KR102594520B1 - Surveillance method of data transmission and reception status using delay time measured in real time to prevent control failure in the auto-remote of maritime autonomous surface ships - Google Patents

Abstract

The present invention discloses a method for monitoring data transmission and reception status using real-time measurement delay time to prevent control failure in remote control of autonomous ships.
The present invention includes the steps of establishing a data format and monitoring procedure for transmitting time data for monitoring in real time from a system for monitoring the status of remote control data in real time; Establishing a means to quantitatively determine the status of remote control data transmission and reception; It consists of a visualization step of the remote control data transmission and reception status, which consists of a delay time visualization process and a remote control data transmission and reception status visualization process.
The present invention with this configuration can secure safe navigation of autonomous ships by preventing remote control failures due to errors in transmitting and receiving remote control data in the remote control of autonomous ships, and delays that occur in the process of transmitting and receiving remote control data. By measuring time in real time, we can secure the original technology that can monitor the status of remote control data transmission and reception in real time, and autonomous navigation ships (MASS) that can determine and visualize in real time whether the status of remote control data transmission and reception is normal. The advantage of securing commercialization technology for remote control systems is expected.

Description

Surveillance method of data transmission and reception status using delay time measured in real time to prevent control failure in the auto-remote of maritime autonomous surface ships}

The present invention relates to a method for monitoring the status of data transmission and reception in order to prevent control failure due to data transmission and reception errors in remote control of autonomous ships. More specifically, it relates to a remote control system operated at a remote location when operating an autonomous ship. When control delays occur due to vessel response delay, data transmission/reception delay, controller reaction delay, etc., a monitoring system separate from the remote control system is used to measure the data transmission/reception time in real time, and the data transmission/reception time of the remote control system is monitored by the monitoring system. The delay time is calculated using the measurement time, and the transmission/reception status is determined and visualized using the calculated delay time, allowing the remote controller to recognize the data transmission/reception status, thereby preventing control failure in remote control of autonomous ships. It concerns a method of monitoring and visualizing the status of data transmission and reception.

Currently, research and development on autonomous ships is being actively conducted at sea, similar to autonomous vehicles on land. Automation systems can speed up the flow of logistics by at least 10%, and human error accounts for 82% of all maritime accidents. It has been found that accidents can be resolved and costs can be reduced by more than 60% through reduced labor costs. These autonomous ships are referred to as MASS (Maritime Autonomous Surface Ship) by the International Maritime Organization (IMO), and are usually divided into four levels, with level 1 being designed to support crew decision-making on existing ships. Level 2 is the level at which remote control is possible with a crew member on board the ship, and level 3 is the level at which remote control is possible when there is no crew member on board or only a minimum number of people are on board and the engine is automated. Lastly, Level 4 is a completely unmanned level where there are no people on board the ship, and the domestic and international development goals are between Level 2 and Level 3, where remote control is possible by adding a remote control device to an existing manned ship (a ship controlled by humans). The technology required between levels 2 and 3 is to safely control autonomous ships remotely, and for this purpose, marine accidents due to control delays that occur during the remote control of autonomous ships must be prevented.

Meanwhile, design is currently underway at home and abroad for autonomous ships that are between level 2 and level 3, and there are no ships built as autonomous ships yet, which are currently considered international maritime transportation according to international regulations. This is because it is determined that all ships engaged in must be controlled by humans (seafarers).

Accordingly, research on land remote control systems is being actively conducted as a way to ensure the operational safety and effectiveness of autonomous ships. This is to prepare for cases where autonomous operation is not possible due to this reason. In addition, land control is necessary for all existing ships, because there are cases where the navigator cannot directly control the ship in various situations such as collision between ships, fire, departure from route, and drunk driving.

Meanwhile, the remote control of an autonomous ship consists of three main elements (ship, control system, and remote controller), and is carried out by circular and repetitive control between the three elements, so there is no delay in the organic operation between them. It is known that this delay phenomenon can occur due to various environments (ship response delay, communication network failure and delay, control system signal processing delay, decision-making delay by remote controller, etc.).

When delays occur, two problems arise: failure of situational awareness and failure of remote control. Situational awareness failure occurs because the current situation around the autonomous ship is delayed until it is transmitted to the remote controller, and the remote controller cannot recognize the current situation. Remote control failure occurs when the remote controller's control command does not reach the ship. This occurs because the ship cannot be controlled at the desired time by the remote controller due to delays until the desired time. If such situational awareness failure or remote control failure occurs, the ship may have accidents such as collision or stranding, and may deviate from the planned route, increasing the sailing distance.

On the other hand, if an error occurs in remote control data that can measure control delay, the delay time cannot be known, and as a result, a problem arises in which situational recognition failure and remote control failure due to delay cannot be prevented. Therefore, it is urgent to prepare an alternative that can prevent control failures due to data errors by monitoring the transmission and reception status of remote control data during the operation of autonomous ships. In particular, scientifically and quantitatively determining the transmission and reception status of remote control data is urgent. There is a need to secure the safety and economic feasibility of operating autonomous ships through research on methods to visualize and operate autonomous ships.

Meanwhile, a representative method of monitoring the transmission and reception status of remote control data includes analyzing and monitoring remote control data acquired during the remote control process.

However, in the method of analyzing and monitoring the remote control data, if data acquisition is impossible due to a data communication failure of the remote control system, the transmission and reception status of the data cannot be known, and even if the data is acquired, if an error occurs in the data, the data The transmission/reception status cannot be known, and when transmitting large amounts of data, data transmission delay may cause the problem of not being able to monitor the data transmission/reception status in real time.

Registered Patent Publication No. 10-1941896 (2019.01.18.) Registered Patent Publication No. 10-2042058 (2019.11.01.) Registered Patent Publication No. 10-2000155 (2019.07.09.) Public Patent Publication No. 10-2018-0045440 (2018.05.04.) Registered Patent No. 10-1937439 (2019.01.04.) Registered Patent No. 10-1937443 (2019.01.04.)

The present invention was created to solve the problems of the prior art as described above. The purpose of the present invention is to monitor the transmission and reception status of remote control data in real time using a monitoring system independent of the remote control system. Real-time measurement delay time is used to prevent control failure in remote control of autonomous ships, which increases the stability of real-time monitoring by minimizing data and allows checking the transmission and reception status of remote control data independently of the remote control system when using an independent communication network. The purpose is to provide a method of monitoring the status of data transmission and reception.

In addition, the present invention includes: 1. a method for determining and monitoring the transmission and reception status of remote control data; 2. a system for monitoring the data transmission and reception status independent of the remote control system; and 3. a method for transmitting and receiving the transmission and reception time of remote control data in real time. Transmission format, 4. Procedures for determining and monitoring the transmission and reception status of remote control data, 5. Method for quantitatively evaluating the transmission and reception status of remote control data, and 6. Delay time of remote control and calculation in the monitoring system. In autonomous ship remote control, which consists of the configuration and visualization method of a visualization window to visualize the delay time, and the configuration and visualization method of the visualization window to visualize the transmission and reception status of remote control data using code. The purpose is to provide a method of monitoring data transmission and reception status using real-time measurement delay time to prevent control failure.

