KR102109515B1 - Frequency hopping method between transmitter and receiver - Google Patents

Abstract

The present invention relates to a method for transmitting/receiving image data and sensor data acquired in association with the operation of a heavy object transport device in a packet synchronized between a transmitter and a receiver. The method comprises the steps of: a receiver generating identification information and frequency hopping information, and transmitting the generated information to a transmitter; the transmitter creating and storing communication setting information according to the identification information and the frequency hopping information; the transmitter configuring a packet according to the identification information and the frequency hopping information included in the communication setting information, and transmitting the configured packet to the receiver; the receiver, which receives the packet, transmitting response information corresponding to determination results of packet reception sensitivity to the transmitter; the receiver controlling frequency hopping of the receiver according to the determination results of the packet reception sensitivity and the frequency hopping information; and the transmitter controlling frequency hopping of the transmitter according to the response information received from the receiver and the frequency hopping information included in the communication setting information. According to the present invention, in the process of transmitting/receiving image data and sensor data acquired in association with the operation of a heavy object transport device between the transmitter and the receiver, the frequency hopping can be applied to minimize interference and crosstalk from a use environment and to prevent hacking.

Description

Frequency hopping control method between a transmitter and a receiver {FREQUENCY HOPPING METHOD BETWEEN TRANSMITTER AND RECEIVER}

The present invention relates to a method for controlling frequency hopping between a transmitter and a receiver. More specifically, the present invention, the frequency hopping (frequency hopping) in the process of transmitting and receiving image data and sensor data between the transmitter and the receiver in relation to the operation of a heavy lifting device such as a crane (crane), lift (lift), etc. It relates to a frequency hopping control method between a transmitter and a receiver that can be applied to minimize interference and interference from the use environment and prevent hacking.

In general, at construction or unloading sites, cranes, lifts, and other devices are used to transport various equipment such as reinforcing bars and H-beams required for construction or heavy objects to be unloaded.

1 is a view showing a tower crane that is one of such a heavy-duty transportation device.

Referring to Figure 1, the tower crane (tower crane) is a tower mast (tower mast) vertically rising from the ground, a jib (jib) that is installed horizontally and horizontally on the top of the tower mast, rotating jib (jib) to move horizontally on the jib Trolley (trolley) is installed connected to the end of the trolley, and horizontally moves together with the trolley. At the same time, it consists of a hook that carries heavy weight while vertically moving and a cockpit installed at the bottom of the jib.

The tower crane configured as described above rotates the jib, moves the trolley linearly on the jib, places the hook on the upper part of the heavy object to be transported, descends the hook, hangs it on the heavy object, raises it, rotates the jib, and moves the trolley and moves the trolley. After placing it on the upper part of the target point, the hook is lowered to transport the heavy object to the target point through the process of putting the heavy object on the target point.

This heavy-duty conveying work is performed by the driver by manipulating the tower crane in the high-level cab, so the tower crane operator receives the work status from a ground worker through a hand signal or walkie-talkie, rotates the jib, moves the trolley linearly, raises the hook, Perform tower crane operations such as descending movements.

According to such an environment, as the construction of the building progresses, the tower crane must also be raised according to the height of the building, which increases gradually, and the cab is also raised from the ground, so that the driver's perspective is far from the ground, and the process of the elevation is progressed. As a result, the range of blind spots where the driver's vision is obscured by the building is expanded, and the lifting and lowering of trolleys and hooks in the blind spots is entirely dependent on hand signals and radio calls.

Therefore, the conventional tower crane driving method, which is performed as described above, is very inconvenient to drive, since the driver must drive under the direction of a signal number in a state in which the driver dimly checks the ground condition at a high distance away from the ground or does not see it at all. In addition, there were several problems, such as not only a significant drop in work efficiency, but also the danger of safety accidents.

In order to solve this problem, a technique for monitoring a job using a wired camera has been introduced, which will be described below.

