CN116253254A - Remote engineer station for grab ship unloader and remote control method - Google Patents

Remote engineer station for grab ship unloader and remote control method Download PDF

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Publication number
CN116253254A
CN116253254A CN202211584667.1A CN202211584667A CN116253254A CN 116253254 A CN116253254 A CN 116253254A CN 202211584667 A CN202211584667 A CN 202211584667A CN 116253254 A CN116253254 A CN 116253254A
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China
Prior art keywords
remote
remote debugging
unit
ship unloader
information acquisition
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CN202211584667.1A
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Chinese (zh)
Inventor
高世超
郑妍妍
赵磊
张帅
于艳红
刘丹
赵岩
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Dalian Huarui Heavy Industry Group Co Ltd
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Dalian Huarui Heavy Industry Group Co Ltd
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Priority to CN202211584667.1A priority Critical patent/CN116253254A/en
Publication of CN116253254A publication Critical patent/CN116253254A/en
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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
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • 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
    • B66C13/52—Details of compartments for driving engines or motors or of operator's stands or cabins
    • B66C13/54—Operator's stands or cabins
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Health & Medical Sciences (AREA)
  • Computing Systems (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Ship Loading And Unloading (AREA)

Abstract

The invention provides a remote engineer station of a grab ship unloader, which comprises: the remote debugging and scheduling unit is used for completing remote debugging and scheduling work of the grab ship unloader; the machine-mounted control unit is used for driving the grab ship unloader to complete corresponding actions; the on-site information acquisition unit is used for acquiring audio and video information; and the network communication unit is used for constructing network communication between the remote debugging and scheduling unit and the airborne control unit and between the remote debugging and scheduling unit and the on-site information acquisition unit. The invention creatively adds a plurality of video and audio acquisition devices on the grab ship unloader, basically covers the operation areas of all main mechanisms of the grab ship unloader, can remotely display the actual operation condition of the grab ship unloader in real time, and meets the requirement of remote dispatching and debugging. Meanwhile, the safety of remote dispatching and debugging is greatly improved through the configuration of functions such as data transmission delay monitoring, mechanism operation abnormal noise monitoring, cab operator operation action video monitoring and the like.

Description

Remote engineer station for grab ship unloader and remote control method
Technical Field
The invention relates to the technical field of grab ship unloaders, in particular to a remote engineer station of a grab ship unloader.
Background
Under the conventional condition, the operation and maintenance work of the grab ship unloader equipment is completed on the field equipment by maintenance personnel, and the working environment is poor. In addition, at present, the epidemic situation of abroad is still continuously exploded, and how to safely go to the site of the abroad equipment for site debugging and operation and maintenance work by debugging technicians is also a difficult problem of being put in each large host factory.
The existing field debugging method generally comprises the steps that a technician commands an operator to operate the ship unloader in a cab through communication equipment such as interphones in a grab ship unloader PLC (programmable logic controller) room, the technician observes the operation condition of the equipment on line through a notebook computer in the PLC room, field information feedback is not timely, and the operation states of all peripheral mechanisms cannot be considered. At the same time, at the present of continuous outbreak of foreign epidemic situations, how to safely go to the field of foreign equipment for field debugging and operation and maintenance work by debugging technicians is also a great difficulty in each large host factory.
Disclosure of Invention
In accordance with the technical problems mentioned in the background art, a grapple ship unloader remote engineer station is provided. The invention is mainly based on the original airborne control unit, and is additionally provided with the field information acquisition device and the network communication equipment, and the remote debugging, remote operation and maintenance and other works of the grab ship unloader equipment are completed through the remote operation and maintenance terminal. On the basis of realizing functions of remote monitoring, remote control and the like, the technology creatively increases the field condition acquisition function, so that debugging personnel can remotely perceive the actual running condition of the field device in visual and auditory aspects, and the safety and reliability of remote debugging work are greatly enhanced.