In order to realize the above object, a method of monitoring the data transmission and reception status using real-time measurement delay time to prevent control failure in remote control of autonomous ships according to a preferred embodiment of the present invention, monitors the transmission and reception status of remote control data in real time. Establishing a data transmission format and monitoring procedure for real-time transmission of time data for monitoring from a monitoring system; Establishing a means to quantitatively determine the status of remote control data transmission and reception; It is characterized by being composed of a visualization step of the remote control data transmission and reception status, which consists of a delay time visualization process and a remote control data transmission and reception status visualization process.

As a preferred feature of the present invention, the monitoring system is intended to monitor whether data transmitted and received in the process of controlling an autonomous ship is actually transmitted and received and whether the data is corrupted or damaged, and is measured using a remote control data transceiver. A remote control data transceiver for measuring time data for monitoring, a transceiver for transmitting the time data for monitoring, a communication network made of any one of LTE, LT-M, WiFi, and V-SAT, and the time data for monitoring. It consists of a remote control data transmission/reception status determination procedure using both remote control data and a display to visualize the delay time and transmission/reception status.

As another preferred feature of the present invention, the monitoring process of the remote control data transmission and reception status is implemented using (method 1) below.

(method 1)

1) Measure the transmission time T1 of the ship data (S-data) from the transmitter (STx(R1)) of the remote control system using the communication network of R1, and then construct V-data (T1) using the time of T1. V-data (T1) is transmitted through R2's network transmitter (STx(R2)).

2) V-data (T1) is received through R2's communication network receiver (CRx(R2)), and at the same time, S-data reception time T2 is received from the receiver (STx(R1)) of the remote control system using R1's communication network. Measure and update V-data(T1) to V-data(T2).

3) After measuring the transmission time T3 of the control data (C-data) from the transmitter (CTx(R1)) of the remote control system using the communication network of R1, V-data (T2) is converted to V-data using the time of T3. It is updated with data(T3), and V-data(T3) is transmitted through R2's communication network transmitter (CTx(R2)).

4) Receive V-data (T3) through R2's communication network receiver (SRx(R2)) and at the same time receive C-data reception time T4 from the receiver (SRx(R1)) of the remote control system using R1's communication network. Measure and update V-data (T3) to V-data (T4).

5) After measuring the transmission time T4 of the ship data (S-data) from the transmitter (STx(R1)) of the remote control system using the communication network of R1, V-data (T4) is converted to V- Update data(T1) and transmit V-data(T1) through R2's communication network transmitter (STx(R2)).

6) Obtain the monitoring time data (V-Data) obtained by repeating the above 5 steps and the remote control transmission/reception time data stored in the database (D/B) of the remote control system to determine the remote control data transmission/reception status. Visualize and continuously monitor.

As another preferred feature of the present invention, the data transmission format for real-time transmission of the monitoring time data is implemented using the formula (1) below, and the transmission format is obtained using (method 2) below. It's in the thing.

Formula (1) Time data for monitoring (V-data) = {T(n,m=1), T(n,m=2), T(n,m=3), T(n,m=4) , T(n,m=5)}

Here, n is the remote control status identification number, where n=1,2,… N (N is the final remote control state), and m is the data address, where m=1,2,... M (M is the total number of data addresses, M=5), and T(n,m) represents the measurement time at the address of m in the remote control state of n.

(method 2)

1) The implementation of V-data(T1) at measurement time T1 is:

V-data(T1) = {T1(n-1), T2(n-1), T3(n-1), T4(n-1), T1(n)}

Here, T1(n-1), T2(n-1), T3(n-1), and T4(n-1) represent the time measured in the remote control state of n-1, and T1(n) represents the time measured in the remote control state of n-1. Indicates the time measured in remote control mode.

2) Remove T1(n-1) in the first address of V-data(T1), move the addresses of the remaining data to the left, and insert T2(n) in the fifth address to create V-data(T1). is updated with V-data(T2) in the following form.

V-data(T2) = {T2(n-1), T3(n-1), T4(n-1), T1(n), T2(n)}

3) Remove T2(n-1) from the first address of V-data(T2), move the addresses of the remaining data to the left, and insert T3(n) at the fifth address to create V-data(T2). is updated with V-data (T3) in the following form.

V-data(T3) = {T3(n-1), T4(n-1), T1(n), T2(n), T3(n)}

4) Remove T3(n-1) in the first address of V-data(T3), move the addresses of the remaining data to the left, and insert T4(n) in the fifth address to create V-data(T3). Update to V-data (T4) in the following form.

V-data(T4) = {T4(n-1), T1(n), T2(n), T3(n), T4(n)}

5) Using the same method as step 1, update V-data (T4) to V-data (T1) in the following form.

V-data(T1) = {T1(n), T2(n), T3(n), T4(n), T1(n+1)}

As another preferred feature of the present invention, the monitoring procedure of the remote control data transmission and reception status consists of a remote control procedure, an acquisition procedure of time data for monitoring, and a monitoring procedure of the remote control data transmission and reception status using (method 3) below. It lies in what is being done.

(method 3)

1) The remote control data generated from the remote control procedure is stored in the database (D/B), and at the same time, the monitoring time data acquisition procedure continuously measures the data transmission and reception time generated from the remote control procedure to determine the monitoring time. While updating the data (V-data), monitoring time data (V-data(T2)) at T2 time is acquired.

2) Derive the data transmission and reception time of time T2 from the database (D/B) of the remote control monitoring procedure, derive the monitoring time from V-data (T2), and then calculate the delay time using these times. do.

3) After calculating the difference in delay time using the calculated delay time, determine the transmission/reception status with a binary code using the difference in delay time, and combine the transmission/reception status with a binary code to create a status code. Finally, the remote control data transmission and reception status is visualized on the screen using delay time, transmission and reception status, and status code.

Another preferred feature of the present invention is that in the step of establishing a means for quantitatively determining the remote control data transmission and reception status, the remote control data transmission and reception status is determined using (method 4) below.

(method 4)

1) The data transmission and reception time of the remote control system is obtained by obtaining the transmission and reception time data stored in the database (DB) through R1's communication network, and then using the formula (2) below to determine the transmission and reception time set (TR1-set) with an n × m matrix structure. ) to obtain it.

Formula (2): TR1-set(n,m) = {T2(n-1), T3(n-1), T4(n-1), T1(n), T2(n)}

Here, n is the measurement status identification number, where n = 1, 2,… N (N is the final measurement state), and m is the data number, where m=1,2,... M (M is the total number of data, M=5), and each transmission and reception time is measured using GPS time and is defined as follows.

T2(n-1): Time when ship data (S-data) is received from remote control in n-1 state

T3(n-1): Time when control data (C-data) is transmitted from remote control in n-1 state

T4(n-1): Time when control data (C-data) is received from the ship in n-1 state

T1(n): Time when ship data (S-data) is transmitted from the ship in n state

T2(n): Time when ship data (S-data) is received from remote control in n state

2) The time measured in the monitoring system is obtained by converting the measurement time acquired in real time through R2's communication network into a measurement time set (TR2-set) with an n×m matrix structure using the formula (3) below.

Formula (3): TR2-set(n,m) = {t2(n-1), t3(n-1), t4(n-1), t1(n), t2(n)}

Here, each measurement time is defined as follows.

t2(n-1): Time when S-data is received from the ship data receiver (CRx(R1)) in n-1 state

t3(n-1): Time when C-data is transmitted from the control data transmitter (CTx(R1)) in n-1 state

t4(n-1): Time when C-data is received from control data receiver (SRx(R1)) in n-1 state

t1(n): Time when S-data is transmitted from the ship data transmitter (STx(R1)) in n state

t2(n): Time when S-data is received from the ship data receiver (CRx(R1)) in n state

3) Calculation of delay time and delay time difference for each sector

The delay time (DT-R1) for each 4 sectors of the remote control system is calculated using the following equation (4), and the delay time for each 4 sectors (DT-R2) for the monitoring system is calculated using the following equation (4). .

