JP7516084B2 - RTG remote control system and RTG remote control method - Google Patents

Description

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

Conventionally, various remote control systems for remotely controlling RTGs (Rubber Tired Gantry Cranes) have been known. Patent Document 1 describes a remote control system for container handling and transport equipment such as RTGs. The remote control system includes a base station and an equipment guidance unit that is installed in each travel lane of the RTG along the travel direction to guide the RTG.

The equipment guidance unit includes a communication means for transmitting and receiving control signals and status indication signals 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 made 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.

Patent No. 4220705

In the remote control system described above, communication takes place between each of the multiple RTG cranes and the remote control room. However, when multiple RTG cranes perform loading and unloading operations via wireless communication, it is necessary to duplicate the communication lines in case of an abnormality in the communication lines. However, there are concerns that duplicating the leaky coaxial cable described above will increase the cost of the equipment.

The present disclosure aims to provide an RTG remote control system and an RTG remote control method that can suppress increases in costs associated with communication equipment.

The RTG remote control system according to the present disclosure includes a remote control room equipped with multiple RTG cranes and multiple control consoles capable of operating each of the multiple RTG cranes, a local high-speed wireless communication line that enables communication between the remote control room and each of the multiple RTG cranes, and a switching unit that switches communication between the remote control room and each of the multiple RTG cranes from the local high-speed wireless communication line to a public line when communication via the local high-speed wireless communication line between the remote control room and each of the multiple RTG cranes becomes abnormal.

In this RTG remote control system, a local high-speed wireless communication line is provided as a communication line between a remote control room equipped with multiple control consoles and each of the multiple RTG cranes. By providing a local high-speed wireless communication line as a communication line, high-speed wireless communication can be performed between the multiple control consoles and the multiple RTG cranes. Therefore, images taken by the RTG crane can be transmitted in large quantities and with high accuracy to the control console, thereby realizing high speed. In addition, this RTG remote control system is provided with a switching unit that switches the communication line from the local high-speed wireless communication line to a public line when a communication abnormality occurs in the local high-speed wireless communication line. Therefore, loading and unloading by the multiple RTG cranes can be continued even when a communication abnormality occurs. In addition, the public line requires less 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 operator 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 operator consoles that can be operated when a communication abnormality occurs in the local high-speed wireless communication line, it is possible to reliably continue loading and unloading operations by the RTG crane with a limited number of operator consoles even when using a public line that is slower than the local high-speed wireless communication line.

Each of the multiple operation consoles has a display on which each RTG crane can be seen, and the switching unit may lower the image quality of the image displayed on the display when switching from the local high-speed wireless communication line to the public line. In this case, by lowering the image quality displayed on the display of the operation console when a communication abnormality occurs on the local high-speed wireless communication line, the communication capacity on the public line can be reduced, allowing loading and unloading by the RTG crane to continue reliably.

Each of the multiple control consoles has a display on which each RTG crane can be viewed, and the switching unit may reduce the number of frames of images displayed on the display when switching from the local high-speed wireless communication line to the public line. In this case, when a communication abnormality occurs on the local high-speed wireless communication line, by reducing the number of frames of images displayed on the control console display, communication with the RTG crane can be continued smoothly using the public line.

The local high-speed wireless communication line may be a 5G communication line. In this case, the 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 if the switching unit switches the communication line to the public line, high-speed communication between multiple operation consoles and multiple RTG cranes can be achieved.

The RTG remote control method according to the present disclosure is a method for remotely controlling RTG cranes, and includes a process in which a remote control room equipped with multiple control consoles capable of operating each of the multiple RTG cranes communicates with each of the multiple RTG cranes via a local high-speed wireless communication line, and a process in which, when communication via the local high-speed wireless communication line between the remote control room and each of the multiple RTG cranes becomes abnormal, the communication between the remote control room and each of the multiple RTG cranes is switched from the 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 the communication line between a remote control room equipped with multiple control consoles and each of the multiple RTG cranes. Therefore, as with the above-mentioned RTG remote control system, high-speed wireless communication can be performed between the multiple control consoles and the multiple RTG cranes, so that images taken by the RTG cranes can be transmitted in large quantities and with high accuracy to the control console. Furthermore, in the RTG remote control method, when a communication abnormality occurs in the local high-speed wireless communication line, the communication line is switched from the local high-speed wireless communication line to a public line, so that loading and unloading by the multiple RTG cranes can be continued even in the event of a communication abnormality. Furthermore, since the public line requires less installation cost than the local high-speed wireless communication line, it is possible to suppress increases in the cost of communication equipment.

This disclosure makes it possible to suppress increases in costs associated with communication equipment.