In the case of a crane, in order to increase the efficiency of the work, a wired camera was installed on a trolley, etc. to monitor the unloading work in real time, and the driver confirmed and manipulated the work through the display provided in the cockpit. Such a device is difficult to wire and expensive due to the distance between the point of control and verification and the position of the camera, and it is inevitably expensive. It is often necessary to use.

In this case, the receiving side must transmit a control signal to zoom in or out of the zoom camera, but the distance between the transmitter and the receiver is far, and the connection of the cable is not easy due to the crane structure, wiring aging caused by low movement, defects are high, and installation cost is also high. Therefore, it is difficult to realize with existing wired products.

In addition, additional wiring is required when mounting the sensor for safety and ease of operation other than imaging.

Meanwhile, a wireless method technology has been introduced to solve the problems of the conventional wired method. However, since the conventional wireless video product is a device that transmits only an image, when the camera is a zoom camera, a camera control signal needs to be sent from a receiver to a transmitter, but there is no product having this function. In addition, when various sensors are attached to the periphery of the transmitter, it is necessary to send sensor data collected from the sensor to the receiver, but there is a problem that such a function is not supported.

In addition, when using wireless, there is a problem in interference, crosstalk, and hacking of the surrounding environment using a similar frequency.

Republic of Korea Registered Patent Publication No. 10-1877927 (Registration Date: July 06, 2018, Name: Packet structure that synchronizes video and data, packet wireless transmitter and packet wireless receiver) Republic of Korea Patent Publication No. 10-2010-0037257 (published date: April 09, 2010, name: monitoring method of the tower crane using the intelligent video system) Republic of Korea Patent Publication No. 2001-0044401 (published date: June 05, 2001, name: wireless video surveillance device of the tower crane)

The present invention applies a frequency hopping in a process of transmitting and receiving image data and sensor data obtained in connection with the operation of a heavy-duty transportation device such as a crane or a lift between a transmitter and a receiver, and using a frequency hopping environment. It is a technical task to provide a frequency hopping control method between a transmitter and a receiver that can minimize interference and crosstalk from and prevent hacking.

In addition, the present invention determines in the frequency hopping process, the duration of the frequency currently being used, the hopping time to hop to the next frequency, and whether or not to use the current frequency. It is a technical task to minimize interference and crosstalk from a use environment and prevent hacking through selective frequency adaptation that deletes frequencies and registers deleted frequencies.

In addition, according to the present invention, by transmitting and receiving image data and sensor data using a synchronization packet generated by synchronizing image data and sensor data acquired in connection with the operation of the heavy material transportation device, an operator can obtain image information related to the operation of the heavy material transportation device. And by matching the sensor information to be provided effectively and accurately, and through this it is a technical task to significantly reduce the risk of occurrence of safety accidents in the working process using a heavy material conveying device.

The frequency hopping control method between a transmitter and a receiver according to the present invention for solving this technical problem is a frequency hopping control method between a transmitter that transmits image data and sensor data obtained in connection with the operation of a heavy vehicle and a receiver that receives it , A receiver generates/transmits identification information/frequency hopping information to generate identification information for identifying itself and frequency hopping information for frequency hopping of communication performed between the transmitter and the receiver to the transmitter, wherein the transmitter receives the receiver Communication setting information generation/storing step of generating and storing communication setting information according to the identification information and frequency hopping information received from the transmitter, and the transmitter configures a packet according to the identification information and frequency hopping information included in the communication setting information to Packet configuration/transmission step of transmitting to a receiver, a receiver receiving the packet from the transmitter determines whether the received sensitivity of the packet falls within a normal sensitivity range, and responds to a result of determining the received sensitivity of the packet Response information transmission step of transmitting information to the transmitter, the receiver frequency hopping control step and the transmitter to control the frequency hopping of the receiver in accordance with the determination result of the packet reception sensitivity and the frequency hopping information And a transmitting frequency hopping control step of controlling the frequency hopping of the transmitting side according to the response information received from the receiver and the frequency hopping information included in the communication setting information.