Formula (4): DT-R1(n,s) = TR1-data(n,ma) - TR1-data(n,mb)

Formula (5): DT-R2(n,s) = TR2-data(n,ma) - TR2-data(n,mb)

Here, s is a number to distinguish the 4 sectors (s=1, 2, 3, 4), s=1 represents the ship data (S-data) transmission/reception section between T1 and T2, and s=2 represents the It represents the remote control section between T3, s=3 represents the transmission/reception section of control data (C-data) between T3 and T4, and s=4 represents the ship control section between T4 and T1. In addition, ma and mb are the data numbers before and after the sector, where s=1 is ma=5 and mb=4, s=2 is ma=2 and mb=1, and s=3 is ma=3 and mb= 2, and s=4 is ma=4 and mb=3.

Delay time difference (DT-diff) is calculated using the following formula (6).

Formula (6): DT-diff(n,s) = DT-R1(n,s) - DT-R2(n,s)

4) In order to generate a code for the remote control data transmission/reception status and determine the status, the remote control data transmission/reception status code (TRS-Code) is generated using the formula (7) below.

Formula (7): TRS-Code(n) = 1 + [TRS(n,s=1) + (TRS(n,s=2)×2) + (TRS(n,s=3)×4) + (TRS(n,s=4)×8)]

Here, TRS represents the transmission/reception status for each of the four regions using binary codes (0,1), and is determined using the following conditions.

If DT-diff(n,s) is 0.0 then, TRS(n,s)=0 others, TRS(n,s)=1

The status of remote control data transmission and reception is determined as normal using the following conditions.

if TRS-Code is 1 then, Fully-Normal(FN)

if (1 < TRS-Code ≤ 15) then, Partly-Abnormal(PA)

if TRS-Code is 16 then, Fully-Abnormal(FA)

Here, FN indicates everything is normal, PA indicates it is partially abnormal, and FA indicates everything is abnormal.

The status code (TRS-Code) calculated from the above formula (7) is expressed as a number from 1 to 16. The method of interpreting the transmission and reception status of remote control data using the status code is based on 4 sectors for 16 types of TRS-Code. Indicates transmission/reception status (TRS) and state decision. The TRS-Code interpretation method using this is explained as follows.

TRS-Code=1: In remote control, all 4 sector data transmission and reception status are normal (FN).

RL-Code=16: In remote control, the data transmission and reception status of the sector is all abnormal (FA).

RL-Code=2: In remote control, the data transmission/reception status of sector 1 is abnormal (PA).

RL-Code=3: In remote control, the data transmission/reception status of sector 2 is abnormal (PA).

RL-Code=5: In remote control, the data transmission/reception status of sector 3 is abnormal (PA).

RL-Code=9: In remote control, the data transmission/reception status of sector 4 is abnormal (PA).

Other RL-Code indicates that the data transmission/reception status is abnormal (PA) in sector 2 or sector 3 in remote control.

As another desirable feature of the present invention, the delay time visualization includes 1) the process of configuring the ship control part (Ship Control), the remote control part (Remote Control), and the data communication part between them, and 2) the remote control part. The control procedure is a process of diagramming the process from when the ship transmits data through the communication networks of R1 and R2 until the ship transmits data again using a box diagram connected by arrows, and 3) the 4-branch research period is It is displayed as a sector from sector 1 to sector 4, but the delay time is first divided into 4 sectors and the delay time (i.e. DT1, DT2, DT3, DT4) is displayed for remote control. To enable the user to easily recognize which delay section the delay time occurred in, the delay time is displayed in the form of SSS.ss (3 units of seconds and 1/100 of a second), and second, each transceiver ( STx, CRx, CTx, SRx) data transmission/reception time or measurement time is displayed so that the remote controller can easily determine the time when delay occurred, and the measurement time is HH:MM:SS.ss (HH is 2 units, M is expressed in the form of 2 units of minutes, SS.ss is 2 units of seconds and 1/100 of a second.

As another preferred feature of the present invention, in visualizing the remote control data transmission and reception status, the remote control data transmission and reception status is displayed using a 4-box figure in consideration of the cyclical remote control procedure and the four branches, and the remote control The control procedure is diagrammed by connecting the 4 boxes with arrows, and a visualization window displays the delay time (DT), transmission/reception status (TRS), and status code (TRS-Code) between the 4 branches of the communication network of R1 and R2. It's about including it.

As another preferred feature of the present invention, the transmission and reception status of each delay section uses two colors (Blue, Red), and when normal, it is displayed as blue, and when abnormal, it is displayed as red. Display;, Status code (TRS-Code) is displayed in the center of the screen;, Delay time of each delay section is visualized by displaying using the display format of SSS.ss (3 units of seconds and 1/100 units of seconds) It's in one thing.

As another preferred feature of the present invention, the visualization method in the process of visualizing the remote control data transmission and reception status is to use (method 5) below.

(method 5)

1) In Sector 1, if the S-data transmission and reception status through R1's communication network is normal, the TRS (DT1) box is displayed in blue (B), and if abnormal, it is displayed in red (R).

2) In Sector 2, if the reception of S-data and transmission of C-data through R1's communication network are normal, the TRS (DT2) box is displayed in blue (B), and if abnormal, it is red (R). It is displayed as

3) In Sector 3, if the transmission and reception status of C-data through R1's communication network is normal, the TRS (DT3) box is displayed in blue (B), and if abnormal, it is displayed in red (R).

4) In Sector 4, if the status of C-data reception and S-data transmission through R1's communication network is normal, the TRS (DT4) box is displayed in blue (B), and if abnormal, it is red (R). It is displayed as

5) In the case of status codes (TRS-Code), they are indicated by numbers 1 to 16 and diagrammed in a table.

The method for monitoring the transmission and reception status of remote control data in the remote control of an autonomous ship according to the present invention secures safe navigation of the autonomous ship by preventing remote control failure due to errors in transmission and reception of remote control data in the remote control of the autonomous ship. By measuring the delay time that occurs in the process of transmitting and receiving remote control data in real time, it is possible to secure the original technology that can monitor the transmitting and receiving status of remote control data in real time, and check whether the transmitting and receiving status of remote control data is normal. The advantage of securing commercialization technology for remote control systems for autonomous navigation ships (MASS) that can make decisions and visualize them in real time is expected.

In addition, the advantage of a high degree of freedom in application of the technology is expected as it is possible to determine and visualize the transmission and reception status of remote control data by converting ships currently in operation into autonomous ships or applying it to ships defined as autonomous ships in the future.

In addition, it is expected to have a useful effect in preventing serious damage caused by maritime accidents (collision, stranding, contact, etc.) of autonomous ships and the resulting environmental pollution and economic losses.

In addition, the evaluation of the transmission and reception status of remote control data in the remote control of an autonomous ship according to the present invention can significantly reduce unexpected risks that may occur in an autonomous ship by using a communication network and measurement device separate from the remote control system, thereby improving reliability. Useful effects are expected to be guaranteed.

