WO2018103271A1 - 一种rtg远程操作控制系统 - Google Patents

一种rtg远程操作控制系统 Download PDF

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Publication number
WO2018103271A1
WO2018103271A1 PCT/CN2017/084451 CN2017084451W WO2018103271A1 WO 2018103271 A1 WO2018103271 A1 WO 2018103271A1 CN 2017084451 W CN2017084451 W CN 2017084451W WO 2018103271 A1 WO2018103271 A1 WO 2018103271A1
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Prior art keywords
rtg
remote
local
plc
operating system
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PCT/CN2017/084451
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English (en)
French (fr)
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丁晓刚
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深圳市招科智控科技有限公司
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Publication of WO2018103271A1 publication Critical patent/WO2018103271A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control

Definitions

  • the utility model relates to a remote operation control system, in particular to an RTG remote operation control system, belonging to the technical field of cranes.
  • the operation mode of the container terminal is mainly to load and unload the container by manual manual operation.
  • RTG requires the operator to enter the cab for operation, and the operator needs to endure the harsh working environment such as high temperature or low temperature.
  • crane accidents have occurred from time to time.
  • an operator can only control the operation of one RTG, which increases the labor cost and the work efficiency is relatively low. Therefore, there is an urgent need to update the equipment technology to optimize the terminal operating conditions.
  • the utility model converts the original RTG control system into a remote operation control mode, and an operator can operate multiple RTGs to realize semi-automatic operation of the yard, effectively reducing operating costs, reducing labor, improving operational safety and work. effectiveness.
  • the RTG remote operation control system includes a control center, a remote operating system, and a local operating system, and the remote operating system and the local operating system are both connected to the control center.
  • the system adds a control center and a remote operating system, eliminating the need to have an operator on the RTG, enabling container loading and unloading through a remote operating system.
  • the remote operating system includes a display device, a remote PLC, a plurality of sets of operating handles, and a plurality of sets of operating buttons, and the display device, the operating handle and the operating buttons are all connected to the remote PLC.
  • Each set of operation handles includes: a vehicle lifting control handle, a trolley pitch control handle, a spreader tilt control handle, a spreader rotation control handle, and a spreader opening and closing lock handle.
  • Each set of operation buttons includes: a control button, a control button, a stop button, and a selection button for manipulating different RTGs.
  • Each set of operation handles and operation buttons correspondingly controls one RTG.
  • the local operating system includes a local PLC, a visual perception system, and an RTG, both of which are connected to a local PLC.
  • the visual perception system includes a plurality of scanners, a plurality of range finder, a plurality of box number cameras, and a plurality of spreader cameras. The visual perception system transmits the collected video information to the control center via the local PLC, and the control center displays it on the display device.
  • the aforementioned RTG includes a cart, a cart, a spreader and a hoisting mechanism, the hoisting mechanism is disposed at the top of the cart, the hoisting mechanism is connected with a spreader, and the sling is provided with a trolley.
  • the aforementioned control center is connected to the local PLC signal via the switching device, and the switching device has an amplification processing function for the signal received by the switching device, which increases the communication distance and can enhance the strength of the transmission signal.
  • the local PLC realizes the RTG's cart running, the trolley running, the lifting and lowering of the lifting mechanism, and the tilting, rotating and opening and closing of the spreader by controlling the RTG.
  • the control center sends an instruction to the local PLC, and the local PLC sequentially controls the cart to move into position. When the cart is in place, the trolley is controlled to be in place, and then the lifting and lowering mechanism is lifted. Finally, the tilting and rotation of the spreader are controlled. Open and close the lock to complete the loading and unloading of the container.
  • a set of switching devices is provided every 150 meters between the aforementioned control center and the local PLC.
  • a scanner is installed on the front and the rear of the trolley, and a range finder is mounted on the beam of the cart, and a box camera is mounted on the legs on both sides of the cart, and the spreader is mounted on the spreader. There is a spreader camera.
  • the scanner, range finder, box number camera and spreader camera are all connected to the local PLC signal.
  • the utility model Compared with the prior art, the utility model has the advantages that: the original RTG control system is converted into a remote operation control mode, and the operator can remotely control multiple RTGs through one operation console, and the production safety performance is good. The semi-automatic operation of the yard.