In the method of controlling frequency hopping between a transmitter and a receiver according to the present invention, in the generating/transmitting of the identification/frequency hopping information, the receiver generates the identification information, and the receiver generates a start frequency of the frequency hopping Generating, by the receiver, a delay time between frequencies used for the frequency hopping, the receiver generating a final frequency of the frequency hopping, and the receiver generating the identification information and the start frequency, the delay time, And transmitting frequency hopping information including the final frequency to the transmitter.

In the method of controlling frequency hopping between a transmitter and a receiver according to the present invention, the receiver is characterized in that the identification information is randomly generated by substituting a current pseudo-random number as a seed value.

In the method of controlling frequency hopping between a transmitter and a receiver according to the present invention, in the step of transmitting the response information, the identification information included in the packet transmitted by the receiver from the transmitter and the identification information transmitted by the receiver to the transmitter Checking whether or not the receiver receives the response information classified into normal and abnormal reception to the transmitter according to whether the reception sensitivity of the packet transmitted from the transmitter falls within the normal sensitivity range when the identification information matches the receiver. It characterized in that it comprises a step of transmitting.

In the method for controlling frequency hopping between a transmitter and a receiver according to the present invention, in the step of transmitting the response information, the reception sensitivity of a packet received from the transmitter falls within the normal sensitivity range, and the receiver receives normal reception response information (ACK) from the transmitter to the transmitter. ), in the receiving frequency hopping control step, the receiver changes a frequency according to the frequency hopping information.

In the method of controlling frequency hopping between a transmitter and a receiver according to the present invention, in the step of transmitting the response information, the reception sensitivity of the packet received from the transmitter does not fall within the normal sensitivity range, and the receiver receives abnormal response information from the transmitter to the transmitter ( NACK), in the frequency-hopping control step of the receiving side, the receiver stops using the current frequency and follows (up-ups) the currently used frequency among the frequencies included in the frequency hopping information. It is characterized by changing to.

In a method for controlling frequency hopping between a transmitter and a receiver according to the present invention, in the frequency hopping control step of the transmitting side, when the transmitter receives the normal reception response information (ACK) from the receiver, the transmitter sets the communication setting information It is characterized in that the frequency is changed according to the frequency hopping information constituting the.

In the method of controlling frequency hopping between a transmitter and a receiver according to the present invention, in the frequency hopping control step of the transmitting side, when the transmitter receives the abnormal reception response information (NACK) from the receiver, the transmitter sets the communication setting information It is characterized in that the packet is retransmitted by changing to a frequency following (up-up) to the current frequency stopped by the receiver among the frequencies included in the frequency hopping information constituting the.

According to the present invention, in the process of transmitting and receiving image data and sensor data obtained in connection with the operation of a heavy vehicle transport device such as a crane (crane), lift (lift) between the transmitter and the receiver, by applying frequency hopping (frequency hopping) There is an effect of providing a frequency hopping control method between a transmitter and a receiver that minimizes interference and crosstalk from a use environment and prevents hacking.

In addition, in the frequency hopping process, the duration of the currently used frequency (duration time), the hopping time (hopping time) to hop to the next frequency, and whether to use the current frequency is determined, and if not used, the current frequency is deleted. And through the selective frequency operation (adaptive frequency adaption) to register the deleted frequency, there is an effect that can minimize the interference and interference from the use environment and prevent hacking.

In addition, by transmitting and receiving image data and sensor data using a synchronization packet generated by synchronizing the image data and sensor data acquired in connection with the operation of the heavy material transportation device, an operator can obtain image information and sensor information related to the operation of the heavy material transportation device. Can be effectively and accurately provided by mutual matching, and through this, there is an effect of greatly reducing the risk of occurrence of a safety accident in a work process using a heavy material transportation device.

