KR101243882B1 - System for remote controlled ＲＴＧＣ using wireless network - Google Patents
System for remote controlled ＲＴＧＣ using wireless network Download PDFInfo
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- KR101243882B1 KR101243882B1 KR1020100087478A KR20100087478A KR101243882B1 KR 101243882 B1 KR101243882 B1 KR 101243882B1 KR 1020100087478 A KR1020100087478 A KR 1020100087478A KR 20100087478 A KR20100087478 A KR 20100087478A KR 101243882 B1 KR101243882 B1 KR 101243882B1
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- rtgc
- image
- wireless network
- transmitting
- remote control
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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
- B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
- B66C19/007—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries for containers
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Selective Calling Equipment (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The present invention relates to an RTGC remote control system using a wireless network that can control and monitor the RTGC remotely by unmanning the operation of the RTGC operating in the port, the RTGC (Rubber Tyred Gantry Crane) for moving the goods An image transmission module for processing an image captured by a camera installed in the RTGC and transmitting it through a first wireless network; Collecting data from sensors installed in the RTGC and controlling and managing driving of the RTGC through an actuator A local operation system (LOS) connected to the PLC unit and the PLC unit to receive a remote control signal from the outside through a second wireless network to perform local operation control; an image signal from the image transmission module through a first wireless network Receive the RTGC through the second wireless network to the LOS (Local Operation System). Transmitting the remote control signals for the ROS (Remote Operation System); and a.
Description
The present invention relates to a remote control of the RTGC (Rubber Tyred Gantry Crane), and more particularly to an RTGC remote control system using a wireless network to control and monitor the RTGC remotely unmanned operation of the RTGC operating in the port.
RTBC (Rubber Tyred Gantry Crane) is a type of crane for moving cargo such as containers unloaded from ships to the yard.
1 is a photograph showing the configuration of a general RTGC device.
The RTGC used in the port terminal yard of the prior art was manually operated by a person riding the RTGC. As a result, the work efficiency was different according to the skill of the driver, and the RTGC driver worked in three shifts, which caused a lot of labor cost.
To this end, many countries are developing RTGC unmanned systems, and remote RTGC developed by Mitsubishi in Japan is a representative example.
In case of remote RTGC developed by Mitsubishi, the control control command uses a wireless LAN. In the case of video, a coaxial cable is installed at the port terminal, and only the section between the RTGC and the cable is wirelessly transmitted through the antenna installed in the RTGC. The image will be delivered to.
The problem with the installation of the remote RTGC developed by Mitsubishi has a lot of costs in laying the cable in the case of the previous terminal, and a lot of costs in the maintenance of the cable has a lot of difficulties in the domestic introduction.
In addition, a delay of video transmission occurs during video telegram transmission and control information dundal through one wireless LAN.
In order to solve this problem, the processing of the control information and the image information must be processed separately, and for this purpose, the wireless network must be separated. In this case, a design capable of solving the collision between the wireless networks is required.
An object of the present invention is to provide an RTGC remote control system using a wireless network for remote control of RTGC (Rubber Tyred Gantry Crane) to control and monitor the RTGC remotely by unmanned operation of the RTGC operating in the port. .
An object of the present invention is to provide an RTGC remote control system using a wireless network that can wirelessly deliver control information and video information for RTGC remote control to a remote cab and monitor and control RTGC wirelessly in real time.
An object of the present invention is to provide an RTGC remote control system using a wireless network in which an RTGC control signal processing unit and an image processing signal unit are separately configured to process RTGC control signals and video signals in real time using a wireless network.
An object of the present invention is to provide an RTGC remote control system using a wireless network, which separately configures an RTGC control signal processing unit and an image processing signal unit, and separately separates each wireless network to be used, thereby minimizing a power loss delay and processing delay time. There is this.
The present invention provides an RTGC remote control system using a wireless network that can be applied to a domestic port and a foreign port system at a minimum cost by a system that can remotely control and monitor the RTGC by unmanning the RTGC operating in the port. There is a purpose.
The objects of the present invention are not limited to the above-mentioned objects, and other objects not mentioned can be clearly understood by those skilled in the art from the following description.
RTGC remote control system using a wireless network according to the present invention for achieving the above object in the RTGC (Rubber Tyred Gantry Crane) for moving the goods, processing the image captured by the camera installed in the RTGC An image transmission module for transmitting data through the first wireless network; a PLC unit for collecting data from sensors installed in the RTGC and controlling and managing driving of the RTGC through an actuator; Local operation system (LOS) for receiving a remote control signal from the outside to perform local operation control; Receives an image signal from the image transmission module through a first wireless network, and through the second wireless network the LOS (Local Operation System) Including a ROS (Remote Operation System) for transmitting a remote control signal for RTGC control to a system). Characterized in that.