  • the utility model also improves the efficiency of loading and unloading operations, effectively reduces operating costs, reduces labor, improves operational safety and work efficiency, and is more suitable for port automation and information construction.
  • Figure 1 is a schematic view of the structure of the present invention
  • Figure 2 is a partial structural view of the utility model
  • Figure 3 is a partial structural view of the utility model.
  • Embodiment 1 of the present invention As shown in FIG. 1, FIG. 2 and FIG. 3, the RTG remote operation control system includes a control center 1, a remote operating system 2 and a local operating system 3, a remote operating system 2 and a local operating system. 3 are connected to the control center 1.
  • the system adds the control center 1 and the remote operating system 2, and it is not necessary to equip the operator on the RTG 10, and the container loading and unloading work is completed through the remote operating system 2.
  • the remote operating system 2 includes a display device 4, a remote PLC 5, three sets of operation handles 6 and three sets of operation buttons 7, and the display device 4, the operation handle 6 and the operation buttons 7 are all connected to the remote PLC 5 even.
  • Each set of operating handles 6 includes: a cart 15 lifting handle, a cart 16 tilting handle, a spreader 17 tilting handle, a spreader 17 rotating handle and a spreader 17 opening and closing lever.
  • Each set of operation buttons 7 includes a control button, a control button, a stop button, and a selection button for operating different RTGs 10.
  • Each set of operating handle 6 and operating button 7 controls one RTG 10 correspondingly. In the actual operation process, an operator automatically controls the functions of multiple RTGs 10 through the automatic switching of the system of the control center 1, and achieves the operation mode of one person and multiple machines, thereby further saving labor costs.
  • the local operating system 3 includes a local PLC 8, a visual perception system 9 and an RTG 10, both of which are connected to the local PLC 8.
  • the visual perception system 9 includes a scanner 11, a range finder 12, a box number camera 13, and a spreader camera 14.
  • the scanner 11 is installed at the front and the rear of the cart 16, the range finder 12 is mounted on the crossbar of the cart 15, the box number camera 13 is mounted on the legs on both sides of the cart 15, and the spreader camera 14 is mounted on Both sides of the spreader 17.
  • the scanner 11, the range finder 12, the box number camera 13 and the spreader camera 14 are all connected with the local PLC 8 signal, and the visual perception system 9 transmits the collected video information to the control center 1 via the local PLC 8, and the control center 1 It is presented on the display device 4.
  • the RTG 10 includes a cart 15, a cart 16, a spreader 17, and a hoisting mechanism 18.
  • the hoisting mechanism 18 is disposed on the top of the cart 15, the hoisting mechanism 18 is connected to the sling 17, and the sling 17 is provided with a cart 16.
  • the control method realizes the convenient and safe way for the trolley 16 and the hoisting mechanism 18 to automatically select during the movement process, automatically boxing, reducing the manual participation of the loading and unloading process, and greatly reducing the labor intensity of the operator. Due to the problem of signal attenuation in long-distance transmission, a set of switching devices 19 is provided every 150 meters between the control center 1 and the local PLC 8.
  • the switching device 19 has an amplification processing function for the signal it receives, increases the communication distance, and can enhance the strength of the transmitted signal.
  • the local PLC 8 realizes the operation of the cart 15 of the RTG 10, the operation of the cart 16, the lifting and lowering of the hoisting mechanism 18, and the tilting, rotation and opening and closing of the spreader 17 by controlling the RTG 10.
  • the control center 1 sends a command to the local PLC 8, and the local PLC 8 sequentially controls the cart 15 to move into position.
  • the cart 16 is controlled to be in position, and then the lifting and lowering mechanism 18 is opened and lowered.
  • the spreader 17 is controlled. Tilting, rotating and opening and closing the lock to complete the loading and unloading of the container.
  • Embodiment 2 As shown in FIG. 1, FIG. 2 and FIG. 3, the RTG remote operation control system includes a control center 1, a remote operating system 2, and a local operating system 3, and the remote operating system 2 and the local operating system 3 are both controlled. Center 1 is connected. The system adds the control center 1 and the remote operating system 2, and it is not necessary to equip the operator on the RTG 10, and the container loading and unloading work is completed through the remote operating system 2.