The invention adopts the following technical means:
a grapple ship unloader remote engineer station comprising:
the remote debugging and scheduling unit is used for completing remote debugging and scheduling work of the grab ship unloader; the machine-mounted control unit is used for driving the grab ship unloader to complete corresponding actions; the on-site information acquisition unit is used for acquiring audio and video information; the network communication unit is used for constructing network communication between the remote debugging and scheduling unit and the airborne control unit and between the remote debugging and scheduling unit and the on-site information acquisition unit;
in the process of remote debugging and remote operation and maintenance of the grab ship unloader, the remote debugging and scheduling unit sequentially sends data delay detection signals to the airborne control unit and the field information acquisition unit at regular time, and after the airborne control unit and the field information acquisition unit receive the data delay detection signals, the remote debugging and scheduling unit immediately sends data delay detection feedback signals to the remote debugging and scheduling unit, after the remote debugging and scheduling unit receives the data delay detection feedback signals returned by the two units, the remote debugging and scheduling unit carries out data delay time operation on the time sent by the data delay detection signals and the time received by the data delay detection feedback signals, and meanwhile compares the data delay time with a threshold value to judge the real-time performance of data communication of a remote engineer station.
Compared with the prior art, the invention has the following advantages:
the invention creatively adds a plurality of video and audio acquisition devices on the grab ship unloader, basically covers the operation areas of all main mechanisms of the grab ship unloader, can remotely display the actual operation condition of the grab ship unloader in real time, and meets the requirement of remote dispatching and debugging. Meanwhile, the safety of remote dispatching and debugging is greatly improved through the configuration of functions such as data transmission delay monitoring, mechanism operation abnormal noise monitoring, cab operator operation action video monitoring and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to the drawings without inventive effort to a person skilled in the art.
FIG. 1 is a schematic view of a remote engineer station of the grapple ship unloader of the present invention.
FIG. 2 is a schematic diagram of a remote debug scheduling unit according to the present invention.
Fig. 3 is a network diagram of an on-board control unit of the present invention.
Fig. 4 is a schematic diagram of a field information acquisition unit according to the present invention.
Fig. 5 is a schematic diagram of a network communication unit according to the present invention.
FIG. 6 is a flow chart of remote debugging and remote operation and maintenance of the grab ship unloader.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
As shown in fig. 1-6, the present invention provides a grapple ship unloader remote engineer station comprising: the remote debugging and scheduling unit is used for completing remote debugging and scheduling work of the grab ship unloader; the machine-mounted control unit is used for driving the grab ship unloader to complete corresponding actions; the on-site information acquisition unit is used for acquiring audio and video information; and the network communication unit is used for constructing network communication between the remote debugging and scheduling unit and the airborne control unit and between the remote debugging and scheduling unit and the on-site information acquisition unit.
In the process of remote debugging and remote operation and maintenance of the grab ship unloader, the remote debugging and scheduling unit sequentially sends data delay detection signals to the airborne control unit and the field information acquisition unit at regular time, and after the airborne control unit and the field information acquisition unit receive the data delay detection signals, the remote debugging and scheduling unit immediately sends data delay detection feedback signals to the remote debugging and scheduling unit, after the remote debugging and scheduling unit receives the data delay detection feedback signals returned by the two units, the remote debugging and scheduling unit carries out data delay time operation on the time sent by the data delay detection signals and the time received by the data delay detection feedback signals, and meanwhile compares the data delay time with a threshold value to judge the real-time performance of data communication of a remote engineer station.
The system comprises a field information acquisition unit and an onboard control unit, wherein the field information acquisition unit and the onboard control unit are positioned on a grab ship unloader, a network communication unit is composed of communication devices on the grab ship unloader and on two sides of a remote debugging and scheduling center, the remote debugging and scheduling unit is positioned in the remote debugging and scheduling center, grab ship unloader operation data of the field information acquisition unit and the onboard control unit are sent to the remote debugging and scheduling unit through the network communication unit, and grab ship unloader control instruction data of the remote debugging and scheduling unit are transmitted to the onboard control unit on the grab ship unloader through the network communication unit.
