JP2012041131A - Delay detection method for remote control video - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a delay detection method for remote control videos, for surely recognizing the delay situation of video transmission and improving safety of control (operation) in a remote control system.SOLUTION: The delay detection method includes: a first step of calculating a code for recognizing the current time and the identification ID of a transport machine with a control computer 28 at an operation destination; a second step of indicating the code to video encoders 27a and 27b as data to be imposed; a third step of imposing code data on video data and transmitting them to a control computer 40d at an operation source by the video encoders; a fourth step of obtaining code information from received data with the control computer at the operation source; a fifth step of transmitting the code information together with a remote control input signal to the control computer at the operation destination by the control computer at the operation source; and a sixth step of stopping the operation of the transport machine by the control computer at the operation destination, when a difference between time of the returned code and the current time is equal to or larger than a fixed range or when the identification ID of the transport machine is different.

Description

  The present invention relates to a delay detection method for a camera image when a transport machine such as a transfer crane or an automatic transport cart is remotely operated in a container terminal, for example.

  In general, a container terminal has a quay facility for loading or unloading a container (load) on a container ship, and storing and storing the unloaded container until it is delivered to the shipper, or until the container received from the shipper is loaded. The facility has storage facilities (storage area (container yard)). In the advanced container terminal, when the container is transferred, the container stored in the container yard is transferred to an automatic conveyance cart (hereinafter referred to as AGV) by a rubber tire transfer crane (hereinafter referred to as RTG), The container is transported.

  In such a container terminal, RTG and AGV are controlled by wireless remote control. For example, RTG and AGV can be switched from a remote console (remote control device) arranged in the management building. A command such as a command is transmitted, and the status is sent from the RTG and AGV to the remote console to control the operation (see Patent Document 1).

  That is, video data from a plurality of cameras, audio data from microphones and speakers, and control data such as sensor signals are transmitted from the RTG and AGV to the remote operation console, and the various types of data are transmitted from the remote operation console to the RTG and AGV. Control data such as a driving operation signal based on the data is transmitted.

JP 2006-180141 A JP 2007-31102 A

  By the way, as described in Patent Document 2, various data transmitted and received between the RTG and AGV and the remote console are control data (from sensor signals from the RTG and AGV to the remote console or from the remote console). For example, driving signals to RTG and AGV can be transmitted / received by wireless data communication using a modem, and video data and audio data can be transmitted / received using radio waves leaked from a leaky coaxial cable. Patent Document 2 proposes a technique that can surely eliminate a mismatch between an RTG that is a transmission source of an image displayed on a monitor of a remote console and an RTG that is a target of remote operation.

  However, in Patent Document 2, when a delay (transmission delay) occurs in video data, there is a problem that the delay state cannot be confirmed. That is, when the video data has a large delay, the safety of operation (driving) is impaired. In particular, in order to expand the range of remote operation locations and further improve the efficiency of the remote operation system, all the above-mentioned data transmission formats are all IP (Internet Protocol) transmission, enabling data transmission / reception on the Internet. In this case, the video data may be sufficiently delayed due to the congestion of the line.

  Therefore, an object of the present invention is to provide a remote operation video delay detection method capable of reliably grasping the delay state of video transmission and improving the safety of operation (driving) in a remote operation system.

In order to achieve such an object, a delay detection method for a remote operation image according to the present invention includes:
A first step of calculating a code in which information on the current time and the identification ID of the transport machine is known in the operation destination computer;
A second step of instructing the calculated code as impose data to the encoder;
A third step in which the encoder imposes code data on the video data from the camera and transmits the code data to the operation source computer;
A fourth step of extracting code information from received data at the operation source computer;
A fifth step in which the operation source computer transmits code information to the operation destination computer together with a remote operation input signal;
A sixth step of stopping the operation of the transporting machine if the difference between the time of the returned code and the current time is equal to or greater than a certain range or the identification ID of the transporting machine is different;
It is provided with.

Also,
In the third step, the video data is transmitted as IP data after imposing code data on the video data.

