KR20120025217A - System for remote controlled rtgc using wireless network - Google Patents

Abstract

PURPOSE: An RTGC(Rubber Tyred Gantry Crane) remote control system using a wireless network is provided to transfer control information and image information to a remote engineer's cabin wirelessly to control RTGC remotely. CONSTITUTION: An RTGC(Rubber Tyred Gantry Crane) remote control system using a wireless network comprises an image transfer module, a PLC(23), an LOS(Local Operation System)(24), and an ROS(Remote Operation System)(27). The image transfer module processes images taken through a camera installed on the RTGC and transfers the images processed through a first wireless network. The PLC collects data from sensors installed on the RTGC, controls and monitors the driving of the RTGC through an actuator.

Description

System for remote controlled RTV network using wireless network

The present invention relates to a remote control of the RTGC (Rubber Tyred Gantry Crane), and more particularly to an RTGC remote control system using a wireless network to control and monitor the RTGC remotely unmanned operation of the RTGC operating in the port.

RTBC (Rubber Tyred Gantry Crane) is a type of crane for moving cargo such as containers unloaded from ships to the yard.

1 is a photograph showing the configuration of a general RTGC device.

The RTGC used in the port terminal yard of the prior art was manually operated by a person riding the RTGC. As a result, the work efficiency was different according to the skill of the driver, and the RTGC driver worked in three shifts, which caused a lot of labor cost.

To this end, many countries are developing RTGC unmanned systems, and remote RTGC developed by Mitsubishi in Japan is a representative example.

In case of remote RTGC developed by Mitsubishi, the control control command uses a wireless LAN. In the case of video, a coaxial cable is installed at the port terminal, and only the section between the RTGC and the cable is wirelessly transmitted through the antenna installed in the RTGC. The image will be delivered to.

The problem with the installation of the remote RTGC developed by Mitsubishi has a lot of costs in laying the cable in the case of the previous terminal, and a lot of costs in the maintenance of the cable has a lot of difficulties in the domestic introduction.

In addition, a delay of video transmission occurs during video telegram transmission and control information dundal through one wireless LAN.

In order to solve this problem, the processing of the control information and the image information must be processed separately, and for this purpose, the wireless network must be separated. In this case, a design capable of solving the collision between the wireless networks is required.

An object of the present invention is to provide an RTGC remote control system using a wireless network for remote control of RTGC (Rubber Tyred Gantry Crane) to control and monitor the RTGC remotely by unmanned operation of the RTGC operating in the port. .

An object of the present invention is to provide an RTGC remote control system using a wireless network that can wirelessly deliver control information and video information for RTGC remote control to a remote cab and monitor and control RTGC wirelessly in real time.

An object of the present invention is to provide an RTGC remote control system using a wireless network in which an RTGC control signal processing unit and an image processing signal unit are separately configured to process RTGC control signals and video signals in real time using a wireless network.

An object of the present invention is to provide an RTGC remote control system using a wireless network, which separately configures an RTGC control signal processing unit and an image processing signal unit, and separately separates each wireless network to be used, thereby minimizing a power loss delay and processing delay time. There is this.

The present invention provides an RTGC remote control system using a wireless network that can be applied to a domestic port and a foreign port system at a minimum cost by a system that can remotely control and monitor the RTGC by unmanning the RTGC operating in the port. There is a purpose.

The objects of the present invention are not limited to the above-mentioned objects, and other objects that are not mentioned will be clearly understood by those skilled in the art from the following description.

RTGC remote control system using a wireless network according to the present invention for achieving the above object in the RTGC (Rubber Tyred Gantry Crane) for moving the goods, processing the image captured by the camera installed in the RTGC An image transmission module for transmitting data through the first wireless network; a PLC unit for collecting data from sensors installed in the RTGC and controlling and managing driving of the RTGC through an actuator; Local operation system (LOS) for receiving a remote control signal from the outside to perform local operation control; Receives an image signal from the image transmission module through a first wireless network, and through the second wireless network the LOS (Local Operation System) Including a ROS (Remote Operation System) for transmitting a remote control signal for RTGC control to a system). Characterized in that.

