ02, a data transmission station 6SZ02, a portable ship mobile base station 4CX-E728, a GPS antenna 5AT300, a data transmission station 7SZ02, a data transmission station 8SZ02 and the like.

When in operation, an operator sets the starting point coordinates, the dock berth coordinates, the ship grabbing position coordinates, the unloading point coordinates and the like of the gate seat machine on the GIS electronic map of the client T5820 according to the task of the current day, sends a command to the gate seat machine touch screen VMC1100 through the 5G communication module CPEPRO, the gate seat machine touch screen VMC1100 can instruct the PLCS7-1500 to start the cart to advance to the designated berth coordinates after receiving the command (the position is provided by the gyration center GPS antenna 3AT300 of the gate seat machine mobile base station 2 CX-E728), and after reaching the designated berth, the gate touch screen VMC1100 then calculates the difference between the coordinates of the GPS antenna 3AT300 on the bridge of the image nose and the central axis of the ship (grabbing position) according to the current cabin coordinates of the portable ship mobile base station 3CX-E728, the GPS antenna 4AT300, the portable ship mobile base station 4CX-E728 and the GPS antenna 5AT300, the data transmission station 6SZ02 and the data transmission station 8SZ02 which are transmitted to the S7-1500 by wireless through the data transmission station 6SZ02 and the data transmission station 8SZ02, then instructs the PLCS7-1500 to drive the revolving frequency converter ATV930 to align the arm support with the target cabin position, and instructs the amplitude changing frequency converter ATV930 to adjust the coordinates of the GPS antenna 3AT300 on the bridge of the image nose to be consistent with the target coordinates (central axis of the ship).

2.5.7. Realizing the functions of grab bucket anti-swing and aerial bucket throwing operation positioning:

The system comprises a GIS management platform, a switch 5HI-08, a client T5820, a remote control console CX-LHJBB, a 5G communication module CPEPRO, a touch screen VMC1100, a PLC controller S7-1500, a switch 2HI-08, a mobile base station 2CX-E728, a GPS positioning antenna 2AT300 (arranged AT a gantry crane rotation center), a GPS positioning antenna 3AT300 (arranged AT a nose bridge) data radio station 3SZ02, a data radio station 4SZ02, a 3D laser scanner CX-JS800, an image controller CX-X8000, a moment limiter CX-AV, a weight sensor 1JZ-1, a weight sensor 2JZ-1, an angle sensor CX-90, a left operating handle, a right operating handle, a wind speed sensor-CF, a height encoder 1GM58S10K6MA12WN, a grab bucket supporting transducer ATV 728, a left rotation transducer ATV930, a right rotation transducer ATV 728, a frequency converter ATV, a frequency converter CX 1 FY 1, a frequency converter FY400, a portable antenna 3E 3X-X, a portable antenna module CX-3E 3X, a mobile base station CX-3X, a mobile antenna module CX-3E 3X, a mobile base station CX-3E 3, a mobile antenna module CX-3X 3, a portable antenna module CX-3E 3, a mobile antenna module CX-3X 3, and the like.

During operation, firstly sampling is carried out, the touch screen VMC1100 collects the swing amplitude positions of the grab bucket of the gantry crane under the working conditions of rotation and amplitude variation under different weights, different heights, different speeds and different wind speeds, then the grab bucket swing amplitude positions are uploaded to the GIS management platform through the 5G communication module CPEPRO to be calculated and simulated respectively, then the simulated program is sent to the touch screen VMC1100 through the 5G communication module CPEPRO, after the touch screen VMC1100 is arranged, the rotation anti-swing program is solidified to the left rotation anti-swing module CX-FY400, the right rotation anti-swing module CX-FY400 and the amplitude variation anti-swing module CX-FY400 respectively, and during operation, the touch screen VMC1100 instructs the different anti-swing modules to regulate and control the frequency converter according to control parameters under different weights, different heights, different speeds and different wind speeds, so that the purpose of inhibiting the swing amplitude of the grab bucket is achieved;

