WO2021193293A1

WO2021193293A1 - Rtg remote operation system and rtg remote operation method

Info

Publication number: WO2021193293A1
Application number: PCT/JP2021/010874
Authority: WO
Inventors: 紀明宮田; 伸郎吉岡
Original assignee: 住友重機械搬送システム株式会社
Priority date: 2020-03-24
Filing date: 2021-03-17
Publication date: 2021-09-30
Also published as: CN115279685A; JP2021151910A

Abstract

This RTG remote operation system comprises: a plurality of RTG cranes; a remote operation room that comprises a plurality of operation consoles capable of operating each of the plurality of RTG cranes; a local high-speed wireless communication circuit that enables communication between the remote operation room and each of the plurality of RTG cranes; and a switching unit that, when a fault occurs in the communication over the local high-speed wireless communication circuit between the remote operation room and each of the plurality of RTG cranes, switches the communication between the remote operation room and each of the plurality of RTG cranes from the local high-speed wireless communication circuit to a public circuit.

Description

RTG remote control system and RTG remote control method

This disclosure relates to an RTG remote control system and an RTG remote control method.

Conventionally, various remote control systems for remotely controlling an RTG (Rubber Tyred Gantry Crane) have been known. Patent Document 1 describes a remote control system for container handling and transporting equipment such as RTG. The remote control system includes a base station and a device guiding unit that is laid in each traveling lane of the RTG along the traveling direction to guide the RTG.

The device guidance unit includes a communication means for transmitting and receiving a control signal and a status display signal to and from the RTG, and a video signal receiving means for receiving a video signal from the RTG. The communication means includes a transmission line composed of an optical fiber cable or a coaxial cable, and a ground-side antenna. The video signal receiving means includes a transmission line and a leaky coaxial cable.

Japanese Patent No. 4220705

In the above-mentioned remote control system, communication is performed between each of the plurality of RTG cranes and the remote control room. By the way, when cargo handling by each of a plurality of RTG cranes is performed by wireless communication, it is required to duplicate the communication line in preparation for an abnormality in the communication line. However, there is a concern that the cost of equipment will increase if the above-mentioned leaky coaxial cable is duplicated.

An object of the present disclosure is to provide an RTG remote control system and an RTG remote control method capable of suppressing an increase in the cost of communication equipment.

The RTG remote control system according to the present disclosure communicates with a plurality of RTG cranes, a remote control room having a plurality of operation consoles capable of operating each of the plurality of RTG cranes, and each of the remote control room and the plurality of RTG cranes. When communication by the local high-speed wireless communication line between the remote control room and each of the multiple RTG cranes becomes abnormal, the remote control room and each of the multiple RTG cranes It is provided with a switching unit for switching the communication between the cranes from the local high-speed wireless communication line to the public line.

In this RTG remote control system, a local high-speed wireless communication line is provided as a communication line between the remote control room equipped with a plurality of operation consoles and each of the plurality of RTG cranes. By providing a local high-speed wireless communication line as a communication line, high-speed wireless communication can be performed between a plurality of operation consoles and a plurality of RTG cranes. Therefore, a large amount of images taken by the RTG crane can be transmitted to the operation console with high accuracy, so that high speed can be realized. Further, this RTG remote control system includes a switching unit for switching the communication line from the local high-speed wireless communication line to the public line in the event of a communication abnormality by the local high-speed wireless communication line. Therefore, cargo handling by a plurality of RTG cranes can be continued even when communication is abnormal. In addition, the public line has a lower installation cost than the local high-speed wireless communication line. Therefore, it is possible to suppress an increase in the cost of communication equipment.

The switching unit may reduce the number of operation consoles that can operate each RTG crane when switching from the local high-speed wireless communication line to the public line. In this case, by reducing the number of consoles that can be operated in the event of communication abnormality on the local high-speed wireless communication line, even when using a public line slower than the local high-speed wireless communication line, it is possible to secure with a limited number of consoles. The cargo handling by the RTG crane can be continued.