  • the remote operating system 2 includes a display device 4, a remote PLC 5, three sets of operation handles 6, and three sets of operation buttons 7, and the display device 4, the operation handle 6, and the operation buttons 7 are all connected to the remote PLC 5.
  • Each set of operating handles 6 includes: a cart 15 lifting handle, a cart 16 tilting handle, a spreader 17 tilting handle, a spreader 17 rotating handle and a spreader 17 opening and closing lever.
  • Each set of operation buttons 7 includes a control button, a control button, a stop button, and a selection button for operating different RTGs 10.
  • Each set of operating handle 6 and operating button 7 controls one RTG 10 correspondingly. In the actual operation process, an operator controls the functions of three RTGs 10 by automatically switching the system of the control center 1. Achieve one-person multi-machine operation mode, further saving labor costs.
  • the local operating system 3 includes a local PLC 8, a visual perception system 9 and an RTG 10, both of which are connected to the local PLC 8.
  • the visual perception system 9 includes two scanners 11, four rangefinders 12, four bin number cameras 13, and two spreader cameras 14.
  • the visual perception system 9 transmits the collected video information to the control center 1 via the local PLC 8, which displays it on the display device 4.
  • the monitoring screen seen by the operator through the display device 4 is much larger than the limited line of sight picture seen from the cab of the RTG 10, which is more advantageous for accurate manipulation.
  • an RTG remote operation control method includes the following steps:
  • the operator remotely starts the scanner 11 of the trolley 16 to transmit the collected video information to the local PLC 8, and the local PLC 8 is transmitted to the control center 1 via the switching device 19 to appear on the display device 4;
  • the operator adjusts the alignment position of the cart 15 and the cart 16 according to the indication of the display device 4, and starts the boxing operation;
  • control center 1 determines whether the container box number is correct by obtaining the information collected by the box number camera 13, and if the box number is not correct, the operation is stopped; if it is correct, the next step is performed;
  • the spreader 17 runs to a position 1.5 meters above the trolley 16 above the trolley, and the operator determines through the display device 4 whether the spreader 17 is horizontal and the container is positive;
  • the operator manually operates the spreader 17 to lock the handle, so that the spreader 17 is locked, and the spreader 17 places the container to the designated position according to the instruction;
  • RTG 10 realizes semi-automatic control of the system in the existing remote operation control operation mode, and the system automatically selects instructions to realize automatic movement of the cart 15 in place, and the trolley 16 and the spreader 17 are automatically moved into position.
  • the operator uses the remote console in the control room to work remotely via the PLC.
  • the remote operating system 2 transmits the data to the control center 1, and the visual perception system 9 also transmits the video monitor screen to the control center 1 for display by the display device 4.
  • the monitoring screen seen by the operator through the display device 4 is much larger than the limited line of sight picture seen from the cab of the RTG 10, which is more advantageous for accurate manipulation.
  • the operator's routine work only needs to look at the on-site monitoring screen to complete, without climbing the cab of the RTG 10, and the operator can switch and control multiple RTGs 10 through a console without taking the time to focus on the automation that has been achieved.