The features and advantages of the present invention will become more apparent from the following detailed description based on the accompanying drawings. Prior to this, terms or words used in this specification and claims should not be construed in their usual, dictionary meaning, and the inventor may appropriately define the concept of the term in order to explain his or her invention in the best way. It must be interpreted with meaning and concept consistent with the technical idea of the present invention based on the principle that it is.

1 is a diagram illustrating the configuration of a monitoring system for monitoring the transmission and reception status of autonomous ship remote control data according to the present invention;
Figure 2 is a schematic diagram illustrating a method of implementing the transmission format of time data for monitoring according to the present invention;
Figure 3 is a block diagram illustrating a procedure for monitoring the status of remote control data transmission and reception according to the present invention;
Figure 4 is a diagram for explaining the configuration of a delay time visualization window according to the present invention;
Figure 5 is a diagram showing the configuration of a visualization window for remote control data transmission and reception status according to the present invention.

Hereinafter, the configuration and operation of an embodiment of the present invention will be described in detail with reference to the attached drawings. However, it is not intended to limit the present invention to a specific disclosed form, and should be understood to include all changes, equivalents, and substitutes included in the spirit and technical scope of the present invention.

In this application, terms such as “include” or “have” are intended to designate the presence of features, steps, operations, components, parts, or combinations thereof described in the specification, but not one or more other features, steps, or operations. , it should be understood that it does not exclude in advance the possibility of the existence or addition of components, parts, or combinations thereof. In other words, throughout the specification, when a part is said to “include” a certain component, this means that it does not exclude other components but may further include other components, unless specifically stated to the contrary.

Additionally, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by those skilled in the art to which the present invention pertains. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and unless clearly defined in the present application, should not be interpreted in an ideal or excessively formal sense. No.

Here, repeated descriptions, known functions that may unnecessarily obscure the gist of the present invention, and detailed descriptions of configurations are omitted in order to not obscure the gist of the present invention. Embodiments of the present invention are provided to more completely explain the present invention to those skilled in the art. Accordingly, the shapes and sizes of elements in the drawings may be exaggerated for clearer explanation.

First, Figures 1 to 5 are diagrams for explaining a method of monitoring data transmission and reception status using real-time measurement delay time to prevent control failure in remote control of autonomous ships according to the present invention.

Figure 1 is a diagram illustrating the configuration of a monitoring system for monitoring the status of transmission and reception of remote control data of an autonomous ship according to the present invention. In the figure, (A) represents the transmission and reception of data generated from the remote control system of (B). It represents a monitoring system for monitoring the status using R2's communication network, and (B) represents a remote control system using R1's communication network, which is different from R2.

Figure 2 is a schematic diagram for explaining a method of implementing the transmission format of time data for monitoring according to the present invention. The diagram shows a remote control procedure (A) and a transmission format (B) of time data updated according to the remote control procedure. .

Figure 3 is a block diagram for explaining a procedure for monitoring the status of transmitting and receiving remote control data according to the present invention. In the drawing, (A) shows the remote control procedure, and (B) shows the procedure for acquiring time data for monitoring. (C) shows the procedure for monitoring the transmission and reception status of remote control data.

Figure 4 is a diagram to explain the configuration of a delay time visualization window according to the present invention. The visualization window takes into account the remote control procedure of an autonomous ship so that the remote controller can easily recognize the delay time occurrence section. The configuration shown is shown.

Figure 5 is a diagram showing the configuration of a visualization window for remote control data transmission and reception status according to the present invention. In the drawing, the remote control data transmission and reception status is shown in a 4-box form considering the cyclical remote control procedure and the four branches. The configuration shown using and the control procedure are shown by connecting 4 boxes with arrows, and the delay time (DT), transmission/reception status (TRS), and status code (TRS) between the 4 branches of the communication network of R1 and R2 The configuration indicated by -Code is shown.

The present invention is intended to implement a method of monitoring the data transmission and reception status using real-time measurement delay time to prevent control failure in remote control of autonomous ships. Remote control of autonomous ships involves three elements (ship, control system, and remote controller). ), and various delays occur as it is executed through circular and repetitive control between these three elements. Delays in remote control must be analyzed accurately because they can act as a major cause of situational awareness failure and remote control failure, causing various maritime accidents. However, if an error occurs in the data that can analyze the delay, the problem of not knowing the delay occurs.

The present invention measures the data transmission and reception time in real time, calculates the delay time, quantitatively determines the transmission and reception status, and remotely controls the autonomous ship consisting of the three elements to prevent control failure due to data transmission and reception errors. It is proposed as a major technical feature to prevent control failure due to remote control data transmission and reception errors by making it visible to the controller.

Hereinafter, the method for monitoring the transmission and reception status of remote control data according to the present invention will be described in the following order.

First, 1.1 explains the system for monitoring the transmission and reception status of remote control data in real time, 1.2 explains the data format method that can transmit monitoring time data in real time, and 1.3 explains the monitoring procedure. Next, 2. A means for quantitatively determining the remote control data transmission and reception status is explained, and 3. As methods for visualizing the remote control data transmission and reception status, 3.1 delay time visualization method and 3.2 remote control data transmission and reception status visualization method are explained. do.

1.1. Remote control data transmission/reception status monitoring system

The system for monitoring the transmission and reception status of remote control data (hereinafter referred to as the monitoring system) determines whether the data transmitted and received in the process of controlling an autonomous ship using a remote control system is actually transmitted and received, and whether the data is corrupted or damaged. It is used to monitor the status of things, etc., using a communication network and monitoring data transmission format separate from the remote control system.

The monitoring system is explained using Figure 1. (A) represents a monitoring system for monitoring the transmission and reception status of data generated in the remote control system of (B) using R2's communication network, and (B) represents a remote control system that uses R1's communication network, which is different from R2.

The monitoring system shown in (A) is composed as follows. 1) Monitoring time data (V-data) measured using remote control data transceivers (STx(R1), CRx(R1), CTx(R1), SRx(R1)), 2) Transmitting V-data 4 types of transceivers (STx(R2), CRx(R2), CTx(R2), SRx(R2)), 3) R2 communication network using various communication means such as LTE, LT-M, WiFi, and V-SAT , 4) Procedure for determining remote control data transmission and reception status using both V-data and remote control data, 5) Screen to visualize delay time and transmission and reception status.

Monitoring of remote control data transmission and reception status is implemented through the following six steps.

Step 1: Measure the transmission time T1 of the ship data (S-data) from the transmitter (STx(R1)) of the remote control system using the communication network of R1, and then construct V-data (T1) using the time of T1. and transmits V-data (T1) through R2's network transmitter (STx(R2)).

Step 2: Receive V-data (T1) through R2's communication network receiver (CRx(R2)), and at the same time receive S-data reception time at the receiver (STx(R1)) of the remote control system using R1's communication network. Measure T2 and update V-data(T1) to V-data(T2).

Step 3: After measuring the transmission time T3 of the control data (C-data) at the transmitter (CTx(R1)) of the remote control system using the communication network of R1, V-data (T2) is converted to V using the time of T3. Update with -data(T3), and transmit V-data(T3) through R2's communication network transmitter (CTx(R2)).

Step 4: Receive V-data (T3) through R2's communication network receiver (SRx(R2)) and at the same time receive C-data reception time T4 from the receiver (SRx(R1)) of the remote control system using R1's communication network. Measure and update V-data (T3) to V-data (T4).

Step 5: After measuring the transmission time T4 of the ship data (S-data) from the transmitter (STx(R1)) of the remote control system using the communication network of R1, V-data (T4) is converted to V using the time of T4. Update with -data(T1) and transmit V-data(T1) through R2's communication network transmitter (STx(R2)).