Each of the plurality of consoles has a display in which each RTG crane can be visually recognized, and the switching unit reduces the image quality of the image displayed on the display when switching from the local high-speed wireless communication line to the public line. May be good. In this case, when the communication is abnormal by the local high-speed wireless communication line, the image quality of the image displayed on the display of the operation console is deteriorated, so that the communication capacity on the public line can be reduced and the cargo handling by the RTG crane can be surely continued. ..

Each of the plurality of consoles has a display that allows each RTG crane to be seen, and the switching unit reduces the number of frames of the image displayed on the display when switching from the local high-speed wireless communication line to the public line. You may. In this case, by reducing the number of frames of the image displayed on the display of the operation console when the communication is abnormal by the local high-speed wireless communication line, the communication with the RTG crane can be continued without difficulty using the public line.

The local high-speed wireless communication line may be a 5G communication line. In this case, a 5G communication line can be used as the local high-speed wireless communication line.

The public line may be a 5G communication line. In this case, even when the switching unit switches the communication line to the public line, high-speed communication between the plurality of operation consoles and the plurality of RTG cranes can be realized.

The RTG remote operation method according to the present disclosure is an RTG remote operation method for operating each of a plurality of RTG cranes, and has a plurality of remote control rooms having a plurality of operation consoles capable of operating each of the plurality of RTG cranes. Remote when the process of communicating with each of the RTG cranes via the local high-speed wireless communication line and the communication by the local high-speed wireless communication line between the remote control room and each of the multiple RTG cranes becomes abnormal. It includes a step of switching the communication between the operation room and each of the plurality of RTG cranes from a local high-speed wireless communication line to a public line.

In this RTG remote control method, a local high-speed wireless communication line is used as a communication line between a remote control room equipped with a plurality of operation consoles and each of the plurality of RTG cranes. Therefore, as with the above-mentioned RTG remote control system, high-speed wireless communication can be performed between a plurality of operation consoles and a plurality of RTG cranes, so that a large amount of images taken by the RTG crane can be displayed on the operation console with high accuracy. Can be sent. Then, in the RTG remote control method, the communication line is switched from the local high-speed wireless communication line to the public line when the communication is abnormal by the local high-speed wireless communication line, so that the cargo handling by a plurality of RTG cranes can be continued even when the communication is abnormal. Can be done. Further, since the installation cost of the public line is smaller than that of the local high-speed wireless communication line, it is possible to suppress an increase in the cost of communication equipment.

According to the present disclosure, it is possible to suppress an increase in the cost of communication equipment.

FIG. 5 is a plan view showing an exemplary container terminal to which the RTG remote control system and the RTG remote control method according to the embodiment are applied. It is a perspective view which shows a plurality of RTG cranes and a container yard. It is a block diagram which shows the function of the RTG remote control system which concerns on embodiment. It is a flowchart which shows the example of each process of the RTG remote control method which concerns on embodiment.

Hereinafter, embodiments of the RTG remote control system and the RTG remote control method according to the present disclosure will be described with reference to the drawings. In the description of the drawings, the same or corresponding elements are designated by the same reference numerals, and duplicate description will be omitted as appropriate. In addition, the drawings may be partially simplified or exaggerated for the sake of easy understanding, and the dimensional ratio and the like are not limited to those described in the drawings.

FIG. 1 is a plan view showing an exemplary container terminal 1 to which the RTG remote control system according to the present embodiment is applied. As shown in FIG. 1, in the container terminal 1, the container yard 2 in which the container 3 is arranged, a plurality of gantry cranes 4 for transferring the container 3 to the berthed container ship, and the container yard 2 A plurality of RTG cranes 10 that are arranged to handle the cargo of the container 3 and a remote operation room 5 that can remotely operate the plurality of RTG cranes 10 are provided.

As an example, container 3 is an ISO standard container. The container 3 has a long rectangular parallelepiped shape. For example, the longitudinal length of the container 3 is 20 to 40 feet. The height of the container 3 is, for example, 8.5 feet to 9.5 feet. The container 3 is stacked in one or a plurality of stages in the container yard 2.