  • the cart 15 and the cart 16 move.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
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Abstract

一种RTG远程操作控制系统，包括控制中心（1）、远程操作系统（2）和本地操作系统（3），远程操作系统（2）和本地操作系统（3）均与控制中心（1）相连。远程操作系统（2）包括显示装置（4）、远程PLC（5）、操作手柄（6）和操作按钮（7），其中显示装置（4）、操作手柄（6）和操作按钮（7）均与远程PLC（5）相连。本地操作系统（3）包括本地PLC（8）、视觉感知系统（9）和RTG（10），视觉感知系统（9）和RTG（10）均与本地PLC（8）相连。通过该RTG远程操作控制系统，一名操作人员可以操作多台RTG，实现了堆场半自动化操作，有效降低运营成本、减少劳动程度、提高操作安全性和工作效率。

Description

一种RTG远程操作控制系统 技术领域
本实用新型涉及一种远程操作控制系统，特别是一种RTG远程操作控制系统，属于起重机技术领域。
背景技术
目前，集装箱码头作业模式还都是以人工手动操作方式为主对集装箱进行装卸。RTG作为一种常用的起重设备，需要操作人员进入驾驶室进行操作，操作人员需要忍受高温或者低温等恶劣的工作环境。另外，起重机事故也时有发生。随着港口船舶大型化，集装箱吞吐量日益增长，一名操作人员只能控制一台RTG的运行，使得用工成本不断增加，工作效率比较低。因此亟需更新换代的设备技术出现，优化码头作业条件。
实用新型内容
本实用新型的目的在于，提供一种RTG远程操作控制系统。本实用新型将原有的RTG控制系统转换成远程操作控制模式，一名操作人员可以操作多台RTG，实现了堆场半自动化操作，有效降低运营成本、减少劳动程度、提高操作安全性和工作效率。
为解决上述技术问题，本实用新型采用如下的技术方案：
该种RTG远程操作控制系统包括控制中心、远程操作系统和本地操作系统，所述远程操作系统和本地操作系统均与控制中心相连。该系统增设了控制中心和远程操作系统，无需在RTG上配备操作人员，实现了通过远程操作系统完成集装箱装卸工作。所述远程操作系统包括显示装置、远程PLC、若干组操作手柄和若干组操作按钮，所述显示装置、操作手柄和操作按钮均与远程PLC相连。所述每组操作手柄包括：大车起升控制柄、小车俯仰控制柄、吊具倾转控制柄、吊具旋转控制柄及吊具开闭锁控制柄。所述每组操作按钮包括：控制合按钮、控制断按钮、紧停按钮、操控不同RTG的选择按钮。所述每组操作手柄和操作按钮对应控制一台RTG。在实际操作过程中，一名操作人员通过控制中心的系统自动切换实现控制多台RTG的功能，达到一人多机的操作模式，进一步节约人力成本。所述本地操作系统包括本地PLC、视觉感知系统和RTG，所述视觉感知系统和RTG均与本地PLC相连。所述视觉感知系统包括若干个扫描仪、若干个测距仪、若干个箱号摄像头和若干个吊具摄像头。视觉感知系统将采集到的视频信息经本地PLC传输给控制中心，控制中心将其展现在显示装置上。
前述的RTG包括大车、小车、吊具和起升机构，所述起升机构设于大车顶部，所述起升机构连接有吊具，所述吊具下设有小车。
为了提高系统运行的效率，前述的控制中心经交换装置与本地PLC信号连接，所述交换装置对其接收的信号有放大处理功能，增长了通信距离，能够增强传输信号的强度。所述本地PLC通过控制RTG实现RTG的大车运行、小车运行、起升机构的升降以及吊具的倾斜、旋转和开闭锁。所述控制中心发送指令给本地PLC，所述本地PLC依次控制大车移动到位，当大车运行到位后，控制小车运行到位，再开启起升机构的升降，最后，控制吊具倾斜、旋转和开闭锁，完成集装箱的装卸。
由于远距离传输存在信号衰减的问题，前述的控制中心与本地PLC之间每150米设置一套交换装置。
前述的小车的前部和后部均安装有扫描仪，所述大车的横梁处安装有测距仪，所述大车的两侧支腿上安装有箱号摄像头，所述吊具上安装有吊具摄像头。所述扫描仪、测距仪、箱号摄像头和吊具摄像头均与本地PLC信号连接。