In order to further explain the anti-swing working principle of the door seat machine, the working condition of the door seat machine is exemplified by a process flow that coal is grabbed from a cabin and conveyed to a telescopic coal unloading hopper below the crotch of the door seat machine, then the hopper is unloaded to a belt conveyor, and the belt conveyor conveys the coal to a coal yard;

the grab bucket is lifted vertically from the cabin (fed back by the GPS antenna 1AT300 of the grab bucket mobile base station 1 CX-E708), passes through the cabin opening (fed back by the GPS antenna 4BT5630 and the GPS antenna 5BT5630 of the portable ship mobile base station), is accelerated to lift (fed back by the operating handle) +amplitude (fed back by the angle sensor CX-JD 90) - - - -, is higher than the proper position of the coal unloading funnel (fed back by the height encoder 1GM58S10K6MA12 WN), the amplitude swing prevention module CX-FY400 works- - -is close to the proper position above the coal unloading funnel (fed back by the angle sensor CX-90), the PLC controller S7-1500 commands the grab bucket to open and close the frequency converter ATV930 to open the grab bucket, and swing the coal (fed back by the weight sensor 1JZ-1 and the weight sensor 2 JZ-1), and when the impact speed reaches the center point of the coal unloading funnel, the amplitude swing prevention module CX-FY400 works, and the amplitude swing prevention module CX-FY400 immediately swings to reach the position of the position above the coal unloading funnel (fed back by the angle sensor CX-90), and the vibration prevention module CX-1X 2F-F708 is controlled to swing, and the coal is completely moved to swing in the direction of the coal unloading funnel;

according to the principle, in order to improve the coal grabbing efficiency of the grab bucket, the PLC controller S7-1500 is controlled according to the position coordinates of the coal pile after the height and the size of the coal pile in the grab bucket are analyzed by the touch screen VMC1100, the grab bucket is lifted and transported preferentially, the grab bucket is set to be positioned above the ship edge AT zero speed according to the conventional method, but in order to grab the coal materials AT the ship edge, the grab bucket is accurately thrown to the coal pile AT the ship edge according to the height of the coal pile (fed back by the 3D laser scanner CX-JS 800) and the horizontal position of the grab bucket (fed back by the GPS antenna 1AT300 of the grab bucket moving base station 1 CX-E728), the anti-swing program of the amplitude swing anti-swing module CX-FY400 is utilized, and the grab bucket is accurately thrown to the ship edge AT the proper position in the middle of the ship bucket (fed back by the GPS antenna 1AT300 of the grab bucket moving base station 1 CX-E728), and the amplitude swing speed of the arm frame is not required to cause impact on the ship edge and the ship body, so that the coal shaking prevention function is realized.

2.5.8. Cabin position and material pile position identification:

The system comprises a 3D laser scanner CX-JS800, a scanner controller CX-X8000, a switch HI-08, a PLC controller S7-1500, a touch screen VMC1100, a 5G communication module CPEPRO, a GIS management platform, a client T8520 and the like, and the working principle is shown in figure 18.

When the laser scanning device works, a laser transmitter in the 3D laser scanner CX-JS800 is aligned with a ship body to send laser pulses, after the laser waves touch the ship cabin ship body, the laser scanner calculates the distance value from the laser scanner to the ship cabin ship body, the laser scanner CX-JS800 continuously transmits the laser pulse waves, the laser pulse waves are transmitted on a mirror surface rotating at a high speed, and the laser pulse waves are transmitted to all directions to form scanning of a two-dimensional area. And a cradle head is added to perform orthogonal rotation on the basis of two-dimensional scanning, so that scanning in a three-dimensional space can be formed. The three-dimensional coordinate information and reflectivity information of a large number of dense points on the surface of the detected ship body are recorded through a scanner controller CX-X8000, three-dimensional data of various ship body live-action are completely collected into the controller CX-X8000, and various drawing data such as a three-dimensional model of the detected ship body, lines, planes, bodies and the like of a material pile in a cabin are quickly reconstructed through processing of point cloud processing software.