Also,
The code data is directly imposed on the video in the third step, and the code information is extracted by image processing in the fourth step.

Also,
In the third step, the code data is transmitted as additional information to the IP data including the video data, and is extracted in the fourth step at the time of decoding in the operation source computer.

  According to the remote operation video delay detection method of the present invention, it is possible not only to identify the machine that transports the video that has been sent, but also to reliably grasp the delay status of the video transmission, and to ensure the safety of operation (driving) in the remote operation system. Can increase the sex.

It is a schematic structure perspective view of a container terminal showing one example of the present invention. It is a schematic block diagram of a RTG remote control system. It is explanatory drawing which shows the procedure of the delay detection method of a RTG remote control image | video. It is explanatory drawing of a RTG remote operation image | video.

  Hereinafter, a method for detecting a delay of a remote operation image according to the present invention will be described in detail with reference to the accompanying drawings.

  1 is a schematic configuration perspective view of a container terminal according to an embodiment of the present invention, FIG. 2 is a schematic configuration diagram of an RTG remote operation system, and FIG. 3 is an explanatory diagram illustrating a procedure of a delay detection method for an RTG remote operation image. 3 is an explanatory diagram of an RTG remote operation video.

  As shown in FIG. 1, the container terminal 11 is provided with a quay crane (hereinafter referred to as GC) 14 that handles a container (luggage) 13 with respect to a container ship 12, and a plurality of containers 13 are loaded and stored. The container yard 15 is provided. As shown in the drawing, a large number of containers 13 are accumulated in each container yard 15, and a plurality of rubber tire transfer cranes (hereinafter referred to as RTGs) as conveying machines so as to straddle the containers 13 accumulated in the container yard 15. 16 is arranged. Each RTG 16 is movable in the direction indicated by the solid line arrow in the figure.

  On the other hand, a plurality of automatic transfer carts (hereinafter referred to as AGVs) 17 serving as transfer machines are disposed in the container terminal 11, and these AGVs 17 travel between the container yards 15 and between the GC 14 and the container yards 15. Then, the container 13 on the container yard 15 is mounted on the AGV 17 by the RTG 16, carried to the GC 14, and loaded by the GC 14. The container 13 on the container ship 12 is mounted on the AGV 17 by the GC 14, carried to the container yard 15 by the AGV 17, and loaded on the container yard 15 by the RTG 16.

  A management wing 18 is disposed in the container terminal 11. A remote control console (not shown) installed in the management wing 18 is connected to the RTG 16 and the AGV 17 by a wireless line (for example, a wireless LAN), and the RTG 16 and the AGV 17 are respectively remote. Wireless remote control by the console.

  Taking FIG. 2 as an example of the RTG 16, a plurality of RTGs 16 a and RTG 16 b to RTG 16 n are arranged in the one container terminal 11, and the hub 20 in these RTG 16 a and RTG 16 b to RTG 16 n and the management building 18 of the container terminal 11 are arranged. The hub 21 is connected to the hub 21 via wireless LANs 22 and 23, respectively.

  Each of the RTGs 16a and RTG16b to RTG16n includes a plurality of (two in the illustrated example) monitoring cameras 24a and 24b that capture the situation of the container 13, the AGV 17, and the like, and a microphone 25 and a speaker for interacting with the driver of the manned trailer. 26 is mounted. The video data (analog signal) of the monitoring cameras 24a and 24b is converted into IP (Internet protocol) data (public line data) via the video encoders 27a and 27b and input to the hub 20, and the microphone 25 and the speaker. 26 audio data (analog signal) is also converted into IP (Internet Protocol) data (public line data) via the control computer 28 and input to the hub 20. Control data such as sensor signals from the control computer 28 is also unified into IP (Internet protocol) data (public line data) and input to the hub 20.

  On the other hand, a remote operation management computer (host computer) 30 and a remote operation management computer (host computer) 30 and each RTG 16a, RTG 16b to RTG 16n are remotely operated on the hub 21 in the management building 18 in the container terminal 11 where the RTG 16a and RTG 16b to RTG 16n are arranged. A plurality of (two in the illustrated example) remote operation consoles (remote operation units) 31a and 31b are connected.