与现有技术相比，本实用新型的有益之处在于：将原有的RTG控制系统转换成远程操作控制模式，操作人员可以通过一个操作台来远程控制多台RTG，生产安全性能好，实现了堆场半自动化操作。本实用新型还提高了装卸作业效率，有效降低运营成本、减少劳动程度、提高操作安全性和工作效率，更加适合港口自动化和信息化建设的需求。
附图说明
图1是本实用新型的结构示意图；
图2是本实用新型的部分结构示意图；
图3是本实用新型的部分结构示意图。
附图标记的含义：1-控制中心，2-远程操作系统，3-本地操作系统，4-显示装置，5-远程PLC，6-操作手柄，7-操作按钮，8-本地PLC，9-视觉感知系统，10-RTG，11-扫描仪，12-测距仪，13-箱号摄像头，14-吊具摄像头，15-大车，16-小车，17-吊具，18-起升机构，19-交换装置。
下面结合附图和具体实施方式对本实用新型作进一步的说明。
具体实施方式
本实用新型的实施例1：如图1、图2和图3所示，该种RTG远程操作控制系统包括控制中心1、远程操作系统2和本地操作系统3，远程操作系统2和本地操作系统3均与控制中心1相连。该系统增设了控制中心1和远程操作系统2，无需在RTG 10上配备操作人员，实现了通过远程操作系统2完成集装箱装卸工作。远程操作系统2包括显示装置4、远程PLC 5、三组操作手柄6和三组操作按钮7，显示装置4、操作手柄6和操作按钮7均与远程PLC 5相 连。每组操作手柄6包括：大车15起升控制柄、小车16俯仰控制柄、吊具17倾转控制柄、吊具17旋转控制柄及吊具17开闭锁控制柄。每组操作按钮7包括：控制合按钮、控制断按钮、紧停按钮、操控不同RTG 10的选择按钮。每组操作手柄6和操作按钮7对应控制一台RTG 10。在实际操作过程中，一名操作人员通过控制中心1的系统自动切换实现控制多台RTG10的功能，达到一人多机的操作模式，进一步节约人力成本。本地操作系统3包括本地PLC 8、视觉感知系统9和RTG 10，视觉感知系统9和RTG 10均与本地PLC 8相连。视觉感知系统9包括扫描仪11、测距仪12、箱号摄像头13和吊具摄像头14。其中扫描仪11安装在小车16的前部和后部，测距仪12安装在大车15的横梁处，箱号摄像头13安装在大车15的两侧支腿上，吊具摄像头14安装在吊具17的两侧。扫描仪11、测距仪12、箱号摄像头13和吊具摄像头14均与本地PLC 8信号连接，视觉感知系统9将采集到的视频信息经本地PLC 8传输给控制中心1，控制中心1将其展现在显示装置4上。
其中RTG 10包括大车15、小车16、吊具17和起升机构18，起升机构18设于大车15顶部，起升机构18连接有吊具17，吊具17下设有小车16。该种控制方法实现了小车16和起升机构18在移动过程中自动选择便捷安全的途径，自动对箱，减少了装卸过程的人工参与，极大地减少了作业人员的劳动强度。由于远距离传输存在信号衰减的问题，控制中心1与本地PLC 8之间每150米设置一套交换装置19。交换装置19对其接收的信号有放大处理功能，增长了通信距离，能够增强传输信号的强度。本地PLC 8通过控制RTG 10实现RTG 10的大车15运行、小车16运行、起升机构18的升降以及吊具17的倾斜、旋转和开闭锁。控制中心1发送指令给本地PLC 8，本地PLC 8依次控制大车15移动到位，当大车15运行到位后，控制小车16运行到位，再开启起升机构18的升降，最后，控制吊具17倾斜、旋转和开闭锁，完成集装箱的装卸。
实施例2：如图1、图2和图3所示，该种RTG远程操作控制系统包括控制中心1、远程操作系统2和本地操作系统3，远程操作系统2和本地操作系统3均与控制中心1相连。该系统增设了控制中心1和远程操作系统2，无需在RTG 10上配备操作人员，实现了通过远程操作系统2完成集装箱装卸工作。远程操作系统2包括显示装置4、远程PLC 5、三组操作手柄6和三组操作按钮7，显示装置4、操作手柄6和操作按钮7均与远程PLC 5相连。每组操作手柄6包括：大车15起升控制柄、小车16俯仰控制柄、吊具17倾转控制柄、吊具17旋转控制柄及吊具17开闭锁控制柄。每组操作按钮7包括：控制合按钮、控制断按钮、紧停按钮、操控不同RTG 10的选择按钮。每组操作手柄6和操作按钮7对应控制一台RTG 10。在实际操作过程中，一名操作人员通过控制中心1的系统自动切换实现控制三台RTG 10的功能， 达到一人多机的操作模式，进一步节约人力成本。本地操作系统3包括本地PLC 8、视觉感知系统9和RTG 10，视觉感知系统9和RTG 10均与本地PLC 8相连。视觉感知系统9包括两个扫描仪11、四个测距仪12、四个箱号摄像头13和两个吊具摄像头14。视觉感知系统9将采集到的视频信息经本地PLC 8传输给控制中心1，控制中心1将其展现在显示装置4上。操作人员通过显示装置4看到的监视画面远大于从RTG 10的驾驶室看到的局限视线画面，更有利于准确操控。