1 is a plan view showing an exemplary container terminal to which an RTG remote operation system and an RTG remote operation method according to an embodiment are applied. FIG. 2 is a perspective view showing a plurality of RTG cranes and a container yard. 1 is a block diagram showing functions of an RTG remote control system according to an embodiment; 4 is a flowchart showing an example of each step of an RTG remote control method according to the embodiment.

Below, an embodiment of an RTG remote control system and an 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 given the same reference numerals, and duplicated descriptions will be omitted as appropriate. In addition, the drawings may be partially simplified or exaggerated for ease of understanding, and the dimensional ratios, etc. are not limited to those shown in the drawings.

Figure 1 is a plan view showing an exemplary container terminal 1 to which the RTG remote operation system according to this embodiment is applied. As shown in Figure 1, the container terminal 1 is provided with a container yard 2 in which containers 3 are placed, multiple gantry cranes 4 that transfer the containers 3 to a docked container ship, multiple RTG cranes 10 that are placed in the container yard 2 and load and unload the containers 3, and a remote operation room 5 that can remotely operate the multiple RTG cranes 10.

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

For example, in the container yard 2, a running path is laid for transport vehicles such as freight cars, trailers, or AGVs (Automated Guide Vehicles). The RTG crane 10 acquires the container 3 transported by the transport vehicle and places the container 3 at a position indicated by a specific address in the container yard 2. For example, multiple RTG cranes 10 are arranged for each container yard 2. The RTG crane 10 acquires the container 3 placed in the container yard 2, transfers the container 3 to the transport vehicle, and has the container 3 carried outside by the transport vehicle.

Figure 2 is a perspective view that shows a schematic of an RTG crane 10 arranged in a container yard 2. As shown in Figure 2, the RTG crane 10 is a container handling crane that handles containers 3, and is a rubber-tired gantry crane (RTG). The RTG crane 10 automatically handles containers 3 arranged in the container yard 2 in the container terminal 1.

The RTG crane 10 comprises, for example, a trolley 11 capable of traversing on a crane girder, a spreader 12 for loading and unloading containers 3, and a traveling device 13 having wheels. The RTG crane 10 has a gate shape with 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 by, for example, being driven by a traverse motor. As an example, the trolley 11 comprises a drum that rotates forward and backward by a drum drive motor, and the spreader 12 is suspended via a wire.

The spreader 12 is a lifting device that suspends the container 3. The spreader 12 can engage the container 3 from above, and loads and unloads the container 3 by engaging and lifting the container 3. For example, the operation and position of the spreader 12 are controlled by the RTG remote operation system or RTG remote operation method according to this embodiment.

3 is a block diagram showing the functions of an exemplary RTG remote control system 100 according to this embodiment. As shown in FIG. 2 and FIG. 3, the RTG remote control system 100 enables loading and unloading by the RTG crane 10 while reducing manual operation by the remote operator M as much as possible. The RTG remote control system 100 includes a remote control room 5 having a plurality of RTG cranes 10, a plurality of control 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 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 and reception using the local high-speed wireless communication line L1, and the second communication means 16 corresponds to a backup communication means that enables data transmission and reception using the public line L2. 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 different frequency band than wireless communication lines provided by telecommunications carriers such as mobile phones.

The public line L2 is, for example, a wireless communication line provided by a telecommunications carrier such as a mobile phone carrier, 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 with a higher speed than the public line L2. There are no particular restrictions on the communication standard of the public line L2, and it may be a 5G communication line or a line other than a 5G communication line.

The remote control room 5 (each of the multiple control consoles 6) and each of the multiple 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 the communication between the remote control room 5 and each of the multiple RTG cranes 10.

The control device 20 is provided with, for example, a communication interface and a communication device that realizes data communication between each operation console 6 of the remote operation room 5 and each RTG crane 10. Normally, the RTG crane 10 performs automatic loading and unloading of containers 3, but for example, the RTG crane 10 may be assigned to an operation console 6. In this way, when an RTG crane 10 is assigned to an operation console 6, it becomes possible to manually operate the RTG crane 10 from the operation console 6. An example of a case in which the RTG crane 10 is manually operated is the timing of transferring the container 3 to the aforementioned transport cart from the viewpoint of safety. In this way, when an RTG crane 10 is assigned to an operation console 6, it becomes possible to operate the assigned RTG crane 10 from the operation console 6.

The allocation of the RTG cranes 10 to the control consoles 6 is performed, for example, randomly. The remote control room 5 is provided with a plurality of control consoles 6, each of which has a display 7 that enables the surroundings of the RTG crane 10 to be viewed. The display 7 displays, for example, an image captured by a camera attached to the RTG crane 10 (for example, an image of the containers 3 around the RTG crane 10, or an image of another RTG crane 10, etc.).