For example, in the container yard 2, a running path of a freight car, a trailer, an AGV (Automated Guide Vehicle) or the like is laid. The RTG crane 10 acquires the container 3 transported by the transport trolley and places the container 3 at a position indicated by a predetermined address in the container yard 2. For example, each of the plurality of RTG cranes 10 is arranged in each container yard 2. The RTG crane 10 acquires the container 3 mounted on the container yard 2, transfers the container 3 to the transport trolley, and causes the container 3 to be carried out by the transport trolley.

FIG. 2 is a perspective view schematically showing the RTG crane 10 arranged in the container yard 2. As shown in FIG. 2, the RTG crane 10 is a container handling crane that handles the container 3 and is a tire type gantry crane (RTG: Rubber Tyred Gantry Crane). The RTG crane 10 automatically handles the cargo of the container 3 arranged in the container yard 2 at the container terminal 1.

The RTG crane 10 includes, for example, a trolley 11 capable of traversing on a crane girder, a spreader 12 for handling a container 3, and a traveling device 13 having wheels. The RTG crane 10 exhibits a gate shape including a pair of legs erected on the pair of traveling devices 13 and a crane girder connecting the upper ends of the pair of legs. The trolley 11 traverses, for example, by driving a traversing motor. As an example, the trolley 11 includes a drum that is rotated in the forward and reverse directions by a drum drive motor, and the spreader 12 is suspended via a wire.

The spreader 12 is a hanging tool for suspending the container 3. The spreader 12 can lock the container 3 from above, and handles the container 3 by locking and lifting the container 3. For example, the operation and position of the spreader 12 are controlled by the RTG remote control system or the RTG remote control method according to the present embodiment.

FIG. 3 is a block diagram showing a function of an exemplary RTG remote control system 100 according to the present embodiment. As shown in FIGS. 2 and 3, the RTG remote control system 100 enables cargo handling by the RTG crane 10 while reducing the manual operation of the remote operator M as much as possible. The RTG remote control system 100 includes a plurality of RTG cranes 10, a remote control room 5 including a plurality of operation consoles 6 capable of operating each RTG crane 10, a control device 20, a local high-speed wireless communication line L1, and a public line. It is equipped with L2. Each RTG crane 10 includes a first communication means 15 that communicates via the local high-speed wireless communication line L1 and a second communication means 16 that communicates via the public line L2. The first communication means 15 corresponds to a primary communication means that enables data transmission / reception using the local high-speed wireless communication line L1, and the second communication means 16 is backup communication that enables data transmission / reception using the public line L2. Corresponds to means. The local high-speed wireless communication line L1 is, for example, a wireless communication line provided exclusively for the container terminal 1, and uses a frequency band different from the wireless communication line provided by a communication carrier such as a mobile phone.

The public line L2 is, for example, a wireless communication line provided by a communication carrier such as a mobile phone, and functions as a backup communication line for the local high-speed wireless communication line L1. The local high-speed wireless communication line L1 is, for example, a 5G communication line (fifth generation mobile communication system), which is a communication line having a higher speed than the public line L2. The communication standard of the public line L2 is not particularly limited, and may be a 5G communication line or a line other than the 5G communication line.

The remote control room 5 (each of the plurality of operation consoles 6) and each of the plurality of RTG cranes 10 can communicate with each other via the local high-speed wireless communication line L1 by the control device 20. The control device 20 corresponds to a communication control device that controls communication between the remote control room 5 and each of the plurality of RTG cranes 10.

The control device 20 is provided with, for example, a communication interface and is provided with a communication device that realizes data communication between each operation console 6 of the remote control room 5 and each RTG crane 10. Normally, the RTG crane 10 automatically handles the container 3, but for example, the RTG crane 10 may be assigned to the console 6. In this way, when the RTG crane 10 is assigned to the console 6, it is possible to manually operate the RTG crane 10 from the console 6. As a case where the RTG crane 10 is manually operated, for example, from the viewpoint of safety, the timing of transferring the container 3 to the above-mentioned transport trolley can be mentioned. In this way, when the RTG crane 10 is assigned to the operation console 6, the RTG crane 10 assigned from the operation console 6 can be operated.