1 is a view showing a tower crane that is one of the heavy material transportation device,
FIG. 2 is a diagram showing an exemplary system configuration in which a method of transmitting and receiving image data and sensor data obtained in connection with the operation of a heavy material transport device according to an embodiment of the present invention in a synchronized packet is performed;
3 is a diagram showing a frequency hopping control method between a transmitter and a receiver according to an embodiment of the present invention,
4 is a diagram illustrating an exemplary configuration of identification/frequency hopping information generation/transmission step in a method for controlling frequency hopping between a transmitter and a receiver according to an embodiment of the present invention,
5 is a diagram illustrating an exemplary configuration of a response information transmission step in a method for controlling frequency hopping between a transmitter and a receiver according to an embodiment of the present invention,
6 is a diagram illustrating a specific and exemplary operation configuration performed in a transmitter in a frequency hopping control method between a transmitter and a receiver according to an embodiment of the present invention,
7 is a diagram illustrating a specific and exemplary operation configuration performed in a receiver in a frequency hopping control method between a transmitter and a receiver according to an embodiment of the present invention.

Specific structural or functional descriptions of the embodiments according to the concept of the present invention disclosed herein are exemplified for the purpose of explaining the embodiments according to the concept of the present invention, and the embodiments according to the concept of the present invention are in various forms And may not be limited to the embodiments described herein.

Embodiments according to the concept of the present invention can be applied to various changes and can have various forms, so the embodiments will be illustrated in the drawings and described in detail herein. However, this is not intended to limit the embodiments according to the concept of the present invention to specific disclosure forms, and includes all changes, equivalents, or substitutes included in the spirit and scope of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 2 is a diagram showing an exemplary system configuration in which a method of transmitting and receiving image data and sensor data obtained in connection with the operation of a heavy material transportation device according to an embodiment of the present invention in a synchronized packet is performed. In the following description, reference is also made to the description of FIGS. 1 and 1 showing a tower crane as one of the heavy-duty conveying devices.

In the following description, the heavy-duty conveying device is a crane or a lift, and the photographing unit 10 is formed of a plurality of cameras installed at various points of the heavy-duty conveying device to acquire an image related to work, The sensor unit 20 may also be formed of a plurality of sensors that are installed at various points of the heavy material transportation device and collect various types of sensing information including wind direction, wind speed, and the like, which affect work.

In addition, in the figure, the transmitter 30 and the receiver 40 are represented as one each, but this is only one example, and the transmitter 30 and the receiver 40 are 1:1, n:1, and 1: It may have a configuration of n and n:n.

For example, the photographing unit 10 and the transmitter 30 and the sensor unit 20 and the transmitter 30 may be connected in a wired or wireless manner, and the transmitter 30 and the receiver 40 may be a low-power long-distance wireless communication method. It may be connected by a RoLa method, which is a kind of, but the communication method between components is not limited thereto.

For example, the heavy-duty transportation device may be a tower crane, and in this case, the photographing unit 10 may be installed in the trolley of the tower crane. As a more specific example, the photographing unit 10 may be installed on the bottom surface of the trolley so as to face the hook lifting the heavy object.

Further, for example, the imaging unit 10 may be provided with a pan/tilt/zoom/focusing integrated control function. As a configuration for this, the photographing unit 10 generates a pan/tilt/zoom/focusing integrated control signal by applying a preset PTZ (Pan Tilt Zoom) protocol to the received external operation signal, and 2) the fan /Tilt/Zoom/Focusing Integrated control of the fan motor, tilt motor, zoom motor and focus motor according to the integrated control signal, and 3) receiving the external stop signal to receive the fan motor, the tilt motor, the zoom motor and the focus motor It can be configured to stop. Here, the external operation signal and the external stop signal are commands input by the driver of the tower crane or the like, and may be a signal transmitted wirelessly.

For example, the photographing unit 10, 1) after stopping the motor, restarts the focus motor, converts the analog signal imaged and output to the imaging device according to the re-operation of the focus motor into a digital signal, and automatically focuses. To generate an autofocus detection (AFD) signal, 2) determine the autofocus by determining the stop coordinates of the focus motor based on the size of the autofocus tracking signal, and 3) perform a preset image processing process Can be configured.

For example, the autofocus tracking signal may be the contrast ratio of the captured image.

