CN-121974255-A - Port container gantry crane based on remote control

CN121974255ACN 121974255 ACN121974255 ACN 121974255ACN-121974255-A

Abstract

The invention relates to the technical field of remote control, in particular to a port container gantry crane based on remote control, which comprises an instruction analysis module, an attitude matching module, an offset detection module, a control judgment module and a take-over execution module, wherein each motion instruction and hoisting instruction sent out are analyzed based on a remote control terminal, and the time sequence of each instruction transmitted in a communication link is judged. The invention effectively breaks through the limitation of the traditional operation through remote control and automatic detection, adopts an intelligent data acquisition and real-time feedback mechanism, monitors the delay and sequential change of instruction execution in real time, can automatically control and adjust when communication or signals are abnormal, avoids the occurrence of operation errors, automatically adjusts the operation path by accurately measuring the posture and load change of the lifting appliance, ensures the accuracy and safety of the operation, can rapidly take over control when the abnormality is detected, and prevents the safety risk caused by misoperation or system failure.

Inventors

HUAN YU
ZHANG YONGWEI
ZHANG FENG
ZHANG SHANSHAN
Tian Aiai

Assignees

山东天源重工集团有限公司

Dates

Publication Date: 20260505
Application Date: 20260130

Claims (10)

1. Port container gantry crane based on remote control, characterized in that it comprises: the instruction analysis module is used for analyzing the sent movement and hoisting instructions based on the remote control terminal, judging the time sequence of the instructions in the communication link, comparing the generation time with the local receiving time, and identifying communication delay or sequence abnormality to obtain a communication delay state index; The attitude matching module is used for analyzing displacement data acquired by a crane driving encoder according to the advancing process of the main beam, comparing the displacement direction of the target with the deviation direction of the lifting appliance, judging the matching degree, and recording the deviation amplitude to obtain an attitude consistency assessment result; The deviation detection module is used for analyzing the lifting strain data, comparing the strain change with the swing track of the lifting appliance attitude angle sensor, judging the synchronism of the load swing trend and the strain track, and marking the unsynchronized stage to obtain a load stability assessment index; The control judgment module judges the change condition of the communication delay state index, the attitude consistency evaluation result and the load stability evaluation index in the same working period, analyzes the data trend relationship, identifies the mismatch stage, adjusts the control right state and obtains the authorized credibility evaluation result; And the take-over execution module analyzes the control state change track based on the authorization credibility evaluation result, judges control right mismatch, adjusts the local cache instruction sequence, and identifies the vertical motion control command which is executed preferentially to obtain a safe operation instruction sequence.
2. The remote control-based harbor container gantry crane according to claim 1, wherein the communication delay state indexes comprise communication delay, data loss rate and transmission sequence errors, the posture consistency evaluation result comprises displacement deviation, posture angle error and direction matching degree, the load stability evaluation index comprises strain fluctuation, swing amplitude and load synchronism, the authorization reliability evaluation result comprises instruction consistency, signal reliability and execution accuracy, and the safety operation instruction sequence comprises a deceleration instruction, a pause instruction and a path adjustment instruction.
3. The remote-control-based harbor container gantry crane of claim 1, wherein the instruction analysis module comprises: The instruction receiving sub-module is used for analyzing the sent motion and hoisting instructions based on the remote control terminal, judging the integrity and transmission protocol of the instructions, checking whether the instruction data packet accords with a preset format, detecting whether transmission errors or losses exist, and obtaining instruction integrity data; The time sequence comparison submodule compares the instruction generating time with the receiving time of the local control terminal based on the instruction integrity data, judges whether the instruction transmission sequence is abnormal or not through time difference calculation and analysis, checks the difference between the instruction receiving sequence and the generating sequence, analyzes whether delay or out-of-sequence exists or not, records associated difference information and obtains time sequence difference; The communication abnormality recognition submodule analyzes potential problems in the instruction transmission process based on the time sequence difference, detects whether abnormality exists in the communication process, analyzes the transmission quality, adjusts the data mark, records the abnormal state in the communication and obtains the communication delay state index.
