CN214243509U - Remote control system of grab ship unloader - Google Patents
Remote control system of grab ship unloader Download PDFInfo
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- CN214243509U CN214243509U CN202120169104.0U CN202120169104U CN214243509U CN 214243509 U CN214243509 U CN 214243509U CN 202120169104 U CN202120169104 U CN 202120169104U CN 214243509 U CN214243509 U CN 214243509U
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Abstract
A grab ship unloader remote control system comprises a GIS monitoring management platform, a client, an operation platform, a fixed base station, a ship unloader monitoring system and a bow and stern positioning device; the GIS monitoring and managing platform is respectively connected with the client and the operating platform through a fourth switch; the GIS monitoring management platform is in communication connection with the ship unloader monitoring system through a 5G communication module; the ship unloader monitoring system is respectively connected with the local remote control receiver and the fixed base station; the ship unloader monitoring system and the bow and stern positioning devices are in communication connection with the fixed base station. The utility model relates to a grab ship unloader remote control system, which can not only solve the remote operation control problem of the ship unloader; meanwhile, one person can operate a plurality of ship unloaders, and the ship unloaders can be in networking communication with a production scheduling system. The unmanned operation of the wharf is realized, the operation cost of the grab ship unloader is reduced, and the working efficiency is improved.
Description
Technical Field
The utility model relates to a grab ship unloader control technical field, concretely relates to grab ship unloader remote control system.
Background
When the grab ship unloader works, the grab ship unloader continuously works for 72 hours in more than 24 hours a day according to the size of a ship, and the grab ship unloader works in a 'person-parking-ceaseless' mode, so that operators are easy to fatigue; in addition, the window glass cannot be closed during working, and operators are very bitter in summer under high-temperature and winter severe cold environments. And every ship unloaders all need be equipped with two operators, and the human cost is also higher.
Disclosure of Invention
In order to improve the working efficiency of the grab ship unloader and reduce the cost, the labor intensity of operators is reduced. The utility model provides a remote control system of a grab ship unloader, which can solve the remote operation control problem of the ship unloader; meanwhile, one person can operate a plurality of ship unloaders, and the ship unloaders can be in networking communication with a production scheduling system. The unmanned operation of the wharf is realized, the operation cost of the grab ship unloader is reduced, and the working efficiency is improved.
The utility model discloses the technical scheme who takes does:
a remote control system for a grab ship unloader, the system comprising:
the system comprises a GIS monitoring management platform, a client T5820, an operation desk CX-LHJBB03, a fixed base station M300, a ship unloader monitoring system and a bow and stern positioning device;
the GIS monitoring management platform is respectively connected with a client T5820 and an operation platform CX-LHJBB03 through a switch 4 HI-08;
the GIS monitoring management platform is in communication connection with the ship unloader monitoring system through a 5G communication module CPEPRO;
the ship unloader monitoring system is respectively connected with a local remote control receiver JT-KP and a fixed base station M300;
the ship unloader monitoring system and the bow and stern positioning device are in communication connection with the fixed base station M300.
The exchanger 4HI-08 is connected with a streaming media server DVSCAR-51, and the streaming media server DVSCAR-51 is connected with a splicing screen CB 5503S.
The ship unloader monitoring system comprises a monitoring terminal host part, a trolley monitoring part, a grab bucket monitoring part and a ship monitoring part, wherein the monitoring terminal host part is respectively connected with the trolley monitoring part, the grab bucket monitoring part, the ship monitoring part and a bow and stern positioning device.
The monitor terminal host part includes: the system comprises PLC controllers S7-1500, a touch screen TCP7062Ti, a 3D laser scanner CX-JS800 and a mobile base station 2 CX-E728;
the PLC controllers S7-1500 are respectively connected with a crane operating handle, a crane operating mode selection switch, a touch screen TCP7062Ti and a switch 3 HI-08;
the PLC controllers S7-1500 are respectively connected with the wind speed sensor YS-CF, the grab bucket height encoder and the trolley amplitude encoder;
the PLC controllers S7-1500 are respectively connected with an anti-swing module CX-FY400, a left cart walking frequency converter, a right cart walking frequency converter and a lifting frequency converter, and the anti-swing module CX-FY400 is connected with a trolley amplitude-variable frequency converter;
the switch 3HI-08 is respectively connected with a 5G communication module CPEPRO, a mobile base station 2CX-E728, a lifting weight limiter CQA01, a stress strain acquisition instrument DH3820 and a scanner controller CX-S8000;
the mobile base station 2CX-E728 is respectively connected with the positioning antenna 2AT300 and the data transmission station 4SZ02, the lifting weight limiter CQA01 is connected with the weight sensor JZ-1, the stress strain acquisition instrument DH3820 is connected with the stress strain sensor DH1101, and the scanner controller CX-S8000 is connected with the 3D laser scanner CX-JS 800;
the PLC controllers S7-1500 are respectively connected with a data transmission radio station 3SZ02 and a local remote control receiver JT-KP.
The PLC controller S7-1500 is connected with the switch 2HI-08, the switch 2HI-08 is connected with the video recorder DS-7808N-K2, the video recorder DS-7808N-K2 is connected with the display E1715Sc, and the switch 2HI-08 is connected with the switch 3 HI-08.
The cart monitoring section includes: the power line modem comprises a power line modem 3WD-200M, a hysteresis type power supply reel 2MH1800-28/180, a switching power supply 2LRS-250-12, a switch 11005, a power line modem 2WD-200M and a hysteresis type power supply reel 1MH 1800-28/180;
the AC220V power supply is respectively connected with an electric cat 2WD-200M, a switching power supply 2LRS-250-12, a hysteresis type power supply reel 2MH1800-28/180, a hysteresis type power supply reel 1MH1800-28/180 and an electric cat 3 WD-200M;
the switching power supply 2LRS-250-12 is connected with the power modem 2WD-200M, the power modem 2WD-200M is connected with the switch 11005, and the switch 11005 is connected with the trolley camera; power cat 3WD-200M is connected to switch 2 HI-08.
The grab bucket monitoring portion includes: the system comprises an electric cat 1WD-200M, a switch 5005, a mobile base station 1CX-E728, a GPS antenna 1AT300, a data transmission radio station 1SZ02, a grab bucket camera, a switching power supply 1LRS-350-24, a power supply manager CX-DY02, a data transmission radio station 2SZ02 and a grab bucket searchlight;
the AC220V power supply is respectively connected with an electric power cat 1WD-200M and a switching power supply 1LRS-350-24, the electric power cat 1WD-200M is connected with a switch 5005, the switch 5005 is respectively connected with a mobile base station 1CX-E728 and a grab bucket camera, and the mobile base station 1CX-E728 is respectively connected with a GPS antenna 1AT300 and a data transmission radio station 1SZ 02;
the switching power supply 1LRS-350-24 is connected with a power supply manager CX-DY02, the power supply manager CX-DY02 is connected with a grab searchlight, and the power supply manager CX-DY02 is connected with a data transmission station 2SZ 02;
the ship monitoring part comprises an omnibearing monitoring ball machine DHK-EX300, a left big car monitoring camera BS-CA33-IP, a right big car monitoring camera BS-CA33-IP and an automatic tracking camera;
the all-round monitoring ball machine DHK-EX300, the left cart monitoring camera BS-CA33-IP, the right cart monitoring camera BS-CA33-IP and the automatic tracking camera are all connected with the switch 2 HI-08.