Since the laser can penetrate through the glass, the 3D laser scanner CX-JS800 can be well protected and can be used for measuring severe environments (high temperature, high pressure, high humidity and high dust). Because the laser emission angle is very small (< 0.2 °), the 3D laser material scanner CX-JS800 can measure the material level in a narrow space, can perform three-dimensional measurement on an irregular material level, then sends the detected information to the image controller CX-X8000, the image controller CX-X8000 is equipped with point cloud processing software, processes the point cloud processing software to form a three-dimensional stereo image of the material level, obtains the lowest material level, the highest material level, the average material level, the cabin distance, the cabin height, the cabin width and the like of the cabin material level, sends the lowest material level, the highest material level, the average material level, the cabin distance, the cabin height, the cabin width and the like to the PLC controller S7-1500 through the switch HI-08 in a protocol manner, the PLC controller S7-1500 sends the touch screen VMC1100 again, the touch screen VMC1100 adjusts the position or the posture of the large vehicle according to the coal grabbing rule, so that the grab bucket can accurately fall to the highest material level of the cabin, and the touch screen VMC1100 controls the operation of the PLC controller S7-1500 and sends the lowest material level, the cabin height and the cabin width and the like through the 5G communication module CPEPRO to the GIS 8520 for monitoring and use by the client T8520.

2.5.9. Realizing the ship hatch height and cabin position positioning function:

The bow stern positioner includes:

The stern positioning device comprises a mobile base station 4CX-E708, wherein the mobile base station 4CX-E708 is respectively connected with a switching power supply 2LRS-150-12, a data transmission station 8SZ02, a GPS positioning antenna 5BT5630 and a data transmission station 7SZ02. The schematic diagrams are shown in fig. 19 and 20.

During operation, the GPS positioning antenna 3BT5630 and the GPS positioning antenna 4BT5630 send received bow and stern satellite positioning signals and height signals to the mobile base stations 3CX-E708 and 4CX-E708, the mobile base stations 3CX-E708 and 4CX-E708 calculate the difference and then send the current bow and stern position coordinates and height values to the data transmission station 3SZ02 through the data transmission station 6SZ02 and the data transmission station 8SZ02, the data transmission station 3SZ02 is sent to the PLC controller S7-1500, the PLC controller S7-1500 is sent to the touch screen VMC1100, the touch screen VMC1100 calculates the current cabin position and the cabin edge height according to the current bow position coordinates and the height values, and then the PLC controller S7-1500 commands the cart transducer ATV930 to drive the cart to the set cabin position according to the command of the client T5820 or the remote control console CX-LHJBB03, and the cart transducer is driven to drive the cart to the set cabin position to start to drive the coal grab to the set cabin position;

The switching power supply 1LRS-150-12 and the switching power supply 2LRS-150-12 respectively provide power for the bow and stern satellite positioning system.

The data transmission station 5SZ02 and the data transmission station 7SZ02 are communicated with the data transmission station SZ02 of the fixed base station, and are mainly used for calibrating position accuracy for the mobile base stations 3CX-E708 and the mobile base stations 4 CX-E708.

Claims

1. A gantry crane remote control system, characterized in that the system comprises:

the system comprises a cloud server platform, a client, a remote control console, a fixed base station, a gate machine monitoring terminal, a grab bucket monitoring part and a bow and stern positioning device;

The cloud server platform is respectively connected with the client and the remote control console through a fifth switch;

the cloud server platform is connected with a door seat machine monitoring terminal through a 5G communication module, and the door seat machine monitoring terminal is connected with a grab bucket monitoring part;

the gate seat machine monitoring terminal, the grab bucket monitoring part and the bow and stern positioning device are all in communication connection with the fixed base station;

the door seat machine monitoring terminal comprises a PLC controller and a touch screen;

the touch screen is connected with the PLC, the PLC is connected with the second switch, the second switch is respectively connected with the 5G communication module, the third data transmission radio station, the scanner controller, the second GPS positioning mobile base station and the anti-collision signal collector, the scanner controller is connected with the 3D laser scanner, the second GPS positioning mobile base station is respectively connected with the fourth data transmission radio station, the second GPS positioning antenna and the third GPS directional antenna, and the anti-collision signal collector is connected with the anti-collision sensor;