Also, for example, the photographing unit 10 may determine a case where the size of the autofocus tracking signal is the maximum value as the autofocus position.

3 is a diagram illustrating a frequency hopping control method between a transmitter 30 and a receiver 40 according to an embodiment of the present invention.

Referring to FIG. 3 further, a method for controlling frequency hopping between a transmitter 30 and a receiver 40 according to an embodiment of the present invention is a transmitter that transmits image data and sensor data acquired in connection with the operation of a heavy material transportation device. As a frequency hopping control method between the 30 and the receiver 40 receiving it, identification/frequency hopping information generation/transmission step (S10), communication setting information generation/storage step (S20), packet configuration/transmission step (S30) ), response information transmission step (S40), the receiving side frequency hopping control step (S50) and the transmitting side frequency hopping control step (S60).

In the step of generating/transmitting identification information/frequency hopping information (S10), the receiver 40 is used for identification information for identifying itself and for frequency hopping of communication performed between the transmitter 30 and the receiver 40. The process of generating frequency hopping information and transmitting it to the transmitter 30 is performed.

For example, in the frequency hopping control method between the transmitter 30 and the receiver 40 according to an embodiment of the present invention, FIG. 4 shows an exemplary configuration of the identification information / frequency hopping information generation / transmission step (S10) Referring further to, identification information / frequency hopping information generation / transmission step (S10) may be configured to include a step S110, step S120, step S130, step S140, step S150.

In step S110, a process in which the receiver 40 generates identification information is performed.

For example, in step S110, the receiver 40 may be configured to randomly generate identification information by substituting a preset pseudorandom number generation algorithm for a current time as a seed value. According to such a configuration, it is possible to prevent ID duplication of the receiver 40 and to prepare for hacking from the outside.

In step S120, a process in which the receiver 40 generates a start frequency of frequency hopping is performed.

In step S130, a process in which the receiver 40 generates a delay time between frequencies used for frequency hopping is performed.

In step S140, a process in which the receiver 40 generates the final frequency of frequency hopping is performed.

In step S150, a process in which the receiver 40 transmits identification information and frequency hopping information to the transmitter 30 is performed. The frequency hopping information includes information on the start frequency, delay time, and final frequency of frequency hopping.

In the step of generating/storing communication setting information (S20), a process in which the transmitter 30 generates and stores the communication setting information according to the identification information and the frequency hopping information transmitted from the receiver 40 is performed.

In the packet configuration/transmission step (S30), a process in which the transmitter 30 constructs a packet according to the identification information and frequency hopping information included in the communication setting information and transmits it to the receiver 40 is performed.

In the response information transmission step (S40), the receiver 40 receiving the packet from the transmitter 30 determines whether the received sensitivity of the packet falls within the normal sensitivity range, and corresponds to the determination result of the received sensitivity of the packet. The process of transmitting the response information to the transmitter 30 is performed.

For example, in the frequency hopping control method between the transmitter 30 and the receiver 40 according to an embodiment of the present invention, referring to FIG. 5 showing an exemplary configuration of the response information transmission step (S40), The response information transmission step (S40) may include steps S410 and S420.

In step S410, a process in which the receiver 40 checks whether the identification information included in the packet transmitted from the transmitter 30 and the identification information transmitted by the receiver 40 to the transmitter 30 is matched is performed. As a result of the check in step S410, if the two pieces of identification information match, the process is switched to step S420. If the two pieces of identification information do not match, the receiver 40 ignores the packet transmitted from the transmitter 30 and waits to receive the next packet. .

In step S420, when the receiver 40 judges in step S410 that the two pieces of identification information match, the reception sensitivity of the packet transmitted from the transmitter 30 is normal to the transmitter 30 according to whether or not the received sensitivity falls within the normal sensitivity range. A process of transmitting response information classified as reception and abnormal reception is performed.

In the reception-side frequency hopping control step (S50), a process in which the receiver 40 controls the frequency hopping of the reception side according to the determination result of the packet reception sensitivity and the frequency hopping information.