Here, the ROS (Remote Operation System), characterized in that for transmitting the operation result report, warning (Warning) and alarm (Alarm) signal to the terminal operation system (Terminal Operation System), characterized in that receiving a work instruction.
And the ROS (Remote Operation System), characterized in that connected to the RTGC work management server that provides a graphical user interface and has a communication interface to perform job control, fault management (CMS).
The first wireless network may be an IEEE 802.11b wireless network, and the second wireless network may be an IEEE 802.11n wireless network.
The image transmission module may include: a first image processor configured to include a first image transmission board for transmitting an image from an analog camera module for capturing an image related to the operation of the RTGC; A second image processing unit comprising a second image transmission board for transmitting an image from a CCD camera module to capture an image; transmitting the image transmitted from the image transmission board of the first image processing unit to a crane control room and an unmanned control room by wireless communication And a second 802.11n wired / wireless router for transmitting the images transmitted from the image transmission boards of the second image processing unit to the crane control room and the unmanned control room by wireless communication.
The first image processor may further include: screen dividers configured to correspond to the analog camera modules, an image selector for selecting images provided from the screen dividers and transmitting the images to the first image transmission board; And a TCP / IP converter for applying a control signal for image selection to the selector.
The second image processor may further include screen splitters configured to correspond to the respective CCD camera modules, and images provided from the screen splitters to correspond to the respective screen splitters. And a video selector for transmitting.
Such RTGC remote control system using a wireless network according to the present invention has the following effects.
First, it can control and monitor RTGC remotely by unmanned RTGC operation in port.
Second, the control information and image information for RTGC remote control can be delivered wirelessly to the remote cab, and the RTGC can be monitored and controlled in real time wirelessly.
Third, RTGC control processing is possible in real time using a wireless network in which the RTGC control signal processing unit and the image processing signal unit are separately configured.
Fourth, the RTGC control signal processing unit and the image processing signal unit may be separately configured, and each use wireless network may also be separately separated to minimize power loss time and processing delay time.
Fifth, a system capable of controlling and monitoring RTGC at a remote location can be applied to domestic and foreign port systems with minimal cost.
Sixth, it saves labor cost by unmanned RTGC operation in the port and enables the construction of 24-hour operating system to increase the efficiency of port operation.
1 is a photo showing the configuration of a typical RTGC device
2 is a configuration diagram of a RTGC remote control system using a wireless network according to the present invention
3 is a block diagram of an image processing system for RTGC remote control according to the present invention;
Hereinafter, a preferred embodiment of the RTGC remote control system using a wireless network according to the present invention will be described in detail.
Features and advantages of the RTGC remote control system using a wireless network according to the present invention will become apparent from the detailed description of each embodiment below.
2 is a configuration diagram of an RTGC remote control system using a wireless network according to the present invention, and FIG. 3 is a diagram illustrating an image processing system for RTGC remote control according to the present invention.
The present invention separates the RTGC control signal processing unit and the image processing signal unit, and separates each use wireless network, thereby minimizing the burnout delay time and the processing delay time so that RTGC can be controlled and monitored in real time.
In the image processing system for RTGC remote control according to the present invention, a wireless network used for a port terminal is configured by separating an image processing part and a control signal processing part.
The RTGC 21 may include a
In addition, an image transmission module (ITM) 25 for processing an image captured by the
In addition, the ROS (Remote Operation System) 27 for remote control is configured, and in the present invention, the image signal transmission channel transmitted from the Images Transmission Module (ITM) 25 and the control of the RTGC 21 are controlled. It is configured to separate the radio channel with the LOS (Local Operation System) 24 for the transmission and reception of the control signal for.
The ROS (Remote Operation System) 27 transmits a work result report, a warning and an alarm signal to a
The Remote Operation System (ROS) 27 is then connected to the RTGC Work Management Server 26 which provides a graphical user interface and has a communication interface to perform job control and fault management (CMS).
In the RTGC remote control system using the wireless network according to the present invention, the wireless network is configured by separating the image processing portion and the control signal processing portion.
In the case of the control signal, data within 1kbyte is transmitted. In the case of the image, the images that must be viewed from a remote location based on one RTGC can be controlled by viewing 12 images at the same time.