The PLC is respectively connected with the wind speed sensor, the height encoder, the grab bucket supporting frequency converter, the grab bucket opening and closing frequency converter and the left and right cart travelling frequency converter;

The PLC is connected with an anti-swing module which is connected with a rotary frequency converter and a variable amplitude frequency converter;

the PLC is connected with a moment limiter, and the moment limiter is respectively connected with a weight sensor and an angle sensor;

The PLC controller is connected with the remote control receiver;

the grab bucket monitoring part comprises a hysteresis type power supply reel, a second power cat and a first power cat;

The AC220V power supply is connected with the hysteresis power supply winding drum, the hysteresis power supply winding drum is connected with the switching power supply 1LRS-350-24, the switching power supply 1LRS-350-24 is respectively connected with the first switch, the grab camera, the first mobile base station and the power manager, the first mobile base station is respectively connected with the first GPS antenna and the first data transmission radio station, and the power manager is respectively connected with the second data transmission radio station and the grab searchlight;

the grab bucket camera is connected with the first switch, the first switch is connected with the first power supply cat, and the first power supply cat is connected with the hysteresis type power supply winding drum;

the hysteresis type power supply winding drum is connected with a second power supply cat, the second power supply cat is connected with a second switch, and the second switch is connected with a third switch;

The system also comprises a lifting hook monitoring camera, a cab side ball camera, a lifting rope camera, an electric room camera, a left cart running track camera, a right cart running track camera, a fourth switch, a left grab bucket camera and a right grab bucket camera;

The left and right cart running track cameras are connected with a fourth switch, and the fourth switch is connected with a third power cat;

the third electric cat is connected with a third switch, and the third switch is respectively connected with an electric room camera, a lifting hook monitoring camera, a cab side ball machine and a lifting rope camera;

The third switch is connected with a video recorder which is connected with a display;

The second switch is connected with the first switch, and the first switch is respectively connected with the left grab camera and the right grab camera.

2. The remote control system of the gantry crane of claim 1, wherein the fifth switch is connected with a streaming media server, and the streaming media server is connected with a splicing screen.

3. The remote control system of gantry crane of claim 1, wherein the bow-stern positioning device comprises:

The ship head positioning device comprises a third mobile base station which is respectively connected with the switching power supply 1LRS-150-12, a sixth data transmission radio station, a third GPS positioning antenna and a fifth data transmission radio station;

the stern positioning device comprises a fourth mobile base station which is respectively connected with the switching power supply 2LRS-150-12, the eighth data transmission radio station, the fifth GPS positioning antenna and the seventh data transmission radio station.

4. The portal crane monitoring method based on the portal crane remote control system of claim 1 is characterized in that when in operation, the touch screen receives a GIS electronic map, a ship ID number, a berth, ship satellite positioning coordinate information, target station coordinate information, preset blanking point coordinate information and electronic security fence information sent by a cloud server platform through a 5G communication module; the method comprises the steps of automatically acquiring ship performance parameters and ship coordinate information stored in a hard disk by a touch screen according to a ship ID number, automatically starting a left traveling frequency converter of a cart and a right traveling frequency converter of the cart to travel to a landing berth by a PLC (programmable logic controller), adjusting the posture and the working amplitude of a cantilever crane according to a starting point set by a program after the cart is in place by the cart, at the moment, starting a 3D laser scanner to work, setting a scanning designated area according to the program, indicating the direction for grab bucket work, automatically judging a working starting position according to the pile information provided by the 3D laser scanner, carrying out block-by-block grab operation according to the pile height according to the ship axis direction, carrying out block-by-block grab operation from left to right or from right to left if the program is set according to the left-to-right order, positioning the cart on a first left block by the touch screen, and then starting to drop the grab bucket according to the program from the sequence from front to back or from back to front, at the moment, starting the grab bucket from 1, starting to drop the grab bucket, setting the grab bucket, starting the grab bucket according to the first block, generally starting the position, setting the red electronic fence, setting the red electronic fence, and the electronic fence, simultaneously triggering the electronic fence, and automatically setting the electronic fence, and carrying out the virtual motion control if the grab bucket, and setting information, and giving an alarm if the electronic fence is in the touch screen, and setting, and the electronic fence setting. The ship edge which is possibly touched is automatically avoided, so that the anti-misoperation effect is achieved;