Here, the ROS (Remote Operation System), characterized in that for transmitting the operation result report, warning (Warning) and alarm (Alarm) signal to the terminal operation system (Terminal Operation System), characterized in that receiving a work instruction.

And the ROS (Remote Operation System), characterized in that connected to the RTGC work management server that provides a graphical user interface and has a communication interface to perform job control, fault management (CMS).

The first wireless network may be an IEEE 802.11b wireless network, and the second wireless network may be an IEEE 802.11n wireless network.

The image transmission module may include: a first image processor configured to include a first image transmission board for transmitting an image from an analog camera module for capturing an image related to the operation of the RTGC; A second image processing unit comprising a second image transmission board for transmitting an image from a CCD camera module to capture an image; transmitting the image transmitted from the image transmission board of the first image processing unit to a crane control room and an unmanned control room by wireless communication And a second 802.11n wired / wireless router for transmitting the images transmitted from the image transmission boards of the second image processing unit to the crane control room and the unmanned control room by wireless communication.

The first image processor may further include: screen dividers configured to correspond to the analog camera modules, an image selector for selecting images provided from the screen dividers and transmitting the images to the first image transmission board; And a TCP / IP converter for applying a control signal for image selection to the selector.

The second image processor may further include screen splitters configured to correspond to the respective CCD camera modules, and images provided from the screen splitters to correspond to the respective screen splitters. And a video selector for transmitting.

Such RTGC remote control system using a wireless network according to the present invention has the following effects.

First, it can control and monitor RTGC remotely by unmanned RTGC operation in port.

Second, the control information and image information for RTGC remote control can be delivered wirelessly to the remote cab, and the RTGC can be monitored and controlled in real time wirelessly.

Third, RTGC control processing is possible in real time using a wireless network in which the RTGC control signal processing unit and the image processing signal unit are separately configured.

Fourth, the RTGC control signal processing unit and the image processing signal unit may be separately configured, and each use wireless network may also be separately separated to minimize power loss time and processing delay time.

Fifth, a system capable of controlling and monitoring RTGC at a remote location can be applied to domestic and foreign port systems with minimal cost.

Sixth, it saves labor cost by unmanned RTGC operation in the port and enables the construction of 24-hour operating system to increase the efficiency of port operation.

1 is a photo showing the configuration of a typical RTGC device
2 is a configuration diagram of a RTGC remote control system using a wireless network according to the present invention
3 is a block diagram of an image processing system for RTGC remote control according to the present invention;

Hereinafter, a preferred embodiment of the RTGC remote control system using a wireless network according to the present invention will be described in detail.

Features and advantages of the RTGC remote control system using a wireless network according to the present invention will become apparent from the detailed description of each embodiment below.

2 is a configuration diagram of an RTGC remote control system using a wireless network according to the present invention, and FIG. 3 is a diagram illustrating an image processing system for RTGC remote control according to the present invention.

The present invention separates the RTGC control signal processing unit and the image processing signal unit, and separates each use wireless network, thereby minimizing the burnout delay time and the processing delay time so that RTGC can be controlled and monitored in real time.

In the image processing system for RTGC remote control according to the present invention, a wireless network used for a port terminal is configured by separating an image processing part and a control signal processing part.

The RTGC 21 may include a camera 22a for capturing a working image, sensors 22b for sensing an operating state in an operation process of the RTGC 21, and an actuator for driving the RTGC 21 ( 22c).

In addition, an image transmission module (ITM) 25 for processing an image captured by the camera 22a and transmitting it through a first wireless network, and collects data from the sensors 22b and an actuator PLC (Programmable Logic Controller) unit 23 for controlling and managing the operation of the RTGC 21 through the (22c), and is connected to the PLC unit 23 to provide a communication interface with the outside and the second wireless network It includes a local operation system (LOS) 24 to receive a remote control signal from the outside through the local operation control.