Step 6: Determine the remote control data transmission/reception status by repeating the above 5 steps to acquire the monitoring time data (V-Data) and the remote control transmission/reception time data stored in the database (D/B) of the remote control system. and visualize it and continuously monitor it.

Here, when monitoring the status of remote control data transmission and reception through a single communication network (i.e., R1), the following problems may occur. 1) If the remote control data itself is not transmitted or received through R1's communication network, it is unknown whether the data was transmitted or received. 2) Even if the remote control data is actually transmitted and received through R1's communication network, the data transmission and reception status is corrupted or damaged. is unknown.

To solve this problem, the following two methods can be considered using the two communication networks R1 and R2. 1) A method using the data transmission and reception time, 2) A method using the delay time of each sector calculated using the data transmission and reception time.

In the method using the data transmission and reception time in 1) above, (1) it is possible to determine whether data is transmitted and received through R1 by comparing the transmission and reception times of R1 and R2, but (2) even if data is actually transmitted and received through R1, the data If it is contaminated or damaged, it is difficult to determine the status of data transmission and reception for each of the four sectors.

The method using the sector-specific delay time in 2) above not only allows you to know whether data is actually transmitted or received through R1 by comparing the delay times of R1 and R2, but also 2) compares the delay times of R1 and R2. By comparison, you can check whether the data transmitted and received through R1 is corrupted or damaged. 3) Even if the data transmitted and received through R1 is corrupted or damaged, you can use the delay time of R2 to check the data transmission and reception status of sector 4. there is.

The present invention relates to a method of monitoring the transmission and reception status of remote control data using the delay time for each sector described in 2) above.

1.2. How to implement the transmission format of time data for monitoring

The monitoring time data transmission format is for transmitting monitoring time data in real time, and the transmission format implementation method is explained using Figure 2. Figure 2 shows the remote control procedure (A) and the transmission format (B) of time data updated according to the remote control procedure.

The transmission format of monitoring time data (V-data) is implemented using five addresses as follows.

V-data = {T(n,m=1), T(n,m=2), T(n,m=3), T(n,m=4), T(n,m=5)}

Here, n is the remote control status identification number, where n=1,2,… N (N is the final remote control state), and m is the data address, where m=1,2,... M (M is the total number of data addresses, M=5), and T(n,m) represents the measurement time at address m in remote control state of n.

The method of obtaining surveillance time data using the transmission format is explained through the following five steps.

Step 1: Configure V-data (T1) at measurement time T1 in the following format.

V-data(T1) = {T1(n-1), T2(n-1), T3(n-1), T4(n-1), T1(n)}

Here, T1(n-1), T2(n-1), T3(n-1), and T4(n-1) represent the time measured in the remote control state of n-1, and T1(n) represents the time measured in the remote control state of n-1. Indicates the time measured in remote control mode.

Step 2: Remove T1(n-1) in the first address of V-data(T1), move the addresses of the remaining data to the left, and insert T2(n) in the fifth address to create V-data(T1). ) is updated with V-data (T2) in the following form.

V-data(T2) = {T2(n-1), T3(n-1), T4(n-1), T1(n), T2(n)}

Step 3: Remove T2(n-1) from the first address of V-data(T2), move the addresses of the remaining data to the left, and insert T3(n) into the fifth address to create V-data(T2). ) is updated with V-data (T3) of the following form.

V-data(T3) = {T3(n-1), T4(n-1), T1(n), T2(n), T3(n)}

Step 4: Remove T3(n-1) in the first address of V-data(T3), move the addresses of the remaining data to the left, and insert T4(n) in the fifth address to create V-data(T3). ) is updated to V-data (T4) in the following form.

V-data(T4) = {T4(n-1), T1(n), T2(n), T3(n), T4(n)}

Step 5: Using the same method as Step 1, update V-data (T4) to V-data (T1) in the following form.

V-data(T1) = {T1(n), T2(n), T3(n), T4(n), T1(n+1)}

Afterwards, these steps are repeated to continuously update V-data, and the transmission/reception status is monitored using the V-data (T2) updated in step 2. In this way, since the monitoring time data is updated using only 5 addresses, the transmission and reception time of remote control data can be transmitted in real time.

1.3. Monitoring procedure for remote control data transmission and reception status

The monitoring procedure for remote control data transmission and reception status is explained using Figure 3. In Figure 3, (A) represents the remote control procedure, (B) represents the acquisition procedure of time data for monitoring, and (C) represents the procedure for monitoring the transmission and reception status of remote control data.

First, the remote control data generated from the remote control procedure in (A) is stored in the database (D/B). At the same time, in the monitoring time data acquisition procedure (B), the data transmission and reception time occurring in the remote control procedure is continuously measured and the monitoring time data (V-data) is updated at T2 time. (T2)). Then, derive the data transmission and reception time of time T2 from the database (D/B) of the remote control monitoring procedure in (C), derive the monitoring time from V-data (T2), and use these times. Calculate the delay time, calculate the difference in delay time using the delay time, determine the transmission/reception status with a binary code using the difference in delay time, and combine the transmission/reception status with the binary code to obtain a status code. and finally, visualize the remote control data transmission/reception status on the screen using delay time, transmission/reception status, and status code.

2. Determination means of remote control data transmission and reception status

The status of remote control data transmission and reception is determined through the following four steps.

Step 1: Obtain data transmission and reception time of remote control system

The data transmission and reception time of the remote control system is obtained by obtaining the transmission and reception time data stored in the database (DB) through R1's communication network and then converting it into a transmission and reception time set (TR1-set) with an n × m matrix structure using the following equation (1). Obtain by converting.

TR1-set(n,m) = {T2(n-1), T3(n-1), T4(n-1), T1(n), T2(n)} --------- (One)

Here, n is the measurement status identification number, where n = 1, 2,… N (N is the final measurement state), and m is the data number, where m=1,2,... M (M is the total number of data, M=5), and each transmission and reception time is measured using GPS time and is defined as follows.

T2(n-1): Time when ship data (S-data) is received from remote control in n-1 state

T3(n-1): Time when control data (C-data) is transmitted from remote control in n-1 state

T4(n-1): Time when control data (C-data) is received from the ship in n-1 state

T1(n): Time when ship data (S-data) is transmitted from the ship in n state

T2(n): Time when ship data (S-data) is received from remote control in n state

Step 2: Obtain the measurement time of the monitoring system

The time measured in the monitoring system is obtained by converting the measurement time acquired in real time through R2's communication network into a measurement time set (TR2-set) of an n×m matrix structure using the following equation (2).

TR2-set(n,m) = {t2(n-1), t3(n-1), t4(n-1), t1(n), t2(n)} --------- (2)

Here, each measurement time is defined as follows.

t2(n-1): Time when S-data is received from the ship data receiver (CRx(R1)) in n-1 state

t3(n-1): Time when C-data is transmitted from the control data transmitter (CTx(R1)) in n-1 state

t4(n-1): Time when C-data is received from control data receiver (SRx(R1)) in n-1 state

t1(n): Time when S-data is transmitted from the ship data transmitter (STx(R1)) in n state

t2(n): Time when S-data is received from the ship data receiver (CRx(R1)) in n state

Step 3: Calculation of delay time and delay time difference for each sector

The delay time (DT-R1) for each 4 sectors of the remote control system is calculated using the following equation (3), and the delay time for each 4 sectors (DT-R2) for the monitoring system is calculated using the following equation (4). .