As a preferred embodiment, in the present application, the remote debug scheduling unit includes: the monitoring picture, the operation desk, the industrial personal computer and the dispatching instruction sending device are arranged in the remote debugging dispatching center; the operation desk is used for installing and bearing a monitoring picture display, an industrial personal computer and a dispatching instruction sending device; the user remotely adjusts and dispatches the grab ship unloader; the monitoring screen includes: four displays; the system comprises a grab ship unloader, a video display device and a control device, wherein the two video displays are used for displaying the operation of the grab ship unloader, and the two state information displays are used for displaying the operation of the grab ship unloader; the industrial personal computer is used for storing and processing video data and state information of the operation of the grab ship unloader and collecting and processing control instructions of the dispatching instruction sending device; the scheduling instruction transmitting apparatus includes: a keyboard, 2 master handles and a plurality of buttons; the dispatching instruction sending device is used for remote dispatching debugging control of the grab ship unloader.
Further, the on-board control unit includes: the device comprises a PLC system, a variable frequency transmission device, a driving motor, a close stop button and a limit switch; the PLC system adopts S1500 of Siemens and AC800M of ABB for the airborne control of the grab ship unloader; the variable frequency transmission device is used for driving each mechanism to drive a motor to run; the emergency stop button is used for on-board emergency stop operation; the limit switch is used for detecting the running state of each mechanism of the grab ship unloader in real time.
Further, the field information acquisition unit includes: the device comprises an audio information acquisition device and a video information acquisition device which are arranged in an equipment machine room, an audio information acquisition device and a video information acquisition device which are arranged at the end part of an arm support, and an audio information acquisition device and a video information acquisition device which are arranged in a cab; the audio information acquisition device and the video information acquisition device are arranged in the equipment machine room and are used for acquiring lifting, opening and closing, trolley and pitching of the grab ship unloader in real time; abnormal operation noise and operation video information of the main mechanism motor and the winding drum; the audio information acquisition device and the video information acquisition device are arranged at the end part of the arm support and are used for acquiring abnormal operation noise and operation video information of the main trolley of the grab ship unloader in real time; the audio information acquisition device and the video information acquisition device are arranged in the cab and are used for acquiring voice information and operation video information of a user on the grab ship unloader in real time.
Further, the network communication unit includes: the device end Ethernet communication module is arranged in the ship unloader PLC chamber, the Ethernet communication module of the remote debugging and dispatching center and the public Ethernet network; the equipment end Ethernet communication module of the ship unloader PLC chamber is used for sending the operation data of the grab ship unloader of the on-board field information acquisition unit and the on-board control unit and receiving the control instruction data of the grab ship unloader of the remote debugging and dispatching unit of the remote debugging and dispatching center; the Ethernet communication module of the remote debugging and dispatching center is used for receiving the operation data of the grab ship unloader of the on-board field information acquisition unit and the on-board control unit and sending the control instruction data of the grab ship unloader of the remote debugging and dispatching unit of the remote debugging and dispatching center; the public ethernet network is a data transmission medium between the two.
The invention also comprises a grab ship unloader remote control method, which comprises the following steps:
step one: the remote debugging and scheduling unit is in communication connection with the airborne control unit and the field information acquisition unit;
step two: the remote debugging scheduling unit completes signal testing by sending a scheduling instruction; a debugger monitors the field device safety element signal in real time in a remote debugging and dispatching center through a field information acquisition unit;
step three: the remote debugging scheduling unit sends scheduling instructions to sequentially complete testing actions; the debugging personnel monitors the single-mechanism running state of the field device and the actual audio-video environment of the field device in real time in a remote debugging and dispatching center;
step four: the remote debugging and dispatching unit sends a dispatching instruction, and an on-site operator performs no-load test on the grab ship unloader; the debugging personnel monitor the no-load running state of the field device and the actual audio-visual environment of the field device in real time in a remote debugging and dispatching center;
step five: and (5) completing remote debugging and remote operation and maintenance of the grab ship unloader.