The number of frames that can be transplanted in real time is about 20 frames, and 30 frames of images are transmitted wirelessly for more precise images, and a total of 12 images are simultaneously delivered.
If the video compression technology is not applied, about 100 megabytes of video data should be delivered in some cases, but in the case of wireless networks established in the current port, the bandwwis is designed based on the IEEE 802.11b standard using 2.4G frequency. Is 11Mbps, so it cannot process video transmission in real time.
Here, IEEE 802.11b is a transmission standard established by the Institute of Electrical and Electronic Engineers (IEEE) and defines a direct sequence spread spectrum WLAN that operates at 2.4 GHz and 11 Mbps.
In order to smoothly transmit control signals and image processing signals to the terminal without collision, a wireless network for video transmission must be established, and an IEEE 802.11n wireless network using a 5 GHz band separate from the control signal must be configured.
IEEE 802.11n is a transmission standard established by the Institute of Electrical and Electronic Engineers (IEEE) that uses the 2.4GHz band and the 5GHz band, and supports speeds up to 600Mbps.
In designing a system using such a wireless communication, it is necessary to solve a disconnection phenomenon, which is a problem of a wireless network environment currently established in a port.
Figure 3 shows the configuration of the image processing system of the RTGC remote control system according to the present invention, the analog camera module for capturing the image of the progress of the RTGC operation, the screen dividers configured to correspond to each analog camera module and And an image selector for selecting images provided from the screen dividers, a TCP / IP converter for applying a control signal for selecting an image to the image selector, and an image transmission board for transmitting the image selected by the image selector. A first
In order to solve the disconnection phenomenon of the wireless network used in the RTGC remote control system using the wireless network according to the present invention, the following technique is applied.
Wireless Mobility Zone should be designed in the wireless network used in the RTGC remote control system, and the mesh (Access Point) and AP (Access Point) should be meshed so that the RTGC can be seamlessly connected when moving. It should be a network configuration in the form of Mesh) and automatic recovery function should be implemented.
To this end, RTGC searches for nearby APs and discards AP information with a Link Qulity value of 50 or less and automatically connects using other information.
If the link quality is less than 50, automatic disconnection occurs even when the connection is made, and the disconnection phenomenon occurs because the existing wireless device does not consider this.
Here, the access point (AP) connects the wireless network and the wired network together to enable data transmission and reception between the wireless client and the wired network.
Wireless video transmission in the RTGC remote control system using a wireless network according to the present invention, the image transmitted from one camera is based on 320 * 240 video, the video server by connecting a quad equipment that binds four images into one Will pass through.
This is to prevent a phenomenon in which the amount of data increases when the size of the image increases when delivering each image.
In other words, when the camera image is transmitted through the wireless network in real time, the data size increases, causing a delay in transmission, which makes it difficult for the user to monitor in real time. Will be delivered.
In this way, compression of four images results in 9.6Mbps information, and three quads are 9.6Mbps * 3 dlaus 28.8Mbps. When 5GHz is used, video can be processed in real time when using 802.11n wireless network.
RTGC remote control system using a wireless network according to the present invention as described above to separate the RTGC control signal processing unit and the image processing signal unit, and to separate each use wireless network so as to minimize the burnout delay time and processing delay time It is.
It will be understood that the present invention is implemented in a modified form without departing from the essential features of the present invention as described above.
It is therefore to be understood that the specified embodiments are to be considered in an illustrative rather than a restrictive sense and that the scope of the invention is indicated by the appended claims rather than by the foregoing description and that all such differences falling within the scope of equivalents thereof are intended to be embraced therein It should be interpreted.
22b.
23.
25. Image Transfer Module 26. RTGC Job Management Server
27.
Claims (7)
An image transmission module for processing an image captured by a camera installed in the RTGC and transmitting it through a first wireless network;
Collecting data from the sensors installed in the RTGC and a PLC unit for controlling and managing the operation of the RTGC through the actuator and connected to the PLC unit receives a remote control signal from the outside through a second wireless network to control the local operation Performing Local Operation System (LOS);
A ROS (Remote Operation System) for receiving a video signal from the image transmission module through a first wireless network and transmitting a remote control signal for RTGC control to the LOS (Local Operation System) through a second wireless network; ,
The ROS (Remote Operation System),
An RTGC remote control system using a wireless network, which transmits a work result report, a warning and an alarm signal to a terminal operation system, and receives work instructions.
An RTGC remote control system using a wireless network, characterized by providing a graphical user interface and having a communication interface and connected to an RTGC task management server that performs task control and fault management (CMS).