The bow and stern positioning device comprises a bow mobile base station and a stern mobile base station;
the bow mobile base station comprises a switching power supply 1LRS-150-12, an AC220V power supply is connected with the switching power supply 1LRS-150-12, the switching power supply 1LRS-150-12 is connected with a mobile base station 3CX-E728, and the mobile base station 3CX-E728 is respectively connected with a GPS positioning antenna 3BT5630, a data transmission radio station 5SZ02 and a data transmission radio station 6SZ 02;
the stern mobile base station comprises a switching power supply 2LRS-150-12, an AC220V power supply is connected with the switching power supply 2LRS-150-12, the switching power supply 2LRS-150-12 is connected with a mobile base station 4CX-E728, and the mobile base station 4CX-E728 is respectively connected with a GPS positioning antenna 4BT5630, a data transmission radio station 7SZ02 and a data transmission radio station 8SZ 02.
The utility model relates to a grab ship unloader remote control system, the technological effect as follows:
1) by using a GIS electronic map technology and a satellite positioning technology, the digital modeling of an electronic map of a dock field of the grab ship unloader, the ship unloader, a grab, a rail, a berth and a ship is realized, so that the digitization and the intellectualization of the dock of the ship unloader are possible;
2) the ship unloader is intelligentized by using an AI artificial intelligence technology, can automatically find stations according to remote control operation instructions, automatically adjust the amplitude of the trolley and the height of the grab bucket according to the position of the cabin and the flood tide height, and automatically grab coal in the cabin;
3) remote/local control function: an operator can issue a grab transportation task to the ship unloader monitoring terminal through the cloud service platform at a client or a control console, the ship unloader terminal can automatically operate according to a control flow, also can manually and remotely operate and control the ship unloader to operate, and has the functions of local remote control and manual control on a vehicle, and the operator can adjust an operation mode according to the field working condition;
4) the ship unloader anti-swing digital model and the air bucket throwing operation model are developed by using a GIS vector electronic map technology, a satellite positioning technology and AI artificial intelligence, so that the swing of the ship unloader grab bucket can be effectively inhibited, the automatic anti-swing and accurate positioning of the ship unloader grab bucket is realized, the grab bucket running time can be effectively shortened, and the ship unloader operation benefit is improved;
5) the utility model discloses use GIS vector electronic map technique, satellite positioning technology to develop the ship unloaders electron safety rail, grab bucket electron safety rail, realized through the development of electron safety rail technique that the safety isolation between ship unloaders grab bucket and ship edge, anticollision etc. between ship unloaders and the ship unloaders, can prevent effectively that the grab bucket from mistaking the ship edge and the safe risk that ship unloaders collide with peripheral barrier;
6) the all-weather uninterrupted high-efficiency lighting device of the grab bucket can realize remote high-definition monitoring on the working condition under the grab bucket at any time, so that remote visual operation is realized;
7) the ship unloader intelligent monitoring terminal can automatically identify the position of a ship edge, the height of a cabin opening, the position of a funnel, the size of a material pile, the height of the material pile and the like, so that the intelligent operation of the grab bucket becomes practical;
8) the intelligent video tracking monitoring grab bucket has an operation function, and a video monitoring system can automatically track and monitor any operation condition of the grab bucket and comprehensively assist operators to operate safely;
9) by using the CAE online acquisition and analysis technology, the fatigue online monitoring and early warning of the key mechanical structure of the ship unloader are realized, and the maintenance scientificity of the ship unloader can be effectively improved;
10) one person controls a plurality of ship unloaders to operate, so that cost reduction and efficiency improvement are realized;
11) the hysteresis type power supply winding drum ensures that the power supply of the trolley monitoring equipment and the power supply of the grab bucket monitoring equipment can be reliably transmitted.
Drawings
Fig. 1 is a schematic diagram of the overall system architecture of the present invention.
Fig. 2 is a flowchart of GIS electronic map development of the ship unloader dock.
Fig. 3 is a digital work flow chart of the ship unloader walking track.
FIG. 4 is a flow chart of digital berth modeling.
Fig. 5 is a flow chart of ship digital building.
Fig. 6 is a digital modeling flow chart of the ship unloader.
Fig. 7 is a flow chart of digital modeling of the grab bucket.
Fig. 8 is a flow chart of the establishment of the electric safety fence of the ship unloader.
Fig. 9 is a flow chart of grab bucket electric safety fence establishment.
Fig. 10 is a flow chart of building electric safety fence establishment.
Fig. 11 is a flow chart of the establishment of the electric safety fence at the ship hatch.
Fig. 12 is a configuration diagram of the fixed base station of the present invention.
Fig. 13 is a schematic diagram of the remote control system of the ship unloader of the present invention.
Fig. 14 is a hardware connection diagram of the remote control system of the ship unloader of the present invention.
FIG. 15 is a schematic diagram of the operation of the monitoring part of the trolley and the grab bucket.
FIG. 16 is a schematic view of the bow positioning operation;
fig. 17 is a stern positioning operation schematic diagram.
Fig. 18 is a schematic diagram of monitoring of a trolley and a grab bucket.
Fig. 19 is a schematic view of the video monitoring of the ship unloader.
Fig. 20 is a schematic diagram of an anti-sway control system for a ship unloader.
Fig. 21 is a schematic diagram of cabin position and stockpile position recognition.
Detailed Description
Firstly, system principle:
according to the working characteristics and the working condition requirements of the grab ship unloader, the utility model adopts SOA technical architecture and B/S structure to build the automatic GIS monitoring management platform of the grab ship unloader, and utilizes GIS electronic information technology, big data and AI technology to provide digital and visual monitoring for the automatic control of the grab ship unloader; and then advanced means such as GPS positioning, 3D digital scanning, CAE online monitoring analysis, 5G communication and the like are adopted to realize the anti-swing of the grab bucket, the space anti-collision, the material identification, the obstacle identification, the fatigue predictive maintenance of a mechanical structure and the like, so that the remote control of the grab bucket ship unloader is realized, the remote control can be communicated and networked with a production scheduling system, and advanced technical support is provided for unmanned operation, cost reduction and efficiency improvement of the grocery dock. The overall architecture of the system is shown in fig. 1, and the system is divided into three parts: the system comprises a data acquisition and control part, a cloud service part and a management scheduling part; the data acquisition and control part mainly comprises various sensors, a PLC, a frequency converter, a touch screen and the like and is mainly responsible for the information acquisition and control of the grab ship unloader; the cloud service part mainly comprises a GIS electronic map, a cloud server, 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 the grab ship unloader terminal, and the management scheduling part is mainly responsible for task arrangement and remote control of the grab ship unloader.