In the process of remote debugging and remote operation and maintenance of the grab ship unloader, the remote debugging and scheduling unit sequentially sends data delay detection signals to the airborne control unit and the field information acquisition unit at regular time, and after the airborne control unit and the field information acquisition unit receive the data delay detection signals, the remote debugging and scheduling unit immediately sends data delay detection feedback signals to the remote debugging and scheduling unit, after the remote debugging and scheduling unit receives the data delay detection feedback signals returned by the two units, the remote debugging and scheduling unit carries out data delay time operation on the time sent by the data delay detection signals and the time received by the data delay detection feedback signals, and meanwhile compares the data delay time with a threshold value to judge the real-time performance of data communication of a remote engineer station.
The data delay time judging formula is as follows:
if T Feedback 1 -T Transmission 1 >T Threshold 1 The communication between the remote debugging scheduling unit and the airborne control unit meets the remote debugging requirement;
if T Feedback 2 -T Send 2 >T Threshold 2 The communication between the remote debugging scheduling unit and the on-site information acquisition unit meets the remote debugging requirement;
if T Feedback 1 -T Transmission 1 ≤T Threshold 1 The communication between the remote debugging scheduling unit and the airborne control unit does not meet the remote debugging requirement;
if T Feedback 2 -T Send 2 ≤T Threshold 2 The communication between the remote debugging scheduling unit and the on-site information acquisition unit does not meet the remote debugging requirement;
wherein T is Feedback 1 The time of the remote debugging scheduling unit receiving the data delay detection feedback signal returned by the onboard control unit is represented by T Transmission 1 The time of the remote debugging and scheduling unit sending the data delay detection signal to the onboard control unit is represented by T Threshold 1 Representing remote debugging and scheduling unit sharing machineA data delay time permission threshold value between the load control units; t (T) Feedback 2 The time of the remote debugging scheduling unit receiving the data delay detection feedback signal returned by the field information acquisition unit is represented by T Send 2 The time of the remote debugging and scheduling unit sending the data delay detection signal to the field information acquisition unit is represented by T Threshold 2 And the data delay time allowable threshold value between the remote debugging scheduling unit and the on-site information acquisition unit is represented.
Embodiment one:
taking a grab ship unloader as an example, a remote engineer station will be described. The remote debugging and remote operation and maintenance flow of the grab ship unloader is shown in fig. 5: after the work starts, the remote debugging and scheduling unit needs to establish communication connection with the onboard control unit and the on-site information acquisition unit. After the communication connection is established, the signal test of the safety element is started, the remote debugging and scheduling unit sends a scheduling instruction, and the signal test of the safety element such as a close stop button, a limit switch and the like is completed. And the debugging personnel monitor the safety element signal of the field device in real time at a remote debugging and dispatching center. After the safety element signal test is completed, the action test of the grab ship unloader single mechanism is started, the remote debugging and scheduling unit sends scheduling instructions, and the action test of the lifting, opening and closing, trolley, pitching and other mechanisms is completed sequentially. And the debugging personnel monitors the single-mechanism running state of the field device and the actual audio-video environment of the field device in real time in the remote debugging and dispatching center. After the single-mechanism action test is completed, the no-load test of the grab ship unloader is started, the remote debugging and scheduling unit sends a scheduling instruction, and the on-site operator performs the no-load test of the grab ship unloader. And the debugging personnel monitor the no-load running state of the field device and the actual audio-visual environment of the field device in real time in a remote debugging and dispatching center. After the no-load test of the grab ship unloader is finished, the remote debugging and remote operation and maintenance work is finished, and the equipment can be put into normal use.
The grab bucket ship unloader is used for the project of port machine division production of Dalian Hua Rui heavy industry group stock.