DT-R1(n,s) = TR1-data(n,ma) - TR1-data(n,mb) -------------------- (3)

DT-R2(n,s) = TR2-data(n,ma) - TR2-data(n,mb) -------------------- (4)

Here, s is a number to distinguish the 4 sectors (s=1, 2, 3, 4), s=1 represents the ship data (S-data) transmission/reception section between T1 and T2, and s=2 represents the It represents the remote control section between T3, s=3 represents the transmission/reception section of control data (C-data) between T3 and T4, and s=4 represents the ship control section between T4 and T1. In addition, ma and mb are the data numbers before and after the sector, where s=1 is ma=5 and mb=4, s=2 is ma=2 and mb=1, and s=3 is ma=3 and mb= 2, and s=4 means ma=4 and mb=3.

Delay time difference (DT-diff) is calculated using the following equation (5).

DT-diff(n,s) = DT-R1(n,s) - DT-R2(n,s) ------------------------ -- (5)

Step 4: Code generation and status determination of remote control data transmission and reception status

The remote control data transmission/reception status code (TRS-Code) is generated using the following equation (6).

TRS-Code(n) = 1 + [TRS(n,s=1) + (TRS(n,s=2)×2) + (TRS(n,s=3)×4) + (TRS(n, s=4)×8)] ------------------------------------------ ------------- (6)

Here, TRS represents the transmission/reception status for each of the four regions using binary codes (0,1), and is determined using the following conditions.

If DT-diff(n,s) is 0.0 then, TRS(n,s)=0 others, TRS(n,s)=1

The status of remote control data transmission and reception is determined as normal using the following conditions.

if TRS-Code is 1 then, Fully-Normal(FN)

if (1 < TRS-Code ≤ 15) then, Partly-Abnormal(PA)

if TRS-Code is 16 then, Fully-Abnormal(FA)

Here, FN indicates everything is normal, PA indicates it is partially abnormal, and FA indicates everything is abnormal.

The status code (TRS-Code) calculated from equation (6) above is expressed as a number from 1 to 16. The method of interpreting the transmission and reception status of remote control data using the status code is explained using [Table 1]. [Table 1] shows the transmission/reception status (TRS) and state decision for each 4 sector for 16 types of TRS-Code. The TRS-Code interpretation method using [Table 1] is explained as follows.

TRS-Code=1: In remote control, all 4 sector data transmission and reception status are normal (FN).

RL-Code=16: In remote control, the data transmission and reception status of the sector is all abnormal (FA).

RL-Code=2: In remote control, the data transmission/reception status of sector 1 is abnormal (PA).

RL-Code=3: In remote control, the data transmission/reception status of sector 2 is abnormal (PA).

RL-Code=5: In remote control, the data transmission/reception status of sector 3 is abnormal (PA).

RL-Code=9: In remote control, the data transmission/reception status of sector 4 is abnormal (PA).

Other RL-Code indicates that the data transmission/reception status is abnormal (PA) in sector 2 or sector 3 in remote control.

TRS-Code TRS(s=1) TRS(s=2) TRS(s=3) TRS(s=4) State Decision One 0 0 0 0 F.N. 2 One 0 0 0 PA 3 0 One 0 0 PA 4 One One 0 0 PA 5 0 0 One 0 PA 6 One 0 One 0 PA 7 0 One One 0 PA 8 One One One 0 PA 9 0 0 0 One PA 10 One 0 0 One PA 11 0 One 0 One PA 12 One One 0 One PA 13 0 0 One One PA 14 One 0 One One PA 15 0 One One One PA 16 One One One One FA

(Interpretation table of remote control data transmission and reception status using TRS-Code)

3. Method of visualizing remote control data transmission and reception status

The status of remote control data transmission and reception is visualized using two types of visualization windows: 1) delay time visualization window and 2) transmission and reception status visualization window. The delay time visualization window visualizes the delay time and delay time measurement time, and the remote control data transmission and reception status according to the delay time is visualized using the transmission and reception status visualization window.

In addition, the delay time visualization window displays three types of data (TR1-set, remote control data transmission and reception time; TR2-set, monitoring measurement time; DT, delay time), and the transmission and reception status visualization window displays three types of data ( DT, delay time; TRS, data transmission/reception status; TRS-Code, data transmission/reception status code).

3.1. How to visualize delay time

The visualization method of delay time is explained using Figure 4. Figure 4 shows the configuration of the delay time visualization window.

The visualization window is configured as follows, taking into account the remote control procedure of autonomous ships so that the remote controller can easily identify the section where delay time occurs. 1) It consists of the ship control part (Ship Control), the remote control part (Remote Control), and the data communication part between them. 2) The remote control procedure is when data is transmitted from the ship through the communication networks of R1 and R2. The process from when data is transmitted from the ship again is depicted using a box diagram connected by arrows, and 3) the 4-area research period is comprised of sectors from Sector 1 to Sector 4. It is displayed as

The delay time is displayed as follows: 1) It is divided into 4 sectors and the delay time (i.e. DT1, DT2, DT3, DT4) is displayed so that the remote controller can easily recognize which delay section the delay time occurred in. , the delay time is displayed in the form of SSS.ss (3 units of seconds and 1/100 of a second), and 2) the data transmission/reception time or measurement time of each transceiver (STx, CRx, CTx, SRx) along with the delay time It is displayed so that the remote controller can easily determine the time when the delay occurred, and the measurement time is HH:MM:SS.ss (HH is 2 units of hours, M is 2 units of minutes, and SS.ss is 2 units of seconds and 1/100). It is expressed in the form of units (seconds).

3.2. How to visualize remote control data transmission and reception status

The visualization method of remote control data transmission and reception status is explained using Figure 5. Figure 5 shows the configuration of the visualization window.

The visualization window is composed as follows. 1) The status of remote control data transmission and reception is displayed using a 4-box diagram considering the circular remote control procedure and the 4-branch research interval, 2) The control procedure is depicted by connecting the 4 boxes with arrows, 3) R1 and Displays the delay time (DT), transmission/reception status (TRS), and status code (TRS-Code) between the four branches of R2's communication network.

The data transmission/reception status is displayed as follows. 1) The transmission and reception status of each delay section uses two colors (Blue, Red), and when normal, it is displayed in blue and when abnormal, it is displayed in red. 2) Status code (TRS-Code) is displayed in the center of the screen, and 3) the delay time of each delay section is displayed using the display format of SSS.ss (3 units of seconds and 1/100 units of seconds).

The visualization method is as follows. 1) In Sector 1, if the S-data transmission and reception status through R1's communication network is normal, the TRS (DT1) box is displayed in blue (B), and if it is abnormal, it is displayed in red (R). 2) In Sector 2, if the reception of S-data and transmission of C-data through R1's communication network are normal, the TRS (DT2) box is displayed in blue (B), and if abnormal, it is displayed in red (R). It is displayed as 3) In Sector 3, if the transmission and reception status of C-data through R1's communication network is normal, the TRS (DT3) box is displayed in blue (B), and if abnormal, it is displayed in red (R). 4) In Sector 4, if the reception of C-data and transmission of S-data through R1's communication network are normal, the TRS (DT4) box is displayed in blue (B), and if abnormal, it is red (R). It is displayed as 5) The status code (TRS-Code) is indicated by numbers 1 to 16, and the status is interpreted using [Table 1].