Secondly, realizing each function of the system:
2.1. designing a GIS (geographic information System) electronic map of a ship unloader dock:
firstly, a CAD map of a ship unloader dock, equipment and the like is provided by a customer unit, and on the basis, MO (map objects) component type GIS software of ESRI company in America is adopted to organize and manage vector data and image data in a file form, so that multi-source spatial data are displayed in the same environment, and the operation function of geographic spatial 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 spatial information and the attribute information. The method is characterized in that Microsoft VB (Visual Basic) Enterprise Edition is used as a software development tool, a system user interface is established by combining the GIS function of MO and the oracle relational database management function, system tools such as space and attribute data browsing, inquiring, counting, calling and drawing are provided, an application platform for real-time and dynamic navigation positioning, display, storage and release of various devices in a dock is realized, so that a digital support is provided for remote control of a ship unloader, and the GIS electronic map development process of the ship unloader dock is shown in figure 2.
2.2. And (3) equipment digital modeling treatment: after the electronic map is designed, the electronic map can be used for modeling the ship unloader walking track, the berth, the ship unloader, the grab bucket and the ship, and then the models are respectively solidified and numbered and stored in a database.
2.2.1. Establishing a virtual digital track of the ship unloader:
through the establishment of the virtual digital track, a visual basis can be provided for a cart to find a ship berth, grab positioning is provided, and a foundation is laid for automatic control of a system; the digital work flow chart of the ship unloader walking track is shown in figure 3.
2.2.2. Digital modeling of ship berthing:
through the establishment of the digital berth, a digital foundation can be established for the berth of the ship, a visual basis is provided for the cart to find the berth and the grab bucket to position, and the berth digital establishment process is shown in fig. 4.
2.2.3. Digital modeling of a ship:
through the establishment of the virtual digital ship, a digital basis can be established for ship unloader positioning, grab operation, electronic fence setting and a 3D digital scanner, a visual basis is provided for a cart to search for the ship, electronic fence positioning, grab positioning and the like, and the ship digital establishment flow chart is shown in fig. 5.
2.2.4. Digital modeling of the ship unloader:
through the establishment of the digital ship unloader, a digital basis can be established for the operation of the grab bucket, the anti-collision of the ship unloader and a 3D digital scanner, a visual basis is provided for the large vehicle to find a berth and the grab bucket positioning, and the digital modeling process of the ship unloader is shown in fig. 6.
2.2.5. Carrying out digital modeling on the grab bucket:
through the establishment of the digital grab bucket, a digital basis can be established for the grab bucket accurate operation, anti-swing, anti-misoperation of the grab ship edge, the entering and exiting of the cabin, the throwing bucket operation and the like, a visual basis is provided for the grab bucket operation and the grab bucket accurate positioning, and the grab bucket digital modeling process is shown in fig. 7.
2.2.6. Building an electronic safety fence of the ship unloader:
the system comprises the following components: the system comprises a GIS electronic map, an oracle database, a 5G communication module CPEPRO, a switch 3HI-08, a PLC controller S7-1500, a touch screen TCP7062Ti, a ship unloader mobile base station 2CX-E728, a GPS positioning antenna 2AT300, a grab bucket mobile base station 1CX-E728, a GPS positioning antenna 1AT300 and the like. The working principle is as follows:
the electronic safety fence of the ship unloader has the function that the crane, the grab bucket and the like of the ship unloader are bound and fixed in a coordinate range which is forbidden to enter or exit through a field GIS electronic map and a database technology on the GIS electronic map, once the GPS positioning antenna 2AT300 of a ship unloader mobile base station 2CX-E728 or the GPS positioning antenna 1AT300 of the grab bucket mobile base station 1CX-E728 enters or exits the range, the alarm of a GIS monitoring platform is triggered, the GIS platform alarms through a 5G communication module CPEPRO, a switch 3HI08, a PLC controller S7-1500 of a ship unloader monitoring terminal and a touch screen TCP7062Ti, and the touch screen TCP7062Ti commands the PLC controller S7-1500 to stop the crane walking frequency converter ATV930 or amplitude converter ATV930 to continue to operate, so that the crane or the grab bucket is protected from colliding with peripheral obstacles. The setup flow diagram is shown in fig. 8.
2.2.7. The flow chart of the grab bucket electric safety fence establishment is shown in fig. 9.
2.2.8. The establishment of peripheral buildings, barriers and cabin opening electronic safety fences:
the system comprises the following components: the system comprises a GIS electronic map, a database, a 5G communication module CPEPRO, a switch 3HI-08, a PLC controller S7-1500, a touch screen TCP7062Ti, an unloader mobile base station 2CX-E728, a GPS positioning antenna 2AT300, a grab bucket mobile base station 1CX-E728, a GPS positioning antenna 1AT300, a portable ship mobile base station 3CX-E728, a GPS positioning antenna 3AT300, a portable ship mobile base station 4CX-E728, a GPS positioning antenna 4AT300 and the like. The working principle is as follows:
the electronic safety fence function of the buildings, the barriers and the cabin mouths around the ship unloader is realized by the aid of a field GIS electronic map and a database technology on the GIS electronic map, the buildings, the barriers and the cabin mouths are defined within a coordinate range which is forbidden to enter or exit, when the GPS positioning antenna 2AT300 of the ship unloader mobile base station 2CX-E728 or the GPS positioning antenna 1AT300 of the grab mobile base station 1CX-E728 enters or exits the coordinate range, an alarm of a GIS monitoring platform is triggered, the GIS platform can continue to operate through a 5G communication module CPEPRO, a switch 3HI08, a PLC controller S7-1500 of a ship unloader monitoring terminal and a touch screen TCP7062Ti, and the touch screen TCP7062Ti commands the PLC controller S7-1500 to stop a cart frequency converter ATV930 or a variable amplitude converter ATV930, so that the large car or the grab bucket of the ship unloader is protected from surrounding buildings, the barriers and the barriers, A ship hatch, etc. is collided. The flowcharts are shown in fig. 10 and 11.
Thirdly, establishing a cloud server:
in order to effectively utilize cloud resources to automatically service the ship unloader, the cloud server is configured as follows:
fourthly, installing the fixed base station M300:
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 one fixed base station within a range of 75KM, and the configuration of the fixed base station M300 is shown in FIG. 12.
Fifthly, realizing the remote control function of the ship unloader:
5.1. the working principle of the ship unloader remote control system is as follows:
5.1.1 remote control system of ship unloader:
the system comprises a GIS monitoring management platform (cloud service), a 5G communication CPEPRO, a client T5820, an operation desk CX-LHJBB03, a streaming media server DVSCAR-51, a spliced screen CB5503S, a GPS fixed base station M300, a local remote controller JT-KP, a video monitoring system CX-SXJ03, a 3D laser scanner CX-S8000, an unloader monitoring terminal S7-1500, a trolley monitoring part CX-SXJ02, 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.