4. The remotely operated port container gantry crane of claim 1, wherein said attitude matching module comprises: the displacement data acquisition submodule acquires displacement data recorded by the driving encoder according to the main beam advancing process, monitors and verifies the position change at each moment, and judges whether the data reflect the main beam moving process or not to obtain main beam track information; The deviation comparison sub-module analyzes the deviation direction recorded by the target displacement direction and the lifting appliance attitude angle sensor based on the main beam track information, calculates the deviation of the target displacement direction and the deviation direction recorded by the lifting appliance attitude angle sensor, judges the direction matching degree, analyzes whether the direction deviation exists or not, and if the direction deviation exists, calculates the difference between the direction matching degree and the target position to obtain a displacement matching state; and the deviation recording submodule analyzes and records the direction deviation based on the displacement matching state, calculates and marks the deviation amplitude, counts the deviation condition of each stage, judges the influence of the deviation on normal operation, and obtains the posture consistency evaluation result.
5. The remote-control-based harbor container gantry crane of claim 1, wherein the offset detection module comprises: The strain data acquisition sub-module is used for analyzing the strain data change of the load detection sensor in the lifting process of the lifting appliance, judging the continuity of data at each moment, identifying signal interference fragments, eliminating abnormal data, and optimizing a data sequence by monitoring the strain change of each lifting appliance position to obtain the lifting appliance strain information; The track synchronous analysis submodule compares the swing track recorded by the lifting appliance attitude angle sensor based on the lifting appliance strain information, analyzes the direction change process of each group of data in the working period, judges whether the strain change and the attitude swing have a synchronous relationship, and marks the matching state of each stage to obtain a swing synchronous mark; And the state mark output submodule judges the load state corresponding to the unsynchronized stage based on the swinging synchronization mark, classifies the data of the unsynchronized period, analyzes the association characteristics of the strain and the posture change, and sorts the data of each stage in the working period to obtain the load stability evaluation index.
6. The remote-control-based harbor container gantry crane of claim 1, wherein the control decision module comprises: the index trend analysis submodule analyzes the change condition of each type of index in the same working period based on the communication delay state index, the attitude consistency evaluation result and the load stability evaluation index, judges the change direction of each index data sequence, compares the ascending trend and the descending trend of each index in time sequence, and analyzes the time section with the associated trend to obtain a period trend feature group; the mismatch stage identification submodule judges whether each index has a continuous abnormal deviation time period in the operation period based on the period trend characteristic group, analyzes the direction deviation, the synchronicity loss and the communication abnormal performance of the three indexes in the corresponding time section, identifies the mismatch stage and marks the mismatch stage as a mismatch section, and obtains a continuous mismatch section set; The control right adjustment submodule analyzes the control right state corresponding to the index combination of each stage based on the continuous mismatch section set, judges the switching condition of the synchronous section and the mismatch section, adjusts the control right mark in each section, counts the change condition in the working period and obtains the authorized credibility assessment result.
7. The remote-control-based harbor container gantry crane of claim 1, wherein the takeover performing module comprises: The control track judging submodule judges the change track of the control state in the operation flow based on the authorization credibility evaluation result, compares the continuous performance of control right switching in the adjacent operation period, identifies the continuous sections of the control right mismatch mark, and sorts the control state evolution relation corresponding to each section to obtain a control state evolution sequence; The instruction sequence adjusting submodule compares the arrangement difference of the local cache control instructions in each control section based on the control state evolution sequence, judges the corresponding relation between the instruction sequence and the control state, identifies the vertical motion control command which should be processed preferentially at the current stage, adjusts the arrangement sequence of the instructions in the queue, and obtains a priority execution command queue; The safety sequence generation submodule judges the execution relation of each instruction in the current operation flow based on the priority execution command queue, identifies the instruction item conforming to the safety rule, adjusts the arrangement structure of the rest instructions, eliminates command combinations with sequence conflict, and obtains the safety operation instruction sequence.
8. The remote control-based harbor container gantry crane according to claim 1, wherein the hoist command refers to a command for controlling the hoist to perform a loading and unloading operation sent by the remote control terminal, and the communication link refers to a data transmission path between the crane and the remote control terminal.
9. The remote control-based harbor container gantry crane according to claim 1, wherein the generation time refers to a time point when a motion or hoisting command is generated and transmitted at a remote control terminal, and the displacement data refers to motion path change data of a hoist or a girder monitored by a driving encoder.
10. The remote control-based harbor container gantry crane according to claim 1, wherein the deviation amplitude refers to the deviation degree between the moving direction and the target displacement direction, and the lifting strain data refers to the change condition of the strain value recorded by the load detection sensor along with time during the lifting process of the lifting appliance.