The development of the remote engineer station of the grab ship unloader greatly increases the market core competitiveness of the grab ship unloader product. Meanwhile, the station cost of a single-set grab ship unloader remote engineer is 50 ten thousand yuan, and the production value of 20 grab ship unloader products produced by the port machinery department in year can be increased by 1000 ten thousand yuan for the company each year.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments. In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology content may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims (8)

1. A grapple ship unloader remote engineer station comprising:
the remote debugging and scheduling unit is used for completing remote debugging and scheduling work of the grab ship unloader;
the machine-mounted control unit is used for driving the grab ship unloader to complete corresponding actions;
the on-site information acquisition unit is used for acquiring audio and video information;
the method comprises the steps of,
the network communication unit is used for constructing network communication between the remote debugging and scheduling unit and the airborne control unit and between the remote debugging and scheduling unit and the on-site information acquisition unit;
in the process of remote debugging and remote operation and maintenance of the grab ship unloader, the remote debugging and scheduling unit sequentially sends data delay detection signals to the airborne control unit and the field information acquisition unit at regular time, and after the airborne control unit and the field information acquisition unit receive the data delay detection signals, the remote debugging and scheduling unit immediately sends data delay detection feedback signals to the remote debugging and scheduling unit, after the remote debugging and scheduling unit receives the data delay detection feedback signals returned by the two units, the remote debugging and scheduling unit carries out data delay time operation on the time sent by the data delay detection signals and the time received by the data delay detection feedback signals, and meanwhile compares the data delay time with a threshold value to judge the real-time performance of data communication of a remote engineer station.
2. The remote engineer station of claim 1 wherein,
the remote debugging scheduling unit comprises: the monitoring picture, the operation desk, the industrial personal computer and the dispatching instruction sending device are arranged in the remote debugging dispatching center;
the operation desk is used for installing and bearing a monitoring picture display, an industrial personal computer and a dispatching instruction sending device; the user remotely adjusts and dispatches the grab ship unloader; the monitoring screen includes: four displays; the system comprises a grab ship unloader, a video display device and a control device, wherein the two video displays are used for displaying the operation of the grab ship unloader, and the two state information displays are used for displaying the operation of the grab ship unloader; the industrial personal computer is used for storing and processing video data and state information of the operation of the grab ship unloader and collecting and processing control instructions of the dispatching instruction sending device; the scheduling instruction transmitting apparatus includes: a keyboard, 2 master handles and a plurality of buttons; the dispatching instruction sending device is used for remote dispatching debugging control of the grab ship unloader.
3. The remote engineer station of claim 1 wherein,
the on-board control unit includes: the device comprises a PLC system, a variable frequency transmission device, a driving motor, a close stop button and a limit switch;
the PLC system adopts S1500 of Siemens and AC800M of ABB for the airborne control of the grab ship unloader; the variable frequency transmission device is used for driving each mechanism to drive a motor to run; the emergency stop button is used for on-board emergency stop operation; the limit switch is used for detecting the running state of each mechanism of the grab ship unloader in real time.
4. The remote engineer station of claim 1 wherein,
the field information acquisition unit includes: the device comprises an audio information acquisition device and a video information acquisition device which are arranged in an equipment machine room, an audio information acquisition device and a video information acquisition device which are arranged at the end part of an arm support, and an audio information acquisition device and a video information acquisition device which are arranged in a cab;
the audio information acquisition device and the video information acquisition device are arranged in the equipment machine room and are used for acquiring lifting, opening and closing, trolley and pitching of the grab ship unloader in real time; abnormal operation noise and operation video information of the main mechanism motor and the winding drum; the audio information acquisition device and the video information acquisition device are arranged at the end part of the arm support and are used for acquiring abnormal operation noise and operation video information of the main trolley of the grab ship unloader in real time; the audio information acquisition device and the video information acquisition device are arranged in the cab and are used for acquiring voice information and operation video information of a user on the grab ship unloader in real time.