5.1.2. The working principle of the ship unloader remote control system is as follows:
when the intelligent remote control system works, an operator firstly carries out remote control operation on the omnibearing monitoring ball machine through a client, carries out video patrol on the working environment of the ship unloader through a spliced screen, checks whether the field environment is suitable for a remote control operation standard, starts to issue various control instructions to the ship unloader monitoring terminal through the client according to the position of an electronic map after the field environment meets the remote operation standard, forwards the instructions to the ship unloader monitoring terminal through 5G communication by the cloud platform, and executes the instructions according to the client commands; after the grab bucket reaches the designated position, scanning a cabin material grabbing scene by using a 3D laser scanner, then sending a scanning result to a ship unloader monitoring terminal, and adjusting the position of a cart of the ship unloader by using the monitoring terminal according to the 3D laser scanner to enable the grab bucket to be in place and start operation; when the GPS fixed base station works, the satellite positioning information received by the GPS fixed base station is continuously communicated with the mobile base station of the ship unloader control system, the coordinates of the GPS fixed base station are continuously sent to the mobile base station, and the coordinates of the GPS fixed base station are continuously corrected by the mobile base station, so that the positioning accuracy of the ship unloader and the grab bucket is improved, and the positioning operation of the ship unloader control system is used;
if the video inspection shows that the site does not accord with the automatic operation conditions, the operator can carry out manual operation control through the operation desk.
5.2. The working principle of the ship unloader monitoring terminal is as follows:
the ship unloader monitoring terminal comprises: the ship unloader monitoring system consists of a ship unloader monitoring terminal host part, a trolley monitoring part, a grab bucket monitoring part, a ship monitoring part and the like;
the ship unloader monitoring terminal host part comprises a crane operating handle, a crane working mode selection switch (automatic/semi-automatic), a PLC controller S7-1500, a touch screen TCP7062Ti, a 3D laser scanner CX-JS800, a Beidou satellite positioning mobile base station 2CX-E728, a Beidou satellite positioning antenna 2AT300, a data transmission radio station 4SZ02, a lifting weight limiter CQA01, a wind speed sensor YS-CF, a grab bucket height encoder 1GM58S10K6MA12WN, a grab bucket height encoder 2GM58S10K6MA12WN, a trolley variable amplitude encoder 3GM58S10K6MA12WN, a stress strain sensor DH1101, a stress strain acquisition instrument DH3820, a lifting transducer 1ATV930, a lifting transducer 2ATV930, a trolley variable amplitude transducer ATV930, an anti-swing module CX-FY400, a left cart walking transducer ATV930, a right cart walking transducer ATV930, an EPRO 5G communication module and the like;
the trolley monitoring part mainly comprises the following devices:
the electric cat monitoring system comprises an electric cat 3WD-200M, a hysteresis type power supply reel 2MH1800-28/180, a switching power supply 2LRS-250-12, a switch 11005, a grab camera 1CX-SXJ02, a grab camera 2CX-SXJ02, an electric cat 2WD-200M, a hysteresis type power supply reel 1MH1800-28/180 and the like;
the grab bucket part mainly comprises the following devices:
the electric power cat 1WD-200M, the switch 5005, the mobile base station 1CX-E728, the GPS antenna 1AT300, the data transmission radio station 1SZ02, the grab camera 1BS-CA33-IP, the grab camera 2BS-CA33-IP, the switching power supply 1LRS-350-24, the power supply manager CX-DY02, the data transmission radio station 2SZ02, the grab searchlight 1SM-2009, the grab searchlight 2SM-2009 and the like,
the ship monitoring part mainly comprises the following devices:
the system comprises a switching power supply 1LRS-150-12, a mobile base station 4CX-E728, a GPS positioning antenna 4BT5630, a data transmission radio station 6SZ02 and a data transmission radio station 7SZ 02; the system comprises a switching power supply 2LRS-150-12, a mobile base station 5CX-E728, a GPS positioning antenna 5BT5630, a data transmission radio station 8SZ02, a data transmission radio station 9SZ02 and the like;
the operation principle diagram of the remote control terminal of the ship unloader is shown in fig. 14. The working principle diagram of the monitoring part of the trolley and the grab bucket is shown in figure 15. The schematic diagram of the bow positioning operation is shown in fig. 16 and 17.
During operation, the touch screen TCP7062Ti of the ship unloader receives a GIS electronic map, a ship ID number, an ashore berth, a GPS positioning antenna 3BT-5630C of a ship mobile base station 3CX-E728 and coordinate information 4BT-5630C of a GPS positioning antenna 4BT-5630C of a mobile base station 4CX-E728 from a GIS monitoring platform through a 5G communication module CPEPRO, so that the information of each cabin, the position information of a ship edge, preset material grabbing and blanking point coordinate information, a work task, an electronic safety fence and the like can be obtained; the touch screen TCP7062Ti of the ship unloader can automatically call the ship performance parameters stored in the hard disk according to information such as ship coordinates of a ship ID number, the ship unloader PLCS7-1500 automatically starts a cart frequency converter ATV930 according to a platform instruction to drive the ship unloader to the berth, after the cart is in place, the control system of the touch screen TCP7062Ti of the ship unloader adjusts the amplitude-variable trolley and the working amplitude according to a starting point set by a program, at the moment, the 3D laser scanner CX-JS800 starts to work, a specified area is scanned according to the program setting, and the direction is specified for the grab bucket work; the control system of the touch screen TCP7062Ti of the ship unloader automatically judges a working start position according to the pile height according to the pile information provided by the 3D laser scanner CX-JS800, the ship unloader can grab and transport block by block from left to right or from right to left according to the axial direction of the ship, when the ship unloader works, if the program setting is to grab and transport block by block according to the sequence from left to right, the touch screen TCP7062Ti of the ship unloader can position a cart on the first left, then the grab bucket can be placed from 1 position of the first block to start grabbing according to the sequence from front to back or from back to front according to the program setting, at the moment, the grab bucket can be close to the ship edge, at the moment, red electronic fence protection information can appear on the touch screen TCP7062Ti, meanwhile, virtual grab bucket movement information can appear, if the virtual grab bucket is close to the electronic fence, an alarm can be triggered, and the PLCS7-1500 control system can automatically adjust the position of the cart in the process of lowering the grab bucket, the ship edge which is possibly touched is automatically avoided, so that the anti-maloperation function is realized;
when the grab bucket is full of materials, the control system of the touch screen TCP7062Ti of the ship unloader can judge whether the grab bucket leaves the cabin or not according to the cabin position and height provided by a Beidou satellite mobile base station 3CX-E728 and a GPS antenna 3BT-5630C, GPS antenna 4BT-5630C of the mobile base station 4CX-E728 which are installed on the current ship and the height information of the grab bucket provided by a GPS antenna 1AT300 of the Beidou satellite mobile base station 1CX-E728 which is installed on the grab bucket, after the grab bucket leaves the cabin, the touch screen TCP7062Ti of the ship unloader can drive a lifting frequency converter ATV930 to accelerate and lift through PLCS7-1500, meanwhile, the PLCS7-1500 controller can automatically drive a trolley frequency converter ATV930 to carry out amplitude-changing operation on the trolley, when the height of the grab bucket reaches a set value, the anti-swinging module CX-FY400 is automatically started to enter an anti-swinging control curve according to the position of a preset hopper, when the trolley reaches a preset blanking place, the amplitude-variable frequency converter ATV930 automatically decelerates until the set hopper position stops amplitude variation of the trolley, at the moment, the 3D laser scanner CX-JS800 sends information of a material pile in the hopper, if the material pile is full, the PLCS7-1500 control system automatically selects to stop waiting for blanking, if the hopper is flat or the half-bin PLCS7-1500 control system automatically selects blanking, then the grab bucket starts to open for blanking, and the process is repeated;
if the system is overloaded during lifting, the lifting weight limiter CQA01 system can automatically alarm and automatically control to ensure the safety of the crane.