The RTG crane 10 is assigned to the console 6 at random, for example. The remote control room 5 is provided with a plurality of operation consoles 6. Each of the plurality of operation consoles 6 is provided with a display 7 that makes it possible to visually recognize the surroundings of the RTG crane 10. The display 7 displays, for example, an image taken by a camera attached to the RTG crane 10 (for example, an image of a container 3 around the RTG crane 10, an image of another RTG crane 10, or the like).

The console 6 includes, for example, a processor, memory, storage, a communication interface, and a user interface, and may be configured as a general computer. The processor is an arithmetic unit such as a CPU (Central Processing Unit). The memory is a storage unit such as a ROM (ReadOnlyMemory) or a RAM (RandomAccessMemory). The storage is a storage unit (storage medium) such as an HDD (Hard Disk Drive). A communication interface is a communication device that realizes data communication. The user interface includes a display 7 that outputs a display, an output device such as a speaker that outputs a sound, and an input device such as a control lever, a button, a keyboard, a touch panel, and a microphone. The processor controls memory, storage, communication interface and user interface. On the console 6, for example, various functions are realized by loading the program stored in the ROM into the RAM and executing the program loaded in the RAM on the CPU.

The control device 20 includes a switching unit 21 for switching between the local high-speed wireless communication line L1 and the public line L2, and a communication monitor unit 22 for monitoring the communication status of the local high-speed wireless communication line L1. For example, in the RTG remote control system 100, when communication is normal, a local high-speed wireless communication line L1 is used as a communication line between each RTG crane 10 and the remote control room 5.

The communication monitor unit 22 monitors, for example, the communication status on the local high-speed wireless communication line L1 between each RTG crane 10 and each console 6 in real time. The communication monitor unit 22 may be a self-diagnosis function for communication on the local high-speed wireless communication line L1, or monitors the communication state of the local high-speed wireless communication line L1 based on a dummy signal on the local high-speed wireless communication line L1. May be good. As described above, various examples can be given as a method of monitoring the local high-speed wireless communication line L1 by the communication monitoring unit 22.

When the communication monitor unit 22 detects an abnormality in the communication status of the local high-speed wireless communication line L1, the switching unit 21 changes the communication line between the RTG crane 10 and the console 6 from the local high-speed wireless communication line L1 to the public line. Switch to L2. The communication monitor unit 22 continues to monitor the local high-speed wireless communication line L1 even after the switching unit 21 switches the communication line, for example.

Then, when the switching unit 21 detects that the communication state of the local high-speed wireless communication line L1 is normal, the switching unit 21 may return the communication line between the RTG crane 10 and the console 6 to the local high-speed wireless communication line L1. The switching of the communication line by the switching unit 21 is performed automatically, for example.

For example, the switching unit 21 reduces the number of operation consoles 6 that can operate the RTG crane 10 when the communication line is switched from the local high-speed wireless communication line L1 to the public line L2. At this time, the switching unit 21 may reduce the image quality of the image displayed on the display 7 of the operation console 6. As a result, the image displayed on the display 7 by the switching unit 21 becomes coarse. Further, the switching unit 21 may reduce the number of frames of the image displayed on the display 7 of the console 6 when the communication line is switched from the local high-speed wireless communication line L1 to the public line L2.

Next, an example of the control content of the RTG remote control method according to the present embodiment will be described. FIG. 4 is a flowchart showing each exemplary process of the RTG remote control method according to the present embodiment. As an example, the RTG remote control method according to the present embodiment is performed using the RTG remote control system 100.

As shown in FIGS. 3 and 4, first, the remote control room 5 communicates with each of the plurality of RTG cranes 10 using the local high-speed wireless communication line L1 (communicate via the local high-speed wireless communication line). Step, step S1). At this time, each of the plurality of RTG cranes 10 automatically handles the container 3, and an image of the surroundings of each RTG crane 10 is transmitted to the remote control room 5 via the local high-speed wireless communication line L1 to display the plurality of operation consoles. It is displayed on the display 7 of 6. For example, when the RTG crane 10 is remotely controlled by the operation console 6, such as when the container 3 is transferred to the transport trolley, the operation signal from the operation console 6 is transmitted via the local high-speed wireless communication line L1 and the first communication means 15. It is transmitted to the RTG crane 10. Further, the communication monitor unit 22 monitors the local high-speed wireless communication line L1 (step S2).