In addition, the ROS (Remote Operation System) 27 for remote control is configured, and in the present invention, the image signal transmission channel transmitted from the Images Transmission Module (ITM) 25 and the control of the RTGC 21 are controlled. It is configured to separate the radio channel with the LOS (Local Operation System) 24 for the transmission and reception of the control signal for.

The ROS (Remote Operation System) 27 transmits a work result report, a warning and an alarm signal to a terminal operation system 28, and receives a work instruction.

The Remote Operation System (ROS) 27 is then connected to the RTGC Work Management Server 26 which provides a graphical user interface and has a communication interface to perform job control and fault management (CMS).

In the RTGC remote control system using the wireless network according to the present invention, the wireless network is configured by separating the image processing portion and the control signal processing portion.

In the case of the control signal, data within 1kbyte is transmitted. In the case of the image, the images that must be viewed from a remote location based on one RTGC can be controlled by viewing 12 images at the same time.

The number of frames that can be transplanted in real time is about 20 frames, and 30 frames of images are transmitted wirelessly for more precise images, and a total of 12 images are simultaneously delivered.

If the video compression technology is not applied, about 100 megabytes of video data should be delivered in some cases, but in the case of wireless networks established in the current port, the bandwwis is designed based on the IEEE 802.11b standard using 2.4G frequency. Is 11Mbps, so it cannot process video transmission in real time.

Here, IEEE 802.11b is a transmission standard established by the Institute of Electrical and Electronic Engineers (IEEE) and defines a direct sequence spread spectrum WLAN that operates at 2.4 GHz and 11 Mbps.

In order to smoothly transmit control signals and image processing signals to the terminal without collision, a wireless network for video transmission must be established, and an IEEE 802.11n wireless network using a 5 GHz band separate from the control signal must be configured.

IEEE 802.11n is a transmission standard established by the Institute of Electrical and Electronic Engineers (IEEE) that uses the 2.4GHz band and the 5GHz band, and supports speeds up to 600Mbps.

In designing a system using such a wireless communication, it is necessary to solve a disconnection phenomenon, which is a problem of a wireless network environment currently established in a port.

Figure 3 shows the configuration of the image processing system of the RTGC remote control system according to the present invention, the analog camera module for capturing the image of the progress of the RTGC operation, the screen dividers configured to correspond to each analog camera module and And an image selector for selecting images provided from the screen dividers, a TCP / IP converter for applying a control signal for selecting an image to the image selector, and an image transmission board for transmitting the image selected by the image selector. A first image processing unit 31 to be configured, a CCD camera module for capturing an image related to the progress of the RTGC, screen dividers configured to correspond to each CCD camera module, and corresponding screen dividers. An image selector for selecting images provided from the screen dividers, and corresponding to the image selectors The second image processing unit 32 comprising an image transmission board for transmitting the image selected by the image selector, the crane control room 30 and the image transmitted from the image transmission board of the first image processing unit 31 by wireless communication; The first 802.11n wired / wireless router for transmitting to the unmanned control room 33 and the images transmitted from the video transmission boards of the second image processing unit 31 to the crane control room 30 and the unmanned control room 33 by wireless communication. And includes a second 802.11n router for transmission.

In order to solve the disconnection phenomenon of the wireless network used in the RTGC remote control system using the wireless network according to the present invention, the following technique is applied.

Wireless Mobility Zone should be designed in the wireless network used in the RTGC remote control system, and the mesh (Access Point) and AP (Access Point) should be meshed so that the RTGC can be seamlessly connected when moving. It should be a network configuration in the form of Mesh) and automatic recovery function should be implemented.

To this end, RTGC searches for nearby APs and discards AP information with a Link Qulity value of 50 or less and automatically connects using other information.

If the link quality is less than 50, automatic disconnection occurs even when the connection is made, and the disconnection phenomenon occurs because the existing wireless device does not consider this.