Sixthly, realizing the visual and intelligent monitoring functions of the trolley and the grab bucket:
the system comprises the following components: the trolley part consists of an electric cat 3WD-200M, a hysteresis type power supply reel 2MH1800-28/180, an electric cat 2WD-200M, a switch 1005, a trolley camera 1CX-SXJ02, a trolley camera 2CX-SXJ02 and a switching power supply 2 LRS-250-12;
the grab bucket part comprises a hysteresis type power supply reel 1MH1800-28/180, an electric cat 1WD-200M, a switch 5005, a mobile base station 1CX-E728, a GPS antenna 1AT300, a data transmission radio station 1SZ02, a grab bucket camera 1BS-CA33-IP, a grab bucket camera 2BS-CA33-IP, a grab bucket searchlight 1SM-2009, a grab bucket searchlight 2SM-2009, a power supply manager CX-DY02, a data transmission radio station 2SZ02, a switching power supply 1LRS-350-24 and the like, and the working principle diagram is shown in FIG. 18.
When the device works, an AC220V power supply is provided by a ship unloader, the AC220V power supply enters a hysteresis type power supply winding drum 2MH1800-28/180, the output ends of the hysteresis type power supply winding drum 2MH1800-28/180 are divided into two paths and pass through the hysteresis type power supply winding drum 1MH1800-28/180 to a grab bucket, and the output ends of the hysteresis type power supply winding drum 1MH1800-28/180 pass through an electric power cat 1WD-200M to a switch 5005 and then pass through a mobile base station 2 CX-E728; one path of the electric energy is transmitted to a power manager CX-DY02 through a switching power supply 1LRS-350-24, when the power manager CX-DY02 is in a closed state, a grab searchlight 1SM-2009 and a grab searchlight 2SM-2009 are electrified, the grab searchlight 1SM-2009 and the grab searchlight 2SM-2009 are lightened, and the cabin is irradiated from the left direction and the right direction of the grab, so that an operator can see important information such as material stacking information, cabin position and funnel position in the cabin through a grab camera 1BS-CA33-IP and a grab camera 2BS-CA33-IP, and the false grab cabin opening can be effectively prevented;
when the grab bucket does not work, a client T8520 issues a control command, a grab bucket power manager CX-DY02 is controlled through a 5G communication module CPEPRO, a switch 3HI-08, a wireless data transmission radio station 3SZ02 and a wireless data transmission radio station 2SZ02, and the power supplies of the grab bucket searchlights 1SM-2009 and 2SM-2009 are turned on/off so as to prolong the service lives of the grab bucket searchlights 1SM-2009 and 2 SM-2009.
The grab bucket GPS antenna 1AT300 sends the acquired satellite positioning signal to a mobile base station 1CX-E728, after the mobile base station 1CX-E728 is operated, the current position coordinate of the grab bucket is sent to a receiving end of a power cat 3WD-200M through a hysteresis power supply reel 1MH1800-28/180 and a hysteresis power supply reel 2MH1800-28/180 through microwave communication of the power cat 1WD-200M, the power cat 3WD-200M converts the grab bucket position signal into a TCP/IP protocol and then sends the TCP/IP protocol to a ship unloader control terminal PLCS7-1500 through a switch 2HI008, and the PLCS7-1500 transfers the TCP70 7062Ti to a touch screen for anti-swing and bucket-throwing operation processing. The radio station 1SZ02 is in communication with the fixed base station M300 to calibrate the position of the grab. The trolley camera 1CX-SXJ02 and the trolley camera 2CX-SXJ02 are responsible for monitoring the video information of the operation of the grab bucket on the sea side and the land side and the video information of the outer edges of the ship edge and the funnel; the collected monitoring video information is sent to an exchanger 1005, the exchanger 1005 is sent to a power modem 2WD-200M, the power modem 2WD-200M is converted into microwave communication through the power modem 2WD-200M, the information is sent to a receiving end of the power modem 3WD-200M through an AC220V power line of a hysteresis type power supply reel 2MH1800-28/18, the power modem 3WD-200M analyzes microwave signals and sends the microwave signals to an exchanger 2HI-08 through TCP/IP communication, the exchanger 2HI-08 divides the signals into three paths, one path of the video signals is sent to a video recorder DS 7816N-K2 for storage and inquiry and then sent to a display E1715SC for display, the other path of the video signals is sent to a streaming media server DVSCAR-51 through a 5G communication module CPEPRO through the exchanger 3HI-08, and sent to a splicing screen CB5503S for display through the streaming media server DVSCAR-51, the operator monitors the use. The third path of grab bucket position signal passes through the switchboard 2HI-08, is sent to the control terminal PLCS7-1500 of the ship unloader, is transferred to the touch screen TCP7062Ti by the PLCS7-1500, and is subjected to anti-swing and bucket-throwing operation processing by the touch screen TCP7062 Ti.
The switching power supply 2LRS-250-12 supplies power to the switch 1005, the grab cameras 1CX to SXJ02, the grab cameras 2CX to SXJ02, and the like. The switching power supply 1LRS-350-24 supplies power to the mobile base station 1CX-E728, the GPS antenna 1AT300, the data transmission station 1SZ02, the power manager CX-DY02, the searchlight 1SM-2009, the searchlight 2SM-2009, and the like. Hysteresis type power supply winding drum 2MH1800-28/180 operating principle: the hysteresis type power supply winding drum 2MH1800-28/180 adopts a hysteresis type coupling as a synchronous differential mechanism, and ensures that the speed of winding and unwinding the cable by the cable reel is always synchronous with the speed of the movable trolley and the lifting speed of the grab bucket by utilizing a magnetic coupling principle. The hysteresis type cable drum 2MH1800-28/180 is formed by that a motor transmits power to a hysteresis coupler, and the power is transmitted to a cable reel after the speed of a reduction box is changed. When the cable drum works, the motor of the hysteresis type power supply drum 2MH1800-28/180 always rotates towards the cable winding direction, when a ship unloader trolley or a grab bucket moves towards the direction far away from a power supply point, the torque of a magnetic field on the hysteresis coupling is overcome by dragging the cable, so that the magnetic field between permanent magnetic steel inside the hysteresis coupling and an induction disc generates slip, the cable on a reel is put down, and the cable is ensured to be always in a tensioning state in the cable unwinding process due to the magnetic coupling effect; when the ship unloader trolley or the grab bucket moves towards the direction of the power supply point, the cable reel automatically rotates towards the set reeling direction to reel the cable.