The exemplary configuration of the receiving-side frequency hopping control step S50 performed in the receiver 40 will be described as follows.

As an example, in the response information transmission step (S40), the reception sensitivity of the packet received from the transmitter 30 falls within a preset normal sensitivity range, and the receiver 40 transmits normal reception response information (ACK) to the transmitter 30. In the case of transmission, in the reception-side frequency hopping control step (S50), the receiver 40 may be configured to change the frequency according to the frequency hopping information.

As another example, in the response information transmission step (S40), since the reception sensitivity of the packet received from the transmitter 30 does not fall within the normal sensitivity range, the receiver 40 transmits abnormal reception response information (NACK) to the transmitter 30. In the case of receiving frequency hopping control step S50, the receiver 40 stops using the current frequency and changes to a frequency following (up-up) the currently used frequency among the frequencies included in the frequency hopping information. It can be configured to.

In the transmitting-side frequency hopping control step (S60), the transmitter 30 controls the frequency hopping of the transmitting side according to the response information received from the receiver 40 and the frequency hopping information included in the stored communication setting information. This is done.

The exemplary configuration of the frequency hopping control step S60 performed by the transmitter 30 will be described as follows.

As one example, in the transmission-side frequency hopping control step (S60), when the transmitter 30 receives the normal reception response information (ACK) from the receiver 40, the transmitter 30 configures the stored communication setting information It may be configured to change the frequency according to the frequency hopping information.

As another example, in the transmission-side frequency hopping control step (S60), when the transmitter 30 receives the abnormal reception response information (NACK) from the receiver 40, the transmitter 30 is frequency hopping information constituting communication setting information It may be configured to retransmit the packet by changing to a frequency following (up-up) to the current frequency stopped by the receiver 40 among the frequencies included in the.

6 is a diagram illustrating a specific and exemplary operation configuration performed by the transmitter 30 in the method of controlling frequency hopping between the transmitter 30 and the receiver 40 according to an embodiment of the present invention.

Referring to FIG. 6 further, in step T110, a process in which the transmitter 30 waits to receive information from the receiver 40 is performed.

As a result of the determination in step T120, if information from the receiver 40 is not received, the process is switched to step T110, and the transmitter 30 continues to wait for receiving the information from the receiver 40. As a result of the determination in step T120, the receiver 40 If information from) is received, the process returns to step T130.

In step T130, a process in which the transmitter 30 generates communication setting information according to information received from the receiver 40, that is, identification information and frequency hopping information, and stores it in a memory is performed. For example, the frequency hopping information constituting the communication setting information may include information about a start frequency of frequency hopping, a delay time between frequencies used for frequency hopping, and a final frequency of frequency hopping.

In step T140, a process in which the transmitter 30 constructs a packet according to the identification information and frequency hopping information included in the communication setting information and transmits the packet to the receiver 40 is performed.

In step T150, a process in which the transmitter 30 determines whether the response information received from the receiver 40 is normal reception is performed, and the process is switched to step T160 or step T180 according to the determination result in step T150.

In step T160, a process in which the transmitter 30 receives normal reception response information (ACK) from the receiver 40 is performed.

In step T170, a process in which the transmitter 30 changes the frequency according to the frequency hopping information constituting the communication setting information stored in the memory is performed.

In step T180, a process in which the transmitter 30 receives the abnormal reception response information (NACK) from the receiver 40 is performed.

In step T190, a process in which the transmitter 30 is changed from the frequencies included in the frequency hopping information constituting the communication setting information to a frequency following (up-up) to the current frequency stopped by the receiver 40 do.

In step T200, a process in which the transmitter 30 retransmits the packet at a changed frequency is performed.

7 is a diagram illustrating a specific and exemplary operation configuration performed in the receiver 40 in the method of controlling frequency hopping between the transmitter 30 and the receiver 40 according to an embodiment of the present invention.