5. The grapple unloader remote engineer station of claim 1, wherein the network communication unit comprises: the device end Ethernet communication module is arranged in the ship unloader PLC chamber, the Ethernet communication module of the remote debugging and dispatching center and the public Ethernet network;
the equipment end Ethernet communication module of the ship unloader PLC chamber is used for sending the operation data of the grab ship unloader of the on-board field information acquisition unit and the on-board control unit and receiving the control instruction data of the grab ship unloader of the remote debugging and dispatching unit of the remote debugging and dispatching center; the Ethernet communication module of the remote debugging and dispatching center is used for receiving the operation data of the grab ship unloader of the on-board field information acquisition unit and the on-board control unit and sending the control instruction data of the grab ship unloader of the remote debugging and dispatching unit of the remote debugging and dispatching center; the public ethernet network is a data transmission medium between the two.
6. The remote control method of the grab ship unloader is characterized by comprising the following steps of:
step one: the remote debugging and scheduling unit is in communication connection with the airborne control unit and the field information acquisition unit;
step two: the remote debugging scheduling unit completes signal testing by sending a scheduling instruction; a debugger monitors the field device safety element signal in real time in a remote debugging and dispatching center through a field information acquisition unit;
step three: the remote debugging scheduling unit sends scheduling instructions to sequentially complete testing actions; the debugging personnel monitors the single-mechanism running state of the field device and the actual audio-video environment of the field device in real time in a remote debugging and dispatching center;
step four: the remote debugging and dispatching unit sends a dispatching instruction, and an on-site operator performs no-load test on the grab ship unloader; the debugging personnel monitor the no-load running state of the field device and the actual audio-visual environment of the field device in real time in a remote debugging and dispatching center;
step five: and (5) completing remote debugging and remote operation and maintenance of the grab ship unloader.
7. The method for remotely controlling a grapple ship unloader according to claim 6, wherein,
in the process of remote debugging and remote operation and maintenance of the grab ship unloader, the remote debugging and scheduling unit sequentially sends data delay detection signals to the airborne control unit and the field information acquisition unit at regular time, and after the airborne control unit and the field information acquisition unit receive the data delay detection signals, the remote debugging and scheduling unit immediately sends data delay detection feedback signals to the remote debugging and scheduling unit, after the remote debugging and scheduling unit receives the data delay detection feedback signals returned by the two units, the remote debugging and scheduling unit carries out data delay time operation on the time sent by the data delay detection signals and the time received by the data delay detection feedback signals, and meanwhile compares the data delay time with a threshold value to judge the real-time performance of data communication of a remote engineer station.
8. The method for remotely controlling a grapple ship unloader according to claim 7,
the data delay time judging formula is as follows:
if T Feedback 1 -T Transmission 1 >T Threshold 1 The communication between the remote debugging scheduling unit and the airborne control unit meets the remote debugging requirement;
if T Feedback 2 -T Send 2 >T Threshold 2 The communication between the remote debugging scheduling unit and the on-site information acquisition unit meets the remote debugging requirement;
if T Feedback 1 -T Transmission 1 ≤T Threshold 1 The communication between the remote debugging scheduling unit and the airborne control unit does not meet the remote debugging requirement;
if T Feedback 2 -T Send 2 ≤T Threshold 2 The communication between the remote debugging scheduling unit and the on-site information acquisition unit does not meet the remote debugging requirement;
wherein T is Feedback 1 The time of the remote debugging scheduling unit receiving the data delay detection feedback signal returned by the onboard control unit is represented by T Transmission 1 The time of the remote debugging and scheduling unit sending the data delay detection signal to the onboard control unit is represented by T Threshold 1 Representing a data delay time permission threshold value between the remote debugging scheduling unit and the onboard control unit; t (T) Feedback 2 The time of the remote debugging scheduling unit receiving the data delay detection feedback signal returned by the field information acquisition unit is represented by T Send 2 The time of the remote debugging and scheduling unit sending the data delay detection signal to the field information acquisition unit is represented by T Threshold 2 And the data delay time allowable threshold value between the remote debugging scheduling unit and the on-site information acquisition unit is represented.
CN202211584667.1A 2022-12-09 2022-12-09 Remote engineer station for grab ship unloader and remote control method Pending CN116253254A (en)

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CN202211584667.1A CN116253254A (en) 2022-12-09 2022-12-09 Remote engineer station for grab ship unloader and remote control method

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