Seventhly, realizing the positioning function of the plane height of the ship and the position of the cabin:
the system comprises the following components: the system consists of a portable bow mobile base station 4 and a portable stern mobile base station 5;
the portable bow mobile base station comprises a switching power supply 1LRS-150-12, a mobile base station 3CX-E728, a GPS positioning antenna 3BT-5630, a data transmission radio station 5SZ02, a data transmission radio station 6SZ02 and the like, wherein the portable main case is placed at the bow position, and the GPS positioning antenna 3BT-5630 is fixed at the designated position on the axis of the center of the bow;
the portable stern mobile base station is composed of a switch power supply 2LRS-150-12, a mobile base station 4CX-E728, a GPS positioning antenna 4BT-5630, a data transmission radio station 7SZ02, a data transmission radio station 8SZ02 and the like, wherein the portable main case is placed at the stern position, and the GPS positioning antenna 4BT-5630 is fixed at the designated position on the central axis of the stern; the schematic diagrams are shown in fig. 16 and 17.
When the intelligent ship is in operation, the GPS positioning antenna 3BT-5630, the GPS positioning antenna 4BT-5630 send the received bow and stern satellite positioning signals and height signals to the mobile base station 3CX-E728 and the mobile base station 4CX-E728, the mobile base station 3CX-E728 and the mobile base station 4CX-E728 carry out differential calculation, then current bow and stern position coordinates and height values are sent to the PLC controller S7-1500 through the data transmission radio 6SZ02 and the data transmission radio 8SZ02 in a wireless mode, the data transmission radio 3SZ02 is sent to the PLC controller S7-1500, then the PLC controller S7-1500 sends the current cabin position coordinates and the height values to the touch screen TCP70 Ti, then the PLC controller S3662 Ti calculates the current cabin position, ship edge position and ship edge height according to the instruction of the client T5820 or the remote control console CX-LHJBB03, and the PLC controller S7-5630 orders the large-1500 to drive the ATV position of the big frequency converter, the trolley frequency converter drives the trolley to drive the grab bucket to reach the set coal grabbing position of the cabin, and the coal grabbing operation is ready to start. The data transmission station 5SZ02 and the data transmission station 7SZ02 communicate with the data transmission station SZ02 of the fixed base station, and are mainly used for calibrating the position accuracy of the mobile base station 3CX-E728 and the mobile base station 4 CX-E728.
Eighthly, realizing the video monitoring function of the ship unloader:
the system comprises the following components: the monitoring device is composed of a camera BS-CA33-IP arranged on a left grab bucket, a camera BS-CA33-IP arranged on a right grab bucket, a switch 5005, an electric cat 2WD-200M, a grab bucket power supply reel 2MH1800-28/180, a trolley front camera CX-SXJ02, a trolley rear camera CX-SXJ02, a switch 1005, an electric cat 1WD-200M, a trolley power supply reel 1MH1800-28/180, an electric cat 3WD-200M, a camera 1CX-SXJ03 for automatically tracking and monitoring a grab bucket on the sea side in the middle of a front girder top end connecting beam, a camera 2CX-SXJ03 arranged on the land side in the middle of the top of a ladder frame, an omnibearing monitoring ball machine DHK-EX300, a left big car monitoring camera BS-CA33-IP, a right big car monitoring camera BS-CA33-IP, a switch HI 2-08, a switch, The system comprises a video recorder DS-7816N-K2, a display E1715SC, a switch 3HI-08, a 5G communication module CPEPRO, a streaming media server DVSCAR-51, a spliced screen CB5503S and the like, and a schematic diagram is shown in FIG. 19.
When the system works, the left grab camera BS-CA33-IP and the right grab camera BS-CA33-IP continuously acquire video signals under the grab and send the video signals to the switch 5005, the switch 5005 sends the video signals to the power modem 2WD-200M, and the power modem 2WD-200M sends the video signals to the power modem 3WD-200M through microwave communication; CX-SXJ02 and CX-SXJ02 in front of and behind the trolley, the information of the operating condition of the grab bucket under the trolley is sent to the switch 1005, the switch 1005 sends to the power cat 3WD-200M through the microwave communication of the power cat 1WD-200M, the power cat 3WD-200M converts the received microwave signals into TCP/IP protocol and then sends the TCP/IP protocol to the switch 2HI-08 together with the DHK-EX300, the automatic tracking monitoring grab bucket camera 1CX-SXJ03, the automatic tracking monitoring grab bucket camera 2CX-SXJ03, the monitoring camera BS-CA33-IP for the left cart walking, the monitoring camera BS-CA33-IP for the right cart walking and the like, the video signals are sent to the switch 2HI-08, the switch 2HI-08 sends the video signals to the switch 3 HI-K2 for storage, and the video recorders HI-DS-7816N-K2 for one way, Inquiring, and simultaneously sending to a display E1715SC for display, sending the other path of video signals to a streaming media server DVSCAR-51 through a 5G communication module CPEPRO by an exchanger 3HI-08, sending to a splicing screen CB5503S by the streaming media server DVSCAR-51 for display, and monitoring and using by an operator;
the automatic tracking monitoring grab bucket camera 1CX-SXJ03 and the automatic tracking monitoring grab bucket camera 2CX-SXJ03 are composed of an integrated camera and a stepping motor, the integrated camera is responsible for collecting the running video information of the monitoring grab bucket and can automatically focus and adjust the distance according to the distance of the grab bucket, so that the video monitoring effect reaches the best state; the stepping motor automatically tracks the position of the grab according to the instructions of PLCS 7-1500;
when the robot works, the PLC S7-1500 calculates the current position of the grab according to the height position information of the grab and the amplitude position information of the trolley sent by the grab height encoder 1GM58S10K6MA12WN and the trolley amplitude encoder 3GM58S10K6MA12WN, and then drives the stepping motor to automatically adjust the angle, so that the integrated camera is always aligned with the grab to carry out video acquisition and monitoring, and the aim of automatically tracking and monitoring the operation of the grab is fulfilled.
Nine: the realization of the fatigue monitoring and alarming function of the mechanical structure at the key part of the ship unloader:
the system comprises the following components: the stress strain acquisition device comprises a stress strain sensor BH1101, a stress strain collector DH3820, a PLCS7-1500 controller, a touch screen TCP7062Ti, a 5G communication module CPEPRO, a GIS platform server, CAE analysis software and the like, wherein the stress strain sensor BH1101 and the stress strain collector DH3820 are installed at corresponding positions of a ladder frame, a pull rod, a crossbeam and a door leg;
when the stress-strain sensor BH1101 sends stress-strain information of corresponding positions of the ladder-shaped frame, the pull rod, the crossbeam and the door leg to the collector DH3820, the collector DH3820 amplifies and shapes the stress-strain information, converts the signal into a standard signal, sends the standard signal to the GIS platform server through the 5G communication module CPEPRO in a communication protocol mode, the GIS platform server continuously monitors and analyzes the structural stress-strain of the ladder-shaped frame, the pull rod, the crossbeam and the door leg by using CAE analysis software, when the stress strain of the ladder-shaped frame, the pull rod, the girder and the door leg exceeds a set value, an alarm signal is immediately sent to the monitoring terminal PLCS7-1500 of the ship unloader, the monitoring terminal PLCS7-1500 of the ship unloader immediately outputs a control command after receiving the alarm signal, the ship unloader is forbidden to continue to work by lifting the frequency converter ATV930, thereby avoiding the occurrence of serious safety accidents caused by the sudden brittle fracture due to the fatigue of the structures of the trapezoidal frame, the pull rod, the crossbeam and the door leg.