Here, the access point (AP) connects the wireless network and the wired network together to enable data transmission and reception between the wireless client and the wired network.

Wireless video transmission in the RTGC remote control system using a wireless network according to the present invention, the image transmitted from one camera is based on 320 * 240 video, the video server by connecting a quad equipment that binds four images into one Will pass through.

This is to prevent a phenomenon in which the amount of data increases when the size of the image increases when delivering each image.

In other words, when the camera image is transmitted through the wireless network in real time, the data size increases, causing a delay in transmission, which makes it difficult for the user to monitor in real time. Will be delivered.

In this way, compression of four images results in 9.6Mbps information, and three quads are 9.6Mbps * 3 dlaus 28.8Mbps. When 5GHz is used, video can be processed in real time when using 802.11n wireless network.

RTGC remote control system using a wireless network according to the present invention as described above to separate the RTGC control signal processing unit and the image processing signal unit, and to separate each use wireless network so as to minimize the burnout delay time and processing delay time It is.

It will be understood that the present invention is implemented in a modified form without departing from the essential features of the present invention as described above.

Therefore, the described embodiments should be considered in descriptive sense only and not for purposes of limitation, and the scope of the present invention is shown in the claims rather than the foregoing description, and all differences within the equivalent scope are included in the present invention. It should be interpreted.

21.RTGC 22a. camera
22b. Sensors 22c. Actuator
23. PLC section 24. LOS
25. Image Transfer Module 26. RTGC Job Management Server
27. ROS 28. Terminal motion control system

Claims (7)

In the RTGC (Rubber Tyred Gantry Crane) for moving the article,
An image transmission module for processing an image captured by a camera installed in the RTGC and transmitting it through a first wireless network;
Collecting data from the sensors installed in the RTGC and a PLC unit for controlling and managing the operation of the RTGC through the actuator and connected to the PLC unit receives a remote control signal from the outside through a second wireless network to control the local operation Performing Local Operation System (LOS);
A ROS (Remote Operation System) for receiving a video signal from the image transmission module through a first wireless network and transmitting a remote control signal for RTGC control to the LOS (Local Operation System) via a second wireless network; RTGC remote control system using a wireless network, characterized in that. The method of claim 1, wherein the ROS (Remote Operation System),
An RTGC remote control system using a wireless network, which transmits a work result report, a warning and an alarm signal to a terminal operation system, and receives work instructions. The method of claim 1, wherein the ROS (Remote Operation System),
An RTGC remote control system using a wireless network, characterized by providing a graphical user interface and having a communication interface and connected to an RTGC task management server that performs task control and fault management (CMS). The RTGC remote control system according to claim 1, wherein the first wireless network is an IEEE 802.11b wireless network, and the second wireless network is an IEEE 802.11n wireless network. The method of claim 1, wherein the image transmission module,
A first image processor configured to include a first image transmission board for transmitting an image from an analog camera module for capturing an image related to the progress of the RTGC;
A second image processing unit comprising a second image transmission board for transmitting an image from a CCD camera module for capturing an image related to the progress of the RTGC;
A first 802.11n wire / wireless router for transmitting the image transmitted from the image transmission board of the first image processor to a crane control room and an unmanned control room by wireless communication;
And a second 802.11n wired / wireless router for transmitting the images transmitted from the image transmission boards of the second image processing unit to the crane control room and the unmanned control room by wireless communication. The method of claim 5, wherein the first image processor,
Screen dividers configured to correspond to the analog camera modules,
An image selector for selecting images from the screen dividers and transmitting the images to the first image transmission board;
And a TCP / IP converter for applying a control signal for selecting an image to the image selector. The method of claim 5, wherein the second image processor,
Screen dividers configured to correspond to the respective CCD camera modules;
And a video selector configured to correspond to each of the screen splitters to select an image provided from the screen splitters and to transmit the selected video to the second video transmission board.

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