  The remote operation management computer 30 determines the operating status of each RTG 16a, RTG 16b to RTG 16n based on the remote operation request from each RTG 16a, RTG 16b to RTG 16n, and according to this operating status, the remote operation consoles 31a and 31b. RTG 16a and RTG 16b to RTG 16n that can transmit and receive are sorted.

  As shown in FIG. 3, each of the remote control consoles 31a and 31b includes a monitor 40a that displays the image data of the monitoring cameras 24a and 24b, and the microphone 25 and the speaker 26 of each of the RTG 16a and RTG 16b to RTG 16n. A microphone 40b and a speaker 40c corresponding to the above, a control computer (soft decoder) 40d corresponding to the control computer 28 of each of the RTG 16a and RTG 16b to RTG 16n, and an operation input device (not shown) such as a joystick or a button; These correspond to the various IP data described above, and control data such as driving operation signals transmitted from the respective remote control consoles 31a, 31b to the aforementioned RTGs 16a, RTG16b to RTG16n via the control computer 40d. Is also unified into IP data .

  The hub 21 in the management building 18 in the container terminal 11 where the RTG 16a and RTG 16b to RTG 16n are arranged is connected to the remote console 31n in the management building 18a in the other container terminal 11a that is distant from the Internet. Connected via a public line 32. That is, from the remote operation console 31n, the remote operation management computer 30 sorts the RTG 16a and RTG 16b to RTG 16n in the container terminal 11 as described above.

  The public line 32 of the Internet includes a mobile phone mobile connection in addition to an optical line such as an ADSL line or FLET'S light. Accordingly, as shown in the figure, the remote operation is not limited to the remote operation console 31n in the management building 18 in the other container terminal 11a, but also from the operation base (office or home) other than the container terminal using the mobile phone 33, the personal computer 34, or the like. Is possible.

  In this embodiment, the delay of the RTG remote operation video can be detected by the procedure shown in FIG.

  First, in step P1, the control computer 28 of the operation destination (RTG 16a, RTG 16b to RTG 16n) calculates a code that indicates the current time and the identification ID information of RTG 16a, RTG 16b to RTG 16n (first step), and then step In P2, the calculated code is instructed as impose data to the video encoders 27a and 27b (second step).

  Next, in step P3, the video encoders 27a and 27b add the code data to the video data from the surveillance cameras 24a and 24b and operate the video signal with the IP data (remotely in the management buildings 18a and 18b in the container terminal 11). The information is transmitted to the control computer 40d of the consoles 31a and 31b) (third step), and then the code information is extracted from the received data by the control computer 40d as the operation source in step P4 (fourth step).

  Next, in step P5, the operation source control computer 40d transmits the code information together with control data such as a driving operation signal (remote operation input signal) to the operation destination control computer 28 (fifth step). Next, at step P6, the control computer 28 of the operation destination calculates the difference between the time of the returned code and the current time, and if the difference is greater than a certain range or the identification IDs of the RTG 16a, RTG 16b to RTG 16n are different. Then, the operation of the RTG 16a, RTG 16b to RTG 16n is stopped (sixth step). Thereafter, this procedure is repeated until the difference between the time of the returned code and the current time is less than a certain range or the identification IDs of RTG 16a and RTG 16b to RTG 16n are the same.

  At this time, in step P3, as shown in FIG. 4, the identification ID information 41 and the time information 42 are directly imposed on the video displayed on the monitor 40a, and the code information is extracted by image processing in step P4. However, the code data may be transmitted as additional information to the IP data including the video data in step P3, and may be extracted at the time of decoding in the operation source control computer 40d in step P4.