Ten: the realization of the automatic positioning function of the ship unloader:
the system comprises the following components: the system comprises a client, a GIS electronic map of a cloud platform, a fixed satellite positioning base station M300 arranged on the central outdoor roof of a ship unloader wharf, a satellite positioning antenna AT300 of the fixed base station, a data transmission radio station SZ02 of the fixed base station, a ship unloader satellite positioning mobile base station 2CX-E728, a satellite positioning antenna 2AT300, a data transmission radio station 4SZ02 and the like;
when the ship unloader is in work, an operator sets the coordinates of a starting point, the dock berth coordinates, the coordinates of a ship grabbing position and the coordinates of a discharging point of the ship unloader on a cloud platform GIS electronic map of a client according to a task of the same day, the commands are sent to a ship unloader touch screen TCP7062Ti through a 5G communication module CPEPRO, the ship unloader touch screen TCP7062Ti can command PLCS7-1500 to start a large vehicle to advance to the specified berth coordinates after receiving the commands, the positions are provided by a mobile antenna 2AT300 of a ship unloader mobile base station 2CX-E728, after the specified berth is reached, the ship unloader touch screen TCP70 7062Ti calculates the difference between the grab bucket and the coordinates of the ship cabin grabbing position according to the current position of a trolley amplitude encoder 3GM58S10K6MA12WN, and then commands PLCS7-1500 to drive a trolley frequency converter to adjust the grab bucket to be consistent with the target position, and then the work can be started.
Eleven: the grab bucket prevents rocking and gets rid of realization of fill operation locate function in the air:
the system comprises the following components: the system comprises a GIS management platform, a client, a 5G communication module CPEPRO, a touch screen TCP7062Ti, a PLC controller S7-1500, a switch 2HI-08, a mobile base station 1CX-E728, a satellite positioning antenna 1AT300 (installed on a grab bucket) data transmission radio station 1SZ02, a 3D laser scanner CX-JS800, an image controller CX-X8000, a lifting weight limiter CQA01, a weight sensor JZ-1, a wind speed sensor YS-CF, a grab bucket height encoder 2GM58S10K6MA12WN, a trolley variable amplitude encoder 3GM58S10K6MA12WN, a grab bucket supporting frequency converter ATV930, a variable amplitude frequency converter ATV930, an anti-sway module CX-FY400 and the like, wherein a schematic diagram is shown in FIG. 20.
During work, firstly, sampling is carried out, the swing amplitude of the grab bucket of the ship unloader under the variable amplitude working conditions of different weights, different heights, different speeds and different wind speeds is collected through the touch screen TCP7062Ti, then the swing amplitude working conditions are uploaded to the GIS management platform through the 5G communication module CPEPRO for calculation and simulation, then the simulated program is sent to the touch screen TCP7062Ti through the 5G communication module CPEPRO, the touch screen TCP7062Ti is sorted, the anti-swing program is solidified to the anti-swing module CX-FY400, the anti-swing module CX-FY400 can regulate and control the frequency converter according to the working target given by the CX-JS800 of the 3D laser scanner, and the control parameters under different weights, different heights, different speeds and different wind speeds are used for achieving the purpose of inhibiting the swing amplitude of the grab bucket;
to further illustrate the anti-sway working principle of the grab ship unloader, the working conditions of the ship unloader are as follows: the coal is grabbed from the cabin and conveyed to a telescopic coal unloading hopper under the crotch of the ship unloader, then the coal is unloaded to a belt conveyor by the hopper, and the coal is conveyed to a coal yard by the belt conveyor;
therefore, the height from the grab bucket to the coal unloading hopper is relatively fixed every time, and the coal grabbing route is as follows: the grab bucket is vertically lifted from a cabin, passes through a cabin opening, is accelerated to lift and has amplitude which is higher than the proper position of a coal unloading funnel, and the horizontal amplitude and the acceleration are close to the proper position above the coal unloading funnel, a PLC (programmable logic controller) S71500 commands a grab bucket opening and closing frequency converter ATV930 to open the grab bucket to unload coal, when the grab bucket reaches the center point of the coal unloading funnel by virtue of impact speed, the coal of the grab bucket is completely unloaded, and when the grab bucket speed is zero, PLCS7-1500 immediately shifts gears to command the amplitude converter ATV930 to move in the opposite direction, so that the operation processes of aerial anti-swing and aerial bucket throwing are completed, and the efficient operation of the grab bucket is realized;
according to the principle, in order to improve the efficiency of grabbing coal by the grab bucket, the height and the size of a coal pile in the cabin collected by a 3D laser scanner CX-JS800 are analyzed by a touch screen TCP7062Ti, and then a PLC (programmable logic controller) S7-1500 is controlled according to the position coordinate of the coal pile, so that the height and the size of the coal pile are preferentially grabbed, the zero speed of the grab bucket is set above the ship edge according to the convention, but in order to grab coal materials below the ship edge, the grab bucket is opened at a proper position in the middle of the cabin according to the height of the coal pile and the horizontal position amplitude variation speed of the open grab bucket, the grab bucket is thrown onto the coal pile below the ship edge by the amplitude variation speed of a trolley, and meanwhile, the ship edge and a ship body cannot be impacted, so that the coal grabbing operation function of throwing the grab bucket is realized.
Twelve: cabin position and material pile position recognition function's realization:
the system comprises the following components: 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 TCP7062Ti, a 5G communication module CPEPRO, a GIS management platform, a client and the like, and the working principle is as shown in figure 21.
When the three-dimensional ship-borne laser scanner works, a laser transmitter in the 3D laser scanner CX-JS800 aims at a ship body to send out laser pulses, and after the laser waves touch the ship cabin body, the laser scanner calculates the distance value between the laser waves and the ship cabin body; the laser scanner CX-JS800 continuously emits a laser pulse wave, the laser pulse wave impinges on the mirror surface rotating at a high speed, and the laser pulse wave is emitted in various directions to form a two-dimensional area. And on the basis of two-dimensional scanning, a holder is added to perform orthogonal rotation, so that three-dimensional space scanning can be formed. The three-dimensional coordinate information and the reflectivity information of a large number of dense points on the surface of the measured ship body are recorded through the scanner controller CX-X8000, the three-dimensional data of various ship body scenes are completely collected into the controller CX-X8000 and processed through point cloud processing software, and then various drawing data such as a three-dimensional model of the measured ship body and lines, surfaces and bodies of a material pile in a cabin are quickly reconstructed.