The operation console 6 may be configured as a general computer, for example, including a processor, memory, storage, a communication interface, and a user interface. The processor is a computing device such as a CPU (Central Processing Unit). The memory is a storage unit such as a ROM (Read Only Memory) or a RAM (Random Access Memory). The storage is a storage unit (storage medium) such as a HDD (Hard Disk Drive). The communication interface is a communication device that realizes data communication. The user interface includes a display 7 that performs display output, an output device such as a speaker that performs audio output, and an input device such as a control lever, buttons, a keyboard, a touch panel, and a microphone. The processor controls the memory, storage, communication interface, and user interface. In the operation console 6, for example, a program stored in the ROM is loaded into the RAM, and the CPU executes the program loaded into the RAM to realize various functions.

The control device 20 includes a switching unit 21 that switches between the local high-speed wireless communication line L1 and the public line L2, and a communication monitor unit 22 that monitors 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, the local high-speed wireless communication line L1 is used as the communication line between each RTG crane 10 and the remote control room 5.

The communication monitor unit 22, for example, monitors the communication state of the local high-speed wireless communication line L1 between each RTG crane 10 and each operation console 6 in real time. The communication monitor unit 22 may be a self-diagnosis function for the communication in the local high-speed wireless communication line L1, or may monitor the communication state of the local high-speed wireless communication line L1 based on a dummy signal in the local high-speed wireless communication line L1. In this way, there are various examples of methods for the communication monitor unit 22 to monitor the local high-speed wireless communication line L1.

When the communication monitor unit 22 detects an abnormality in the communication state of the local high-speed wireless communication line L1, the switching unit 21 switches the communication line between the RTG crane 10 and the operation console 6 from the local high-speed wireless communication line L1 to the public line L2. For example, 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.

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 operation 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, when the switching unit 21 switches the communication line from the local high-speed wireless communication line L1 to the public line L2, it reduces the number of operation consoles 6 that can operate the RTG crane 10. At this time, the switching unit 21 may lower the image quality of the image displayed on the display 7 of the operation console 6. This causes the image displayed on the display 7 by the switching unit 21 to become coarse. In addition, the switching unit 21 may reduce the number of frames of the image displayed on the display 7 of the operation 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 this embodiment will be described. FIG. 4 is a flowchart showing exemplary steps of the RTG remote control method according to this embodiment. As an example, the RTG remote control method according to this embodiment is performed using an RTG remote control system 100.

As shown in Figures 3 and 4, first, the remote control room 5 communicates with each of the multiple RTG cranes 10 using the local high-speed wireless communication line L1 (step S1: process of communicating via local high-speed wireless communication line). At this time, each of the multiple RTG cranes 10 automatically loads and unloads the container 3, and images of the surroundings of each RTG crane 10 are transmitted to the remote control room 5 via the local high-speed wireless communication line L1 and displayed on the displays 7 of the multiple operation consoles 6. For example, when the RTG crane 10 is remotely operated by the operation console 6, such as when transferring the container 3 to the transport cart, an operation signal from the operation console 6 is transmitted to the RTG crane 10 via the local high-speed wireless communication line L1 and the first communication means 15. In addition, 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 that the local high-speed wireless communication line L1 is normal (YES in step S3), the series of steps is completed. On the other hand, when the communication monitor unit 22 detects a communication abnormality in the local high-speed wireless communication line L1 (NO in step S3), the switching unit 21 switches the communication line between each RTG crane 10 and the remote control room 5 from the local high-speed wireless communication line L1 to the public line L2 (process of switching to the public line, step S4).

At this time, the switching unit 21, for example, reduces the number of operation consoles 6 capable of operating the RTG crane 10, lowers the image quality of the image displayed on the display 7, and further reduces the number of frames of the image displayed on the display 7. Note that the switching unit 21 does not have to perform all of the following: reducing the number of operation consoles 6 that can be operated, lowering the image quality, and reducing the number of frames of the image, and may perform only one or two of these.

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, if the communication monitor unit 22 detects that the local high-speed wireless communication line L1 is normal (YES in step S5), the switching unit 21 switches the communication line between each RTG crane 10 and the remote control room 5 from the public line L2 to the local high-speed wireless communication line L1 (step S6).

For example, when the recovery of the local high-speed wireless communication line L1 is completed and the communication monitor unit 22 detects that the local high-speed wireless communication line L1 is normal, 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, we will explain the effects of the RTG remote control system 100 and the RTG remote control method according to this embodiment.