When the communication monitor unit 22 monitors the local high-speed wireless communication line L1 and detects the normality of the local high-speed wireless communication line L1 (YES in step S3), a series of steps is completed. On the other hand, when the communication monitoring unit 22 detects a communication abnormality in the local high-speed wireless communication line L1 (NO in step S3), the switching unit 21 connects the communication line between each RTG crane 10 and the remote control room 5. Switching from the local high-speed wireless communication line L1 to the public line L2 (step of switching to the public line, step S4).

At this time, the switching unit 21 reduces, for example, the number of operation consoles 6 capable of operating the RTG crane 10, reduces the image quality of the image displayed on the display 7, and further reduces the frame of the image displayed on the display 7. Reduce the number. The switching unit 21 does not have to reduce the number of operable consoles 6, reduce the image quality, and reduce the number of frames of the image, and only one or two of these may be used. You may go.

The communication monitor unit 22 monitors the local high-speed wireless communication line L1 after the switching unit 21 switches the communication line to the public line L2. When the communication monitor unit 22 monitors the local high-speed wireless communication line L1 and detects an abnormality in the local high-speed wireless communication line L1 (NO in step S5), it continues to monitor the local high-speed wireless communication line L1.

On the other hand, when the communication monitor unit 22 detects the normality of the local high-speed wireless communication line L1 (YES in step S5), the switching unit 21 connects the communication line between each RTG crane 10 and the remote control room 5 to a public line. Switching from L2 to the local high-speed wireless communication line L1 (step S6).

For example, when the restoration of the local high-speed wireless communication line L1 is completed and the communication monitor unit 22 detects the normality of the local high-speed wireless communication line L1, the switching unit 21 switches to the local high-speed wireless communication line L1. As described above, a series of steps is completed after the switching unit 21 switches from the public line L2 to the local high-speed wireless communication line L1.

Next, the operation and effect of the RTG remote control system 100 and the RTG remote control method according to the present embodiment will be described.

In the RTG remote control system 100 and the RTG remote control method according to the present embodiment, the local high-speed wireless communication line L1 is used as a communication line between the remote control room 5 provided with the plurality of operation consoles 6 and each of the plurality of RTG cranes 10. By providing the above, high-speed wireless communication can be performed between the plurality of operation consoles 6 and the plurality of RTG cranes 10. Therefore, since a large amount of images taken by the RTG crane 10 can be transmitted to the console 6 with high accuracy, high speed can be realized. Further, the RTG remote control system 100 and the RTG remote control method according to the present embodiment include a switching unit 21 for switching the communication line from the local high-speed wireless communication line L1 to the public line L2 when a communication abnormality occurs due to the local high-speed wireless communication line L1. .. Further, the public line L2 is less expensive to install than the local high-speed wireless communication line L1. Therefore, it is possible to suppress an increase in the cost of communication equipment.

The switching unit 21 may reduce the number of operation consoles 6 capable of operating each RTG crane 10 when switching from the local high-speed wireless communication line L1 to the public line L2. In this case, by reducing the number of operation consoles 6 that can be operated in the event of a communication abnormality in the local high-speed wireless communication line L1, even when using the public line L2 slower than the local high-speed wireless communication line L1, the number is limited. The operation console 6 can surely continue the cargo handling by the RTG crane 10.

Each of the plurality of operation consoles 6 has a display 7 capable of visually recognizing each RTG crane 10, and the switching unit 21 is displayed on the display 7 when the local high-speed wireless communication line L1 is switched to the public line L2. The image quality of the image may be reduced. In this case, when a communication abnormality occurs on the local high-speed wireless communication line L1, the image quality of the image displayed on the display 7 of the console 6 is lowered to reduce the communication capacity on the public line L2 and ensure the cargo handling by the RTG crane 10. Can be continued.