实施例3：如图1、图2和图3所示，一种RTG远程操作控制方法包括以下步骤：
F001，系统开机，操作人员接收作业指令准备工作；
F002，操作人员远程启动小车16的扫描仪11将采集到的视频信息传输给本地PLC 8，本地PLC 8经交换装置19传输给控制中心1出现在显示装置4上；
F003，操作人员根据显示装置4指示调整大车15与小车16的对正位置，开始装箱作业；
F004，控制中心1通过获取箱号摄像头13采集到的信息，判断集装箱箱号是否正确，若箱号不正确，则停止操作；若是正确，则进行下一步；
F005，吊具17运行到小车16上方距离集装箱1.5米位置，操作人员通过显示装置4判断吊具17是否水平并对正集装箱；
F006，若吊具17对正集装箱，则进入下一步；否则，操作人员手动调整吊具17倾转控制柄和/或吊具17旋转控制柄使得吊具17水平并对正集装箱，继而执行下一步；
F007，操作人员手动操作吊具17闭锁控制柄，使得吊具17闭锁，吊具17按照指令将集装箱放置到指定位置；
F008，操作人员手动操作吊具17开锁控制柄，使得吊具17开锁收回，装箱完毕。
本实用新型的工作过程：RTG 10在现有的远程操作控制的作业方式中，实现系统半自动化控制，系统自动选取指令，来实现大车15自动移动到位，小车16以及吊具17自动移动到位功能。到位后，操作人员使用控制室内的远程控制台，通过PLC远程控制来作业。远程控制方案实施后，远程操作系统2将数据发送到控制中心1，同时视觉感知系统9将视频监视画面也传送到控制中心1，通过显示装置4显示。操作人员通过显示装置4看到的监视画面远大于从RTG 10的驾驶室看到的局限视线画面，更有利于准确操控。操作人员常规作业只需看着现场监视画面来完成，不需要爬上RTG 10的驾驶室，而且操作人员可以通过一个控制台来切换控制多个RTG 10，而不用花时间去关注已实现自动化的大车15、小车16移动过程。

Claims (5)

  1. 一种RTG远程操作控制系统，包括本地操作系统(3)，其特征在于，还包括控制中心(1)和远程操作系统(2)，所述远程操作系统(2)和本地操作系统(3)均与控制中心(1)相连；所述远程操作系统(2)包括显示装置(4)、远程PLC(5)、若干组操作手柄(6)和若干组操作按钮(7)，所述显示装置(4)、操作手柄(6)和操作按钮(7)均与远程PLC(5)相连；
    所述本地操作系统(3)包括本地PLC(8)、视觉感知系统(9)和RTG(10)，所述视觉感知系统(9)和RTG(10)均与本地PLC(8)相连；所述视觉感知系统(9)包括若干个扫描仪(11)、若干个测距仪(12)、若干个箱号摄像头(13)和若干个吊具摄像头(14)。
  2. 根据权利要求1所述的RTG远程操作控制系统，其特征在于，所述RTG(10)包括大车(15)、小车(16)、吊具(17)和起升机构(18)，所述起升机构(18)设于大车(15)顶部，所述起升机构(18)连接有吊具(17)，所述吊具(17)下设有小车(16)。
  3. 根据权利要求2所述的RTG远程操作控制系统，其特征在于，所述控制中心(1)经交换装置(19)与本地PLC(8)信号连接。
  4. 根据权利要求3所述的RTG远程操作控制系统，其特征在于，所述控制中心(1)与本地PLC(8)之间每150米设置一套交换装置(19)。
  5. 根据权利要求4所述的RTG远程操作控制系统，其特征在于，所述小车(16)的前部和后部均安装有扫描仪(11)，所述大车(15)的横梁处安装有测距仪(12)，所述大车(15)的两侧支腿上安装有箱号摄像头(13)，所述吊具(17)上安装有吊具摄像头(14)。
PCT/CN2017/084451 2016-12-08 2017-05-16 一种rtg远程操作控制系统 WO2018103271A1 (zh)

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