Referring to FIG. 7 further, in step R110, a process in which the receiver 40 generates identification information for identifying itself is performed. For example, in step R110, the receiver 40 may randomly generate identification information by substituting a preset pseudo-random number generation algorithm for a current time as a seed value.

In step R120, a process in which the receiver 40 generates a start frequency of frequency hopping is performed.

In step R130, a process in which the receiver 40 generates a delay time between frequencies used for frequency hopping is performed.

In step R140, a process in which the receiver 40 generates the final frequency of frequency hopping is performed.

In step R150, a process in which the receiver 40 transmits identification information and frequency hopping information including a start frequency, a delay time, and a final frequency to the transmitter 30 is performed.

In step R160, a process in which the receiver 40 waits for a response from the transmitter 30 is performed.

As a result of the determination in step R170, if a response from the transmitter 30 is not received, the process switches to step T160, and the receiver 40 continues to wait for a response from the transmitter 30, and as a result of the determination in step R170 If a response from is received, the process goes to step R180.

In step R180, a process in which the receiver 40 receives a packet transmitted by the transmitter 30 is performed.

In step R190, a process of checking whether the identification information included in the packet transmitted from the transmitter 30 by the receiver 40 matches the identification information transmitted by the receiver 40 to the transmitter 30 in step R150 is performed. do.

In step R200, when the receiver 40 matches the two identification information, a process of checking the reception sensitivity of the packet transmitted from the transmitter 30 is performed.

In step R210, a process in which the receiver 40 determines whether the received sensitivity of the packet transmitted from the transmitter 30 falls within a preset normal sensitivity range. As a result of the determination in step R210, if the received sensitivity of the packet transmitted from the transmitter 30 falls within the normal sensitivity range, the process switches to step R220, otherwise, if the reception sensitivity is poor, the process switches to step R240.

In step R220, when the received sensitivity of the packet transmitted from the transmitter 30 falls within the normal sensitivity range, a process in which the receiver 40 transmits normal reception response information (ACK) to the transmitter 30 is performed.

In step R230, the receiver 40 performs a process of changing the frequency according to the frequency hopping information stored in the memory, and then it switches to step R180 where the receiver 40 changes the packet transmitted by the transmitter 30 The process of receiving in frequency is performed.

In step R240, when the reception sensitivity of the packet received from the transmitter 30 does not fall within the normal sensitivity range, a process in which the receiver 40 transmits abnormal reception response information (NACK) to the transmitter 30 is performed.

In step R250, a process in which the receiver 40 stops using the current frequency with poor reception sensitivity is performed.

In step R260, a process is performed in which the receiver 40 changes the received frequency to a frequency that follows (up-ups) the currently used frequency among the frequencies included in the frequency hopping information stored in the memory. Subsequently, the process returns to step R180, where the receiver 40 receives a packet transmitted by the transmitter 30 at a changed frequency.

As described in detail above, according to the present invention, in the process of transmitting and receiving image data and sensor data obtained in connection with the operation of a heavy vehicle transport device such as a crane (crane), lift (lift), and the like, frequency hopping ( There is an effect that a frequency hopping control method between a transmitter and a receiver that minimizes interference and crosstalk from a usage environment and prevents hacking by applying frequency hopping) is provided.

In addition, in the frequency hopping process, the duration of the currently used frequency (duration time), the hopping time (hopping time) to hop to the next frequency, and whether to use the current frequency is determined, and if not used, the current frequency is deleted. And through the selective frequency operation (adaptive frequency adaption) to register the deleted frequency, there is an effect that can minimize the interference and interference from the use environment and prevent hacking.

In addition, by transmitting and receiving image data and sensor data using a synchronization packet generated by synchronizing the image data and sensor data acquired in connection with the operation of the heavy material transportation device, an operator can obtain image information and sensor information related to the operation of the heavy material transportation device. Can be effectively and accurately provided by mutual matching, and through this, there is an effect of greatly reducing the risk of occurrence of a safety accident in a work process using a heavy material transportation device.