  Further, the remote operation console 31n, the mobile phone 33, and the personal computer 34 in the management building 18a in the other container terminal 11a connected to the hub 21 in the management building 18 in the container terminal 11 described above by the public line 32 of the Internet. In the meantime, identification of each RTG 16a, RTG 16b to RTG 16n and the delay state of the video data can be confirmed by the detection method described above. Of course, the RTG 16a, RTG 16b to RTG 16n can be identified and the delay status of the video data can be confirmed with the remote control console in the management building in another container terminal connected to the hub 21 via the Internet dedicated line. Needless to say, you can.

  Thus, in this embodiment, video data, audio data, control data, etc. transmitted / received between the RTGs 16a, 16b to 16n and the remote control consoles 31a, 31b to 31n for remotely operating the RTGs 16a, 16b to 16n. By unifying all transmission formats to IP transmission (data), data transmission / reception on the Internet became possible.

  As a result, the remote console (remote control unit) is installed not only at the base where the RTGs 16a, 16b to 16n are set, but also at a base away from the available distance of the public line 32 of the Internet. Remote operation of the RTGs 16a and 16b to 16n in the plurality of container terminals 11 and 11b can be performed from one operation base. That is, the range of the remote operation place can be expanded.

  As a result, the operator can remotely control a plurality of RTGs 16a, 16b to 16n at bases spread over a wide range, and the number of personnel can be reduced, and the operator does not have to go to the place where the RTGs 16a, 16b to 16n are installed. When a problem occurs, an expert can remotely confirm the status of each RTG 16a, 16b to 16n, and quick recovery can be achieved. For example, the efficiency of the remote operation system can be further improved.

  Furthermore, in this embodiment, the delay status of video data transmitted / received between a plurality of RTGs 16a, 16b to 16n and the remote control consoles 31a, 31b to 31n for remotely operating the RTGs 16a, 16b to 16n, etc. Since it can grasp | ascertain reliably with identification of 16b-16n, the safety | security of operation (driving) in a remote control system can be improved. In particular, as in the present embodiment, it is effective in a video transmission system using IP data.

  Needless to say, the present invention is not limited to the above embodiments, and various modifications can be made without departing from the scope of the present invention. For example, the transmission formats such as the video data, audio data, and control data described above may be unified to public line data other than IP transmission (data). Further, in addition to RTG, AGV, GC, etc. may be unified to public line data and remotely operated.

  The remote operation video delay detection method according to the present invention is preferably applied to a transport machine such as an overhead crane in a factory.

11, 11a Container terminal 12 Container ship 13 Container 14 Quay crane 15 Container yard 16, 16a, 16b, 16n Transfer crane (RTG)
17 Automatic transport cart (AGV)
18, 18a Management building 20, 21 Hub 22, 23 Transceiver (radio unit)
24a, 24b Surveillance camera 25 Microphone 26 Speaker 27a, 27b Video encoder 28 Control computer 30 Remote operation management computer 31a, 31b, 31n Remote operation console 32 Internet public line 33 Mobile phone 34 Personal computer 40a Monitor 40b Microphone 40c Speaker 40d Control computer 41 Identification ID information 42 Time information

Claims (4)

A first step of calculating a code in which information on the current time and the identification ID of the transport machine is known in the operation destination computer;
A second step of instructing the calculated code as impose data to the encoder;
A third step in which the encoder imposes code data on the video data from the camera and transmits the code data to the operation source computer;
A fourth step of extracting code information from received data at the operation source computer;
A fifth step in which the operation source computer transmits code information to the operation destination computer together with a remote operation input signal;
A sixth step of stopping the operation of the transporting machine if the difference between the time of the returned code and the current time is equal to or greater than a certain range or the identification ID of the transporting machine is different;
A method for detecting a delay in a remotely operated video, comprising:   The remote operation video delay detection method according to claim 1, wherein in the third step, code data is imposed on video data and a video signal is transmitted as IP data.   3. The remote operation video delay detection method according to claim 1, wherein the code data is directly imposed on the video in the third step and the code information is extracted by image processing in the fourth step.   3. The remote operation according to claim 2, wherein the code data is transmitted as additional information to the IP data including the video data in the third step, and is extracted at the time of decoding in the operation source computer in the fourth step. Video delay detection method.

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