Through this, the remote controller can recognize the data transmission and reception status of each delay section while performing remote control, thereby preventing control failure due to data transmission and reception errors.

Meanwhile, the present invention is not limited to the described embodiments, and can be used by changing the application area, and various modifications and variations can be made without departing from the spirit and scope of the present invention. It is self-evident to those with knowledge. Accordingly, such variations or modifications should fall within the scope of the claims of the present invention.

Claims (10)

Establishing a data transmission format and monitoring procedure for transmitting time data for monitoring in real time from a monitoring system for monitoring the transmission and reception status of remote control data in real time;
Establishing a means to quantitatively determine the status of remote control data transmission and reception;
It consists of a delay time visualization process and a remote control data transmission/reception status visualization process. The remote control data transmission/reception status is displayed using a 4-box diagram in consideration of the cyclical remote control procedure and the 4-zone research, and the remote control data transmission/reception status is displayed using a 4-box diagram. The remote control is schematic with 4 boxes connected by arrows, and has a visualization window that displays the delay time (DT), transmission/reception status (TRS), and status code (TRS-Code) between the 4 branches of the communication network of R1 and R2. A method of monitoring the data transmission and reception status using real-time measurement delay time to prevent control failure in remote control of autonomous ships, characterized in that it consists of a visualization step of the control data transmission and reception status. According to claim 1, the monitoring system is for monitoring whether data transmitted and received in the process of controlling an autonomous ship is actually transmitted and received and whether the data is corrupted or damaged,
A remote control data transceiver for measuring monitoring time data measured using a remote control data transceiver, a transceiver for transmitting the monitoring time data, and a communication network consisting of any one of LTE, LT-M, WiFi, and V-SAT. and a remote control data transmission/reception status determination procedure using both the monitoring time data and remote control data, and a display for visualizing the delay time and transmission/reception status. In order to prevent control failure in remote control of autonomous ships, real-time A method of monitoring data transmission and reception status using measurement delay time. According to claim 1, the monitoring process of the remote control data transmission and reception status is implemented using (method 1) below. Data transmission and reception status using real-time measured delay time to prevent control failure in remote control of autonomous ships. surveillance method.
(method 1)
1) Measure the transmission time T1 of the ship data (S-data) from the transmitter (STx(R1)) of the remote control system using the communication network of R1, and then construct V-data (T1) using the time of T1. V-data (T1) is transmitted through R2's network transmitter (STx(R2)).
2) V-data (T1) is received through R2's communication network receiver (CRx(R2)), and at the same time, S-data reception time T2 is received from the receiver (STx(R1)) of the remote control system using R1's communication network. Measure and update V-data(T1) to V-data(T2).
3) After measuring the transmission time T3 of the control data (C-data) from the transmitter (CTx(R1)) of the remote control system using the communication network of R1, V-data (T2) is converted to V-data using the time of T3. It is updated with data(T3), and V-data(T3) is transmitted through R2's communication network transmitter (CTx(R2)).
4) Receive V-data (T3) through R2's communication network receiver (SRx(R2)) and at the same time receive C-data reception time T4 from the receiver (SRx(R1)) of the remote control system using R1's communication network. Measure and update V-data (T3) to V-data (T4).
5) After measuring the transmission time T4 of the ship data (S-data) from the transmitter (STx(R1)) of the remote control system using the communication network of R1, V-data (T4) is converted to V- Update data(T1) and transmit V-data(T1) through R2's communication network transmitter (STx(R2)).
6) Obtain the monitoring time data (V-Data) obtained by repeating the above 5 steps and the remote control transmission/reception time data stored in the database (D/B) of the remote control system to determine the remote control data transmission/reception status. Visualize and continuously monitor. The method of claim 1, wherein the data transmission format for real-time transmission of the monitoring time data is implemented using equation (1) below, and the transmission format is obtained using (method 2) below. A method of monitoring data transmission and reception status using real-time measurement delay time to prevent control failure in remote control of autonomous ships.
Formula (1) Time data for monitoring (V-data) = {T(n,m=1), T(n,m=2), T(n,m=3), T(n,m=4) , T(n,m=5)}
Here, n is the remote control status identification number, where n=1,2,… N (N is the final remote control state), and m is the data address, where m=1,2,... M (M is the total number of data addresses, M=5), and T(n,m) represents the measurement time at the address of m in the remote control state of n.
(method 2)
1) The implementation of V-data(T1) at measurement time T1 is:
V-data(T1) = {T1(n-1), T2(n-1), T3(n-1), T4(n-1), T1(n)}
Here, T1(n-1), T2(n-1), T3(n-1), and T4(n-1) represent the time measured in the remote control state of n-1, and T1(n) represents the time measured in the remote control state of n-1. Indicates the time measured in remote control mode.
2) Remove T1(n-1) in the first address of V-data(T1), move the addresses of the remaining data to the left, and insert T2(n) in the fifth address to create V-data(T1). is updated with V-data(T2) in the following form.
V-data(T2) = {T2(n-1), T3(n-1), T4(n-1), T1(n), T2(n)}
3) Remove T2(n-1) from the first address of V-data(T2), move the addresses of the remaining data to the left, and insert T3(n) at the fifth address to create V-data(T2). is updated with V-data (T3) in the following form.
V-data(T3) = {T3(n-1), T4(n-1), T1(n), T2(n), T3(n)}
4) Remove T3(n-1) in the first address of V-data(T3), move the addresses of the remaining data to the left, and insert T4(n) in the fifth address to create V-data(T3). Update to V-data (T4) in the following form.
V-data(T4) = {T4(n-1), T1(n), T2(n), T3(n), T4(n)}
5) Using the same method as step 1, update V-data (T4) to V-data (T1) in the following form.
V-data(T1) = {T1(n), T2(n), T3(n), T4(n), T1(n+1)} The method of claim 1, wherein the monitoring procedure of the remote control data transmission and reception status consists of a remote control procedure, a procedure for acquiring time data for monitoring, and a monitoring procedure for the transmission and reception status of the remote control data, and is performed using (method 3) below. A method of monitoring the data transmission and reception status using real-time measurement delay time to prevent control failure in remote control of autonomous ships, characterized by:
(method 3)
1) The remote control data generated from the remote control procedure is stored in the database (D/B), and at the same time, the monitoring time data acquisition procedure continuously measures the data transmission and reception time generated from the remote control procedure to determine the monitoring time. While updating the data (V-data), monitoring time data (V-data(T2)) at T2 time is acquired.
2) Derive the data transmission and reception time of time T2 from the database (D/B) of the remote control procedure, derive the monitoring time from V-data (T2), and then calculate the delay time using these times. .
3) After calculating the difference in delay time using the calculated delay time, determine the transmission/reception status with a binary code using the difference in delay time, and combine the transmission/reception status with a binary code to create a status code. Finally, the remote control data transmission and reception status is visualized on the screen using delay time, transmission and reception status, and status code. The remote control of an autonomous ship according to claim 1, wherein in the step of establishing means for quantitatively determining the remote control data transmission and reception status, the remote control data transmission and reception status is determined using (method 4) below. A method of monitoring data transmission and reception status using real-time measurement delay time to prevent control failure.