when the grab bucket is full of materials, the gate machine monitoring terminal judges whether the grab bucket leaves a ship hatch according to the ship cabin height provided by a third GPS mobile base station and a GPS fourth mobile base station installed on the current ship, after the grab bucket leaves the ship hatch, the gate machine touch screen drives the lifting support frequency converter to accelerate through the PLC controller, meanwhile, the PLC controller can automatically drive the amplitude variable frequency converter to carry out amplitude variable operation, when the grab bucket height reaches a set value, the PLC controller can start the rotary frequency converter, automatically starts the anti-swing module to enter an anti-swing control curve according to a preset discharging place, when the arm support rotates to the preset place, the rotary frequency converter automatically decelerates until the discharging point stops rotating, at this time, the 3D laser scanner can send the material pile information in the discharging area, the PLC controller can automatically select the material pile low position as the discharging point, then starts to descend at a uniform speed, when the grab bucket height reaches the set height, the system is automatically decelerated until the discharging point stops descending, then the grab bucket is started to unload again, and the cycle is started.

5. The monitoring method for the grab bucket of the portal crane based on the remote control system of the portal crane is characterized in that a first grab bucket camera and a second grab bucket camera transmit collected video signals, a first mobile base station and a first GPS antenna transmit collected grab bucket positioning signals to a first power cat through a first switch, the first power cat converts the grab bucket positioning signals into carrier signals and transmits the carrier signals to a second power cat through a hysteresis power winding drum, the second power cat decodes the received signals and transmits the carrier signals to the second switch, one path of the second switch transmits the video signals to a video recorder through a third switch for storage and then to a display for display, and the other path of the second switch transmits the video signals to a streaming media server through a 5G communication module and transmits the video signals to a splicing screen for display and monitoring;

the grab bucket positioning signal is sent to the PLC through the second switch and then sent to the touch screen for calculation, control and positioning.

6. A gantry crane arm support anti-collision monitoring method based on a gantry crane remote control system is characterized in that a microwave radar sensor continuously detects movement information of adjacent gantry crane arm supports on two sides of an arm support, the movement information is sent to an anti-collision acquisition device, the anti-collision acquisition device is sent to a second switch after being processed, then the anti-collision acquisition device is sent to a PLC (programmable logic controller) of a gantry crane monitoring terminal, the PLC is sent to a touch screen, the touch screen is used for analysis processing, when the distance between the local arm support and the adjacent gantry crane arm support is smaller than a set value, the touch screen immediately issues a control command to the PLC, a rotary frequency converter is instructed to prohibit rotation, and therefore collision risks of the two gantry crane arm supports are avoided, meanwhile, the touch screen sends anti-collision information to a 5G communication module through the PLC and the second switch, anti-collision alarm information is sent to a GIS platform server through the 5G communication module, and then sent to a fifth switch through a network to a client to display alarm.

7. The positioning method for the swing prevention and aerial swing operation of the gantry crane grab bucket based on the gantry crane remote control system is characterized in that sampling is firstly carried out, the grab bucket swing positions of the gantry crane grab bucket under the swing and amplitude changing working conditions of different weights, different heights, different speeds and different wind speeds are collected by a touch screen, then the grab bucket swing positions are uploaded to a GIS management platform through a 5G communication module to be calculated and simulated respectively, then the simulated program is sent to the touch screen through the 5G communication module, after the touch screen is arranged, the swing prevention program is solidified to a left swing prevention module, a right swing prevention module and the amplitude changing swing prevention module respectively, and when the positioning method is used, the touch screen commands different swing prevention modules to regulate and control a frequency converter according to control parameters under different weights, different heights, different speeds and different wind speeds, so that the aim of inhibiting the grab bucket is achieved.