In the RTG remote control system 100 and the RTG remote control method according to the present embodiment, a local high-speed wireless communication line L1 is provided as a communication line between the remote control room 5 equipped with a plurality of control consoles 6 and each of the plurality of RTG cranes 10, thereby enabling high-speed wireless communication between the plurality of control consoles 6 and the plurality of RTG cranes 10. Therefore, images taken by the RTG crane 10 can be transmitted to the control console 6 in large quantities and with high accuracy, realizing high speed. In addition, the RTG remote control system 100 and the RTG remote control method according to the present embodiment include a switching unit 21 that switches the communication line from the local high-speed wireless communication line L1 to the public line L2 when a communication abnormality occurs in the local high-speed wireless communication line L1. Furthermore, the public line L2 requires less installation cost 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 operator consoles 6 that can operate 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 operator consoles 6 that can be operated when a communication abnormality occurs in the local high-speed wireless communication line L1, it is possible to reliably continue loading and unloading operations by the RTG crane 10 with the limited number of operator consoles 6 even when using the public line L2, which is slower than the local high-speed wireless communication line L1.

Each of the multiple operation consoles 6 has a display 7 on which each RTG crane 10 can be seen, and the switching unit 21 may lower the image quality of the image displayed on the display 7 when switching from the local high-speed wireless communication line L1 to the public line L2. In this case, by lowering the image quality of the image displayed on the display 7 of the operation console 6 when a communication abnormality occurs on the local high-speed wireless communication line L1, the communication capacity on the public line L2 can be reduced, and loading and unloading by the RTG crane 10 can be reliably continued.

Each of the multiple operation consoles 6 has a display 7 on which each RTG crane 10 can be viewed, and the switching unit 21 may reduce the number of frames of images displayed on the display 7 when switching from the local high-speed wireless communication line L1 to the public line L2. In this case, when a communication abnormality occurs on the local high-speed wireless communication line L1, by reducing the number of frames of images displayed on the display 7 of the operation console 6, it is possible to continue communication with the RTG crane 10 smoothly using the public line L2.

The local high-speed wireless communication line L1 may be a 5G communication line. In this case, the 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 if the switching unit 21 switches the communication line to the public line L2, high-speed communication between multiple operation consoles 6 and multiple RTG cranes 10 can be realized.

The above describes embodiments of the RTG remote control system and RTG remote control method according to the present disclosure. However, the present disclosure is not limited to the above-described embodiments, and may be modified without changing the gist of the claims. In other words, 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, may be modified as appropriate without changing the gist of the above.

For example, in the above-described embodiment, an example was described in which the switching unit 21 automatically switches the communication lines. However, the switching unit may manually switch the communication lines, and the manner in which the communication lines are switched can be changed as appropriate. In addition, the manner in which the communication lines are monitored 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 also be changed as appropriate.

In the above embodiment, the local high-speed wireless communication line L1 is a 5G communication line (fifth generation mobile communication system). 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 that is even faster than 5G, and can be changed as appropriate.

1...container terminal, 2...container yard, 3...container, 4...gantry crane, 5...remote control room, 6...operation console, 7...display, 10...RTG crane, 11...trolley, 12...spreader, 13...traveling gear, 15...first communication means, 16...second 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 (9)

A plurality of RTG cranes;
a remote control room including a plurality of control consoles capable of operating each of the plurality of RTG cranes;
a local high-speed wireless communication line that enables communication between the remote control room and each of the plurality of RTG cranes;
a switching unit that switches communication between the remote control room and each of the plurality of RTG cranes from the local high-speed wireless communication line to a public line when communication via the local high-speed wireless communication line between the remote control room and each of the plurality of RTG cranes becomes abnormal;
An RTG remote control system comprising: a communication monitor unit that monitors a communication state of the local high-speed wireless communication line;
the switching unit automatically switches the communication between the remote operation room and each of the plurality of RTG cranes from the local high-speed wireless communication line to the public line when the communication monitor unit detects an abnormality in the communication state of the local high-speed wireless communication line.
2. The RTG remote control system according to claim 1. the switching unit reduces a communication capacity of the public line when switching from the local high-speed wireless communication line to the public line.
3. The RTG remote control system according to claim 1 or 2. The switching unit reduces the number of the operation consoles capable of operating each of the RTG cranes 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 . Each of the plurality of operation consoles has a display on which each of the RTG cranes can be viewed,
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 any one of claims 1 to 4 . Each of the plurality of operation consoles has a display on which each of the RTG cranes can be viewed,
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 5 . 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 6 . The public line is a 5G communication line.
The RTG remote control system according to any one of claims 1 to 7 . 1. An RTG remote control method for operating each of a plurality of RTG cranes, comprising:
a step of a remote control room including a plurality of control consoles capable of operating each of the plurality of RTG cranes communicating with each of the plurality of RTG cranes via a local high-speed wireless communication line;
and when communication via a local high-speed wireless communication line between the remote control room and each of the plurality of RTG cranes becomes abnormal, switching communication between the remote control room and each of the plurality of RTG cranes from the local high-speed wireless communication line to a public line.

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