Description

Port container gantry crane based on remote control Technical Field The invention relates to the technical field of remote control, in particular to a port container gantry crane based on remote control. Background Remote control relates to non-contact remote operation control of mechanical equipment, industrial systems, transportation facilities and other objects, mainly comprises remote sensing, signal transmission, man-machine interaction, execution response and the like, and is widely applied to industries such as military, aerospace, transportation, port operation, mining machinery and the like. Wherein, the traditional port container gantry crane refers to a lifting device which is used for carrying containers horizontally and vertically across a container yard through a portal frame structure in a port and dock area, the container handling system generally comprises a metal gantry frame, a lifting mechanism, a travelling mechanism, a cab and a control system, wherein the operation process of the container handling system depends on visual observation of a driver in the cab and manual control of equipment to complete positioning, lifting and transportation of the container. The traditional port container gantry crane in the prior art relies on manual operation and visual observation, so that the accuracy in operation is influenced by environmental change and human factors, the judgment of an operator is limited by a visual range and a working environment, particularly under complex weather conditions, the position of the crane cannot be accurately judged, positioning errors are caused, in addition, the manual operation is easily interfered by factors such as fatigue, distraction and the like, the operation risk is increased, the operation efficiency is reduced, and a real-time feedback and automatic correction mechanism is lacked, so that when a signal is delayed or an instruction is wrong, the crane cannot automatically correct, the operation is easily interrupted or equipment is out of control, and the maintenance cost and the potential safety hazard are further increased. Disclosure of Invention In order to solve the technical problems in the prior art, the embodiment of the invention provides a port container gantry crane based on remote control. The technical scheme is as follows: in one aspect, there is provided a remote control based port container gantry crane comprising: the instruction analysis module is used for analyzing the sent movement and hoisting instructions based on the remote control terminal, judging the time sequence of the instructions in the communication link, comparing the generation time with the local receiving time, and identifying communication delay or sequence abnormality to obtain a communication delay state index; The attitude matching module is used for analyzing displacement data acquired by a crane driving encoder according to the advancing process of the main beam, comparing the displacement direction of the target with the deviation direction of the lifting appliance, judging the matching degree, and recording the deviation amplitude to obtain an attitude consistency assessment result; The deviation detection module is used for analyzing the lifting strain data, comparing the strain change with the swing track of the lifting appliance attitude angle sensor, judging the synchronism of the load swing trend and the strain track, and marking the unsynchronized stage to obtain a load stability assessment index; The control judgment module judges the change condition of the communication delay state index, the attitude consistency evaluation result and the load stability evaluation index in the same working period, analyzes the data trend relationship, identifies the mismatch stage, adjusts the control right state and obtains the authorized credibility evaluation result; And the take-over execution module analyzes the control state change track based on the authorization credibility evaluation result, judges control right mismatch, adjusts the local cache instruction sequence, and identifies the vertical motion control command which is executed preferentially to obtain a safe operation instruction sequence. On the other hand, the communication delay state indexes comprise communication delay, data loss rate and transmission sequence errors, the posture consistency evaluation result comprises displacement deviation, posture angle error and direction matching degree, the load stability evaluation index comprises strain fluctuation, swing amplitude and load synchronism, the authorization reliability evaluation result comprises instruction consistency, signal reliability and execution accuracy, and the safety operation instruction sequence comprises a speed reduction instruction, a suspension instruction and a path adjustment instruction. In another aspect, the instruction analysis module includes: The instruction receiving sub-module is used for analyzing the sent motion