10: filming unit
20: sensor unit
30: transmitter
40: receiver
S10: Identification/frequency hopping information generation/transmission step
S20: Communication setting information generation/storage step
S30: packet configuration / transmission step
S40: Response information transmission step
S50: Frequency hopping control step of the receiving side
S60: Transmitting frequency hopping control step

Claims (8)

A method for controlling frequency hopping between a transmitter that transmits image data and sensor data acquired in connection with the operation of a heavy-duty transportation device and a receiver that receives the image data,
A receiver generating/transmitting identification information/frequency hopping information to generate identification information for identifying itself and frequency hopping information for frequency hopping of communication performed between the transmitter and the receiver to the transmitter;
A communication setting information generation/storing step in which the transmitter generates and stores communication setting information according to identification information and frequency hopping information transmitted from the receiver;
A packet configuration/transmission step in which the transmitter constructs a packet according to identification information and frequency hopping information included in the communication setting information and transmits the packet to the receiver;
The receiver receiving the packet from the transmitter determines whether the received sensitivity of the packet falls within the normal sensitivity range, and transmits response information that transmits response information corresponding to a result of determining the received sensitivity of the packet to the transmitter step;
A receiver-side frequency hopping control step in which the receiver controls frequency hopping on a reception side according to a determination result of the reception sensitivity of the packet and the frequency hopping information; And
And a transmitter frequency hopping control step in which the transmitter controls the frequency hopping of the transmitter according to the response information received from the receiver and the frequency hopping information included in the communication setting information,
The identification information / frequency hopping information generation / transmission step,
The receiver randomly generating the identification information by substituting a current value as a seed value to a preset pseudo-random number generation algorithm;
Generating, by the receiver, a start frequency of the frequency hopping;
Generating, by the receiver, a delay time between frequencies used for the frequency hopping;
Generating, by the receiver, a final frequency of the frequency hopping; And
And transmitting, by the receiver, frequency hopping information including the identification information, the start frequency, the delay time, and the final frequency to the transmitter,
The image data transmitted from the transmitter to the receiver is data received from a recording unit equipped with a pan/tilt/zoom/focusing control function, and frequency hopping between the transmitter and the receiver Control method.
delete delete According to claim 1,
The response information transmission step,
Checking whether the identification information included in the packet transmitted by the receiver and the identification information transmitted by the receiver to the transmitter are identical; And
And when the identification information of the receiver is consistent, transmitting response information classified as normal reception and abnormal reception to the transmitter according to whether the reception sensitivity of the packet transmitted from the transmitter is within the normal sensitivity range. Characterized in that, the frequency hopping control method between the transmitter and the receiver.
The method of claim 4,
In the step of transmitting the response information, when the reception sensitivity of the packet received from the transmitter falls within the normal sensitivity range, when the receiver transmits normal reception response information (ACK) to the transmitter,
In the receiving frequency hopping control step, the receiver is characterized in that to change the frequency according to the frequency hopping information, frequency hopping control method between the transmitter and the receiver.
The method of claim 4,
In the step of transmitting the response information, when the receiver transmits abnormal reception response information (NACK) to the transmitter because the reception sensitivity of the packet received from the transmitter does not fall within the normal sensitivity range,
In the frequency hopping control step of the receiving side, the receiver stops using the current frequency and changes to a frequency following (up-up) to the current frequency that has been discontinued among frequencies included in the frequency hopping information. , Frequency hopping control method between transmitter and receiver.
The method of claim 5,
In the frequency hopping control step of the transmitting side,
When the transmitter receives the normal reception response information (ACK) from the receiver,
The transmitter, characterized in that for changing the frequency according to the frequency hopping information constituting the communication setting information, frequency hopping control method between the transmitter and the receiver.
The method of claim 6,
In the frequency hopping control step of the transmitting side,
When the transmitter receives the abnormal reception response information (NACK) from the receiver,
The transmitter is characterized in that it retransmits the packet by changing to a frequency following (up-up) to the current frequency stopped by the receiver among the frequencies included in the frequency hopping information constituting the communication setting information, the transmitter And hopping control method between receivers.

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