A first image processor configured to include a first image transmission board for transmitting an image from an analog camera module for capturing an image related to the progress of the RTGC;
A second image processing unit comprising a second image transmission board for transmitting an image from a CCD camera module for capturing an image related to the progress of the RTGC;
A first 802.11n wire / wireless router for transmitting the image transmitted from the image transmission board of the first image processor to a crane control room and an unmanned control room by wireless communication;
And a second 802.11n wired / wireless router for transmitting the images transmitted from the image transmission boards of the second image processing unit to the crane control room and the unmanned control room by wireless communication.
Screen dividers configured to correspond to the analog camera modules,
An image selector for selecting images from the screen dividers and transmitting the images to the first image transmission board;
And a TCP / IP converter for applying a control signal for selecting an image to the image selector.
Screen dividers configured to correspond to the respective CCD camera modules;
And a video selector configured to correspond to each of the screen splitters to select an image provided from the screen splitters and to transmit the selected video to the second video transmission board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020100087478A KR101243882B1 (en) | 2010-09-07 | 2010-09-07 | System for remote controlled ＲＴＧＣ using wireless network |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020100087478A KR101243882B1 (en) | 2010-09-07 | 2010-09-07 | System for remote controlled ＲＴＧＣ using wireless network |
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| Publication Number | Publication Date |
|---|---|
| KR20120025217A KR20120025217A (en) | 2012-03-15 |
| KR101243882B1 true KR101243882B1 (en) | 2013-03-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| KR1020100087478A KR101243882B1 (en) | 2010-09-07 | 2010-09-07 | System for remote controlled ＲＴＧＣ using wireless network |
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| KR (1) | KR101243882B1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106006385A (en) * | 2016-08-03 | 2016-10-12 | 湖南百特随车起重机有限公司 | Intelligent control system for Internet of things of lorry crane |
| CN106115480A (en) * | 2016-08-31 | 2016-11-16 | 周颂谋 | Overhead travelling crane system, car body and gantry production line |
| WO2018061024A1 (en) * | 2016-09-28 | 2018-04-05 | Adani Ports and Special Economic Zone Limited | Remote rtg (rubber tyre gantry) crane operations on wi-fi technology |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20070014934A (en) * | 2005-07-28 | 2007-02-01 | 미츠비시 쥬고교 가부시키가이샤 | Remote manipulating apparatus of crane device, crane device and remote manipulating system of crane device |
| JP2007091394A (en) * | 2005-09-28 | 2007-04-12 | Mitsubishi Heavy Ind Ltd | Device, system and method for remotely guiding container conveying vehicle |
| JP2008517859A (en) * | 2004-10-27 | 2008-05-29 | パセコ コーポレイション | Method and apparatus using a wireless location tag to report the status of a container handler |
| US20090110283A1 (en) * | 2007-10-30 | 2009-04-30 | Henry King | Method and apparatus for operating, interfacing and/or managing for at least one optical characteristic system for container handlers in a container yard |
-
2010
- 2010-09-07 KR KR1020100087478A patent/KR101243882B1/en not_active IP Right Cessation
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008517859A (en) * | 2004-10-27 | 2008-05-29 | パセコ コーポレイション | Method and apparatus using a wireless location tag to report the status of a container handler |
| KR20070014934A (en) * | 2005-07-28 | 2007-02-01 | 미츠비시 쥬고교 가부시키가이샤 | Remote manipulating apparatus of crane device, crane device and remote manipulating system of crane device |
| JP2007091394A (en) * | 2005-09-28 | 2007-04-12 | Mitsubishi Heavy Ind Ltd | Device, system and method for remotely guiding container conveying vehicle |
| US20090110283A1 (en) * | 2007-10-30 | 2009-04-30 | Henry King | Method and apparatus for operating, interfacing and/or managing for at least one optical characteristic system for container handlers in a container yard |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106006385A (en) * | 2016-08-03 | 2016-10-12 | 湖南百特随车起重机有限公司 | Intelligent control system for Internet of things of lorry crane |
| CN106115480A (en) * | 2016-08-31 | 2016-11-16 | 周颂谋 | Overhead travelling crane system, car body and gantry production line |
| WO2018061024A1 (en) * | 2016-09-28 | 2018-04-05 | Adani Ports and Special Economic Zone Limited | Remote rtg (rubber tyre gantry) crane operations on wi-fi technology |
Also Published As
| Publication number | Publication date |
|---|---|
| KR20120025217A (en) | 2012-03-15 |
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