Each of the plurality of operation consoles 6 has a display 7 capable of visually recognizing each RTG crane 10, and the switching unit 21 is displayed on the display 7 when the local high-speed wireless communication line L1 is switched to the public line L2. You may reduce the number of frames in the image. In this case, communication with the RTG crane 10 is reasonably continued using the public line L2 by reducing the number of frames of the image displayed on the display 7 of the console 6 when the communication is abnormal by the local high-speed wireless communication line L1. Can be made to.

The local high-speed wireless communication line L1 may be a 5G communication line. In this case, a 5G communication line can be used as the local high-speed wireless communication line L1.

The public line L2 may be a 5G communication line. In this case, even when the switching unit 21 switches the communication line to the public line L2, high-speed communication between the plurality of operation consoles 6 and the plurality of RTG cranes 10 can be realized.

The embodiments of the RTG remote control system and the RTG remote control method according to the present disclosure have been described above. However, the present disclosure is not limited to the above-described embodiment, and may be modified without changing the gist described in each claim. That is, the configuration and function of each part of the RTG remote control system according to the present disclosure, and the content and order of each step of the RTG remote control method can be appropriately changed without changing the above gist.

For example, in the above-described embodiment, an example in which the communication line is automatically switched by the switching unit 21 has been described. However, the switching of the communication line by the switching unit may be performed manually, and the mode of switching the communication line can be changed as appropriate. Further, the mode of monitoring the communication line is not limited to the above-described embodiment and can be changed as appropriate. The shape, size, and arrangement of each part of the RTG crane can be changed as appropriate.

In the above-described embodiment, the local high-speed wireless communication line L1 which is a 5G communication line (fifth generation mobile communication system) has been exemplified. However, the communication standard of the local high-speed wireless communication line may be a standard other than 5G. For example, the standard of the local high-speed wireless communication line may be a communication standard higher than 5G, and can be changed as appropriate.

1 ... container terminal, 2 ... container yard, 3 ... container, 4 ... gantry crane, 5 ... remote control room, 6 ... console, 7 ... display, 10 ... RTG crane, 11 ... trolley, 12 ... spreader, 13 ... running Device, 15 ... 1st communication means, 16 ... 2nd communication means, 20 ... control device, 21 ... switching unit, 22 ... communication monitor unit, 100 ... RTG remote control system, L1 ... local high-speed wireless communication line, L2 ... public Line, M ... Remote operator.

Claims

With multiple RTG cranes,
A remote control room equipped with a plurality of operation consoles capable of operating each of the plurality of RTG cranes, and
A local high-speed wireless communication line that enables communication between the remote control room and each of the plurality of RTG cranes, and
When the communication by the local high-speed wireless communication line between the remote control room and each of the plurality of RTG cranes becomes abnormal, the communication between the remote control room and each of the plurality of RTG cranes is performed. A switching unit that switches from a local high-speed wireless communication line to a public line,
RTG remote control system equipped with.
The switching unit reduces the number of operating consoles that can operate each RTG crane when switching from the local high-speed wireless communication line to the public line.
The RTG remote control system according to claim 1.
Each of the plurality of consoles has a display that allows each said RTG crane to be visually recognized.
The switching unit reduces the image quality of the image displayed on the display when switching from the local high-speed wireless communication line to the public line.
The RTG remote control system according to claim 1 or 2.
Each of the plurality of consoles has a display that allows each said RTG crane to be visually recognized.
The switching unit reduces the number of frames of an image displayed on the display when switching from the local high-speed wireless communication line to the public line.
The RTG remote control system according to any one of claims 1 to 3.
The local high-speed wireless communication line is a 5G communication line.
The RTG remote control system according to any one of claims 1 to 4.
The public line is a 5G communication line.
The RTG remote control system according to any one of claims 1 to 5.
It is an RTG remote control method that operates each of multiple RTG cranes.
A process in which a remote control room having a plurality of operation consoles capable of operating each of the plurality of RTG cranes communicates with each of the plurality of RTG cranes via a local high-speed wireless communication line.
When the communication by the local high-speed wireless communication line between the remote control room and each of the plurality of RTG cranes becomes abnormal, the communication between the remote control room and each of the plurality of RTG cranes is performed. The process of switching from a local high-speed wireless communication line to a public line,
RTG remote control method including.