Because the laser can penetrate through the glass, the 3D laser material scanner CX-JS800 can be well protected and can be used for severe environment measurement (high temperature, high pressure, high humidity and high dust). Because the laser emission angle is very small (< 0.2 degrees), the 3D laser material scanner CX-JS800 can measure the material level in a narrow space, three-dimensional measurement can be carried out on irregular material level, then the detected information is sent to the image controller CX-X8000, the image controller CX-X8000 is provided with point cloud processing software, three-dimensional images of the material level are formed through the processing of the point cloud processing software, 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 are obtained, then the three-dimensional images are sent to the PLC controller S7-1500 through the switch HI-08 in a protocol mode, the PLC controller S7-1500 is sent to the touch screen TCP7062Ti, the position of a cart or the posture of an arm support is adjusted according to the coal grabbing rule by the touch screen TCP7062Ti, and the grab bucket can accurately fall to the highest material; the touch screen TCP7062Ti controls the PLC S7-1500 to work and simultaneously sends the work to a GIS management platform and a client through a 5G communication module CPEPRO for the client to monitor and use.
Claims (8)
1. A remote control system for a grab ship unloader, the system comprising:
the system comprises a GIS monitoring management platform, a client, an operation platform, a fixed base station, a ship unloader monitoring system and a bow and stern positioning device;
the GIS monitoring and managing platform is respectively connected with the client and the operating platform through a fourth switch;
the GIS monitoring management platform is in communication connection with the ship unloader monitoring system through a 5G communication module;
the ship unloader monitoring system is respectively connected with the local remote control receiver and the fixed base station;
the ship unloader monitoring system and the bow and stern positioning devices are in communication connection with the fixed base station.
2. The remote control system of the grab ship unloader of claim 1, wherein: the fourth switch is connected with the streaming media server, and the streaming media server is connected with the splicing screen.
3. The remote control system of the grab ship unloader of claim 1, wherein: the ship unloader monitoring system comprises a monitoring terminal host part, a trolley monitoring part, a grab bucket monitoring part and a ship monitoring part, wherein the monitoring terminal host part is respectively connected with the trolley monitoring part, the grab bucket monitoring part, the ship monitoring part and a bow and stern positioning device.
4. The remote control system of the grab ship unloader of claim 3, wherein: the monitor terminal host part includes: the system comprises a PLC controller, a touch screen, a 3D laser scanner and a second mobile base station;
the PLC is respectively connected with the crane operating handle, the crane working mode selection switch, the touch screen and the third switch;
the PLC is respectively connected with the wind speed sensor, the grab bucket height encoder and the trolley amplitude encoder;
the PLC is respectively connected with an anti-swing module, a left cart walking frequency converter, a right cart walking frequency converter and a lifting frequency converter, and the anti-swing module is connected with a trolley amplitude converter;
the third exchanger is respectively connected with the 5G communication module, the second mobile base station, the lifting load limiter, the stress strain acquisition instrument and the scanner controller;
the second mobile base station is respectively connected with a second positioning antenna and a fourth data transmission station, the lifting load limiter is connected with the weight sensor, the stress-strain acquisition instrument is connected with the stress-strain sensor, and the scanner controller is connected with the 3D laser scanner;
the PLC controller is respectively connected with a third data transmission radio station and a local remote control receiver;
the PLC controller is connected with the second switch, the second switch is connected with the video recorder, the video recorder is connected with the display, and the second switch is connected with the third switch.
5. The remote control system of the grab ship unloader of claim 3, wherein: the cart monitoring section includes: the third power line modem, the second hysteresis type power supply reel, the switching power supply 2LRS-250-12, the first switch, the second power line modem and the first hysteresis type power supply reel;
the AC220V power supply is respectively connected with a second power modem, a switching power supply 2LRS-250-12, a second hysteresis type power supply reel, a first hysteresis type power supply reel and a third power modem;
the switching power supply 2LRS-250-12 is connected with a second power modem, the second power modem is connected with a first switch, and the first switch is connected with a trolley camera; and the third power modem is connected with the second switch.
6. The remote control system of the grab ship unloader of claim 3, wherein: the grab bucket monitoring portion includes: the system comprises a first power modem, a fifth switch, a first mobile base station, a first GPS antenna, a first data transmission radio station, a grab bucket camera, a switching power supply 1LRS-350-24, a power supply manager, a second data transmission radio station and a grab bucket searchlight;
the AC220V power supply is respectively connected with a first power modem and a switching power supply 1LRS-350-24, the first power modem is connected with a fifth switch, the fifth switch is respectively connected with a first mobile base station and a grab bucket camera, and the first mobile base station is respectively connected with a first GPS antenna and a first data transmission radio station;
the switching power supply 1LRS-350-24 is connected with a power supply manager, the power supply manager is connected with the grab bucket searchlight, and the power supply manager is connected with the second data transmission station.
7. The remote control system of the grab ship unloader of claim 3, wherein: the ship monitoring part comprises an omnibearing monitoring ball machine, a left cart monitoring camera, a right cart monitoring camera and an automatic tracking camera; the omnibearing monitoring ball machine, the left cart monitoring camera, the right cart monitoring camera and the automatic tracking camera are all connected with the second switch.
8. The remote control system of the grab ship unloader of claim 3, wherein: the bow and stern positioning device comprises a bow mobile base station and a stern mobile base station; the ship head mobile base station comprises a switch power supply 1LRS-150-12, an AC220V power supply is connected with the switch power supply 1LRS-150-12, the switch power supply 1LRS-150-12 is connected with a third mobile base station, and the third mobile base station is respectively connected with a third GPS positioning antenna, a fifth data radio station and a sixth data radio station.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202120169104.0U CN214243509U (en) | 2021-01-21 | 2021-01-21 | Remote control system of grab ship unloader |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114044442A (en) * | 2021-11-25 | 2022-02-15 | 大连华锐重工集团股份有限公司 | Grab ship unloader control system and method |
| CN117342426A (en) * | 2023-11-15 | 2024-01-05 | 北京金航远景科技有限公司 | Data processing system for controlling grab bucket to take materials |
-
2021
- 2021-01-21 CN CN202120169104.0U patent/CN214243509U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114044442A (en) * | 2021-11-25 | 2022-02-15 | 大连华锐重工集团股份有限公司 | Grab ship unloader control system and method |
| CN114044442B (en) * | 2021-11-25 | 2023-09-26 | 大连华锐重工集团股份有限公司 | Grab ship unloader control system and grab ship unloader control method |
| CN117342426A (en) * | 2023-11-15 | 2024-01-05 | 北京金航远景科技有限公司 | Data processing system for controlling grab bucket to take materials |
| CN117342426B (en) * | 2023-11-15 | 2024-04-02 | 长沙盈海智能科技有限公司 | Data processing system for controlling grab bucket to take materials |
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