(method 4)
1) The data transmission and reception time of the remote control system is obtained by obtaining the transmission and reception time data stored in the database (DB) through R1's communication network, and then using the formula (2) below to determine the transmission and reception time set (TR1-set) with an n × m matrix structure. ) to obtain it.
Formula (2): TR1-set(n,m) = {T2(n-1), T3(n-1), T4(n-1), T1(n), T2(n)}
Here, n is the measurement status identification number, where n = 1, 2,… N (N is the final measurement state), and m is the data number, where m=1,2,... M (M is the total number of data, M=5), and each transmission and reception time is measured using GPS time and is defined as follows.
T2(n-1): Time when ship data (S-data) is received from remote control in n-1 state
T3(n-1): Time when control data (C-data) is transmitted from remote control in n-1 state
T4(n-1): Time when control data (C-data) is received from the ship in n-1 state
T1(n): Time when ship data (S-data) is transmitted from the ship in n state
T2(n): Time when ship data (S-data) is received from remote control in n state
2) The time measured in the monitoring system is obtained by converting the measurement time acquired in real time through R2's communication network into a measurement time set (TR2-set) with an n×m matrix structure using the formula (3) below.
Formula (3): TR2-set(n,m) = {t2(n-1), t3(n-1), t4(n-1), t1(n), t2(n)}
Here, each measurement time is defined as follows.
t2(n-1): Time when S-data is received from the ship data receiver (CRx(R1)) in n-1 state
t3(n-1): Time when C-data is transmitted from the control data transmitter (CTx(R1)) in n-1 state
t4(n-1): Time when C-data is received from control data receiver (SRx(R1)) in n-1 state
t1(n): Time when S-data is transmitted from the ship data transmitter (STx(R1)) in n state
t2(n): Time when S-data is received from the ship data receiver (CRx(R1)) in n state
3) Calculation of delay time and delay time difference for each sector
The delay time (DT-R1) for each 4 sectors of the remote control system is calculated using the following equation (4), and the delay time for each 4 sectors (DT-R2) for the monitoring system is calculated using the following equation (4). .
Formula (4): DT-R1(n,s) = TR1-data(n,ma) - TR1-data(n,mb)
Formula (5): DT-R2(n,s) = TR2-data(n,ma) - TR2-data(n,mb)
Here, s is a number to distinguish the 4 sectors (s=1, 2, 3, 4), s=1 represents the ship data (S-data) transmission/reception section between T1 and T2, and s=2 represents the It represents the remote control section between T3, s=3 represents the transmission/reception section of control data (C-data) between T3 and T4, and s=4 represents the ship control section between T4 and T1. In addition, ma and mb are the data numbers before and after the sector, where s=1 is ma=5 and mb=4, s=2 is ma=2 and mb=1, and s=3 is ma=3 and mb= 2, and s=4 is ma=4 and mb=3.
Delay time difference (DT-diff) is calculated using the following formula (6).
Formula (6): DT-diff(n,s) = DT-R1(n,s) - DT-R2(n,s)
4) In order to generate a code for the remote control data transmission/reception status and determine the status, the remote control data transmission/reception status code (TRS-Code) is generated using the formula (7) below.
Formula (7): TRS-Code(n) = 1 + [TRS(n,s=1) + (TRS(n,s=2)×2) + (TRS(n,s=3)×4) + (TRS(n,s=4)×8)]
Here, TRS represents the transmission/reception status for each of the four regions using binary codes (0,1), and is determined using the following conditions.
If DT-diff(n,s) is 0.0 then, TRS(n,s)=0 others, TRS(n,s)=1
The status of remote control data transmission and reception is determined as normal using the following conditions.
if TRS-Code is 1 then, Fully-Normal(FN)
if (1 < TRS-Code ≤ 15) then, Partly-Abnormal(PA)
if TRS-Code is 16 then, Fully-Abnormal(FA)
Here, FN indicates everything is normal, PA indicates it is partially abnormal, and FA indicates everything is abnormal.
The status code (TRS-Code) calculated from the above formula (7) is expressed as a number from 1 to 16. The method of interpreting the transmission and reception status of remote control data using the status code is based on 4 sectors for 16 types of TRS-Code. Indicates transmission/reception status (TRS) and state decision. The TRS-Code interpretation method using this is explained as follows.
TRS-Code=1: In remote control, all 4 sector data transmission and reception status are normal (FN).
RL-Code=16: In remote control, the data transmission and reception status of the sector is all abnormal (FA).
RL-Code=2: In remote control, the data transmission/reception status of sector 1 is abnormal (PA).
RL-Code=3: In remote control, the data transmission/reception status of sector 2 is abnormal (PA).
RL-Code=5: In remote control, the data transmission/reception status of sector 3 is abnormal (PA).
RL-Code=9: In remote control, the data transmission/reception status of sector 4 is abnormal (PA).
Other RL-Code indicates that the data transmission/reception status is abnormal (PA) in sector 2 or sector 3 in remote control. According to claim 1, the delay time visualization includes: 1) the process of configuring the ship control part (Ship Control), the remote control part (Remote Control), and the data communication part between them;
2) The remote control procedure is a process of diagramming the process from when the ship transmits data through the communication network of R1 and R2 until the ship transmits data again using a box diagram connected by arrows;,
3) The 4-region research period is indicated by sectors from Sector 1 to Sector 4, but the delay time is divided into the first 4 sectors and the delay time (i.e. DT1, DT2, DT3, DT4) ) is displayed so that the remote controller can easily recognize which delay section the delay time occurred in, and the delay time is displayed in the form of SSS.ss (3 units of seconds and 1/100 units of seconds). Second, the delay time is displayed in the form of SSS.ss (3 units of seconds and 1/100 units of seconds). It displays the data transmission/reception time or measurement time of each transceiver (STx, CRx, CTx, SRx) along with the time so that the remote controller can easily determine the time when the delay occurred, and the measurement time is HH:MM:SS.ss (HH is 2 units of hours, M is 2 units of minutes, and SS.ss is 2 units of seconds and 1/100 of a second). In order to prevent control failure in remote control of autonomous ships, real-time A method of monitoring data transmission and reception status using measurement delay time. delete The method of claim 1, wherein the transmission/reception status of each delay section uses two colors (blue and red), with normal being indicated in blue and abnormal being indicated in red; ,
The status code (TRS-Code) is displayed in the center of the screen;,
The delay time of each delay section is displayed and visualized using the display format of SSS.ss (3 units of seconds and 1/100 units of seconds). Real-time measurement delay is measured to prevent control failure in remote control of autonomous ships. A method of monitoring data transmission and reception status using time. The method of claim 1, wherein in the process of visualizing the remote control data transmission and reception status, the visualization method below is used (method 5). Data transmission and reception status using real-time measured delay time to prevent control failure in remote control of autonomous ships, characterized in that: surveillance method.
(method 5)
1) In Sector 1, if the S-data transmission and reception status through R1's communication network is normal, the TRS (DT1) box is displayed in blue (B), and if abnormal, it is displayed in red (R).
2) In Sector 2, if the reception of S-data and transmission of C-data through R1's communication network are normal, the TRS (DT2) box is displayed in blue (B), and if abnormal, it is red (R). It is displayed as
3) In Sector 3, if the transmission and reception status of C-data through R1's communication network is normal, the TRS (DT3) box is displayed in blue (B), and if abnormal, it is displayed in red (R).
4) In Sector 4, if the status of C-data reception and S-data transmission through R1's communication network is normal, the TRS (DT4) box is displayed in blue (B), and if abnormal, it is red (R). It is displayed as
5) The status code (TRS-Code) is indicated by numbers 1 to 16 and diagrammed in a table.