RTG remote operating system and RTG remote operating method

Abstract

The RTG remote operation system comprises: a plurality of RTG cranes; a remote operation room equipped with a plurality of operation consoles capable of operating the plurality of RTG cranes; a local high-speed wireless communication line enabling the remote operation room to communicate with the plurality of RTG cranes; and a switching unit for switching the communication between the remote operation room and the plurality of RTG cranes from the local high-speed wireless communication line to a public line when an abnormality occurs in the communication between the remote operation room and the plurality of RTG cranes based on the local high-speed wireless communication line.

Description

Technical Field

[0001] The present invention relates to an RTG remote operating system and an RTG remote operating method. Background Art

[0002] Various remote operating systems are known for remotely operating RTGs (Rubber Tired Gantry Cranes). Patent Document 1 describes a remote operating system for container handling equipment such as RTGs. The remote operating system includes a base station and an equipment guide unit installed along the travel direction of each RTG's lanes to guide the RTG.

[0003] The equipment guide unit includes a communication mechanism for transmitting and receiving control signals and status display signals to and from the RTG, and a video signal receiving mechanism for receiving video signals from the RTG. The communication mechanism includes a transmission line composed of optical fiber or coaxial cable and a ground-based antenna. The video signal receiving mechanism includes a transmission line and a leaky coaxial cable.

[0004] Previous technical literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent No. 4220705 Summary of the Invention

[0007] Technical issues to be solved by the invention

[0008] In the aforementioned remote operation system, multiple RTG cranes communicate with a remote operation room. When loading and unloading with multiple RTG cranes using wireless communication, redundant communication lines are required to mitigate communication line failures. However, using leaky coaxial cables to implement redundant lines can increase equipment costs.

[0009] An object of the present invention is to provide an RTG remote operation system and an RTG remote operation method that can suppress an increase in the cost of communication equipment.

[0010] Means for solving technical problems

[0011] The RTG remote operation system involved in the present invention includes: multiple RTG cranes; a remote operation room with multiple operation consoles capable of operating the multiple RTG cranes respectively; a local high-speed wireless communication line that enables the remote operation room to communicate with the multiple RTG cranes; and a switching unit that switches the communication between the remote operation room and the multiple RTG cranes from the local high-speed wireless communication line to a public line when an abnormality occurs in the communication between the remote operation room and the multiple RTG cranes based on the local high-speed wireless communication line.

[0012] In this RTG remote operation system, a local high-speed wireless communication line is provided as a communication link between a remote operation room equipped with multiple operating stations and multiple RTG cranes. This local high-speed wireless communication line enables high-speed wireless communication between multiple operating stations and multiple RTG cranes. This allows for high-precision transmission of large quantities of images captured by the RTG cranes to the operating stations, thus achieving high-speed communication. Furthermore, the RTG remote operation system includes a switching unit that switches the communication link from the local high-speed wireless communication line to a public line if a communication anomaly occurs. Therefore, loading and unloading operations using multiple RTG cranes can continue even in the event of a communication anomaly. Furthermore, public lines are less expensive to install than local high-speed wireless communication lines. Consequently, increases in the cost of communication equipment can be minimized.

[0013] When switching from a local high-speed wireless communication line to a public line, the switching unit can reduce the number of operating stations capable of operating each RTG crane. By reducing the number of operable operating stations when a communication error occurs in the local high-speed wireless communication line, loading and unloading operations using the RTG crane can be reliably continued using a limited number of operating stations, even when using a public line, which has a lower speed than the local high-speed wireless communication line.

[0014] Each of the multiple operator stations has a display that allows visual identification of each RTG crane. A switching unit can reduce the image quality of the image displayed on the display when switching from the local high-speed wireless communication line to the public line. By reducing the image quality of the image displayed on the operator station display when a communication anomaly occurs on the local high-speed wireless communication line, communication capacity on the public line can be reduced, allowing loading and unloading operations using the RTG crane to continue reliably.

[0015] Each of the multiple operator consoles has a display that allows visual identification of each RTG crane. A switching unit can reduce the frame rate of the image displayed on the display when switching from the local high-speed wireless communication line to the public line. By reducing the frame rate of the image displayed on the operator console's display when a communication anomaly occurs on the local high-speed wireless communication line, communication with the RTG crane can be smoothly continued using the public line.

[0016] 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.

[0017] 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 multiple operating consoles and multiple RTG cranes can be achieved.

[0018] The RTG remote operation method involved in the present invention is an RTG remote operation method for operating multiple RTG cranes, which includes the following steps: enabling a remote operation room equipped with multiple operation consoles capable of operating multiple RTG cranes to communicate with the multiple RTG cranes via a local high-speed wireless communication line; and when a communication abnormality occurs between the remote operation room and the multiple RTG cranes based on the local high-speed wireless communication line, switching the communication between the remote operation room and the multiple RTG cranes from the local high-speed wireless communication line to a public line.

[0019] In this RTG remote operation method, a local high-speed wireless communication line is used as the communication link between a remote operation room equipped with multiple operating stations and multiple RTG cranes. Consequently, similar to the aforementioned RTG remote operation system, high-speed wireless communication is possible between multiple operating stations and multiple RTG cranes, enabling high-precision transmission of images captured by the RTG cranes to the operating stations. Furthermore, in this RTG remote operation method, if a communication anomaly occurs in the local high-speed wireless communication line, the communication link is switched from the local high-speed wireless communication line to a public line. Therefore, loading and unloading operations using multiple RTG cranes can continue even during a communication anomaly. Furthermore, public lines are less expensive to install than local high-speed wireless communication lines, thus minimizing the cost of communication equipment.

[0020] Effects of the Invention

[0021] According to the present invention, it is possible to suppress an increase in the cost required for communication equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a plan view showing an exemplary container terminal to which the RTG remote operation system and the RTG remote operation method according to the embodiment are applied.

[0023] Figure 2 This is a perspective view showing multiple RTG cranes and a container storage yard.

[0024] Figure 3 This is a block diagram showing the functions of the RTG remote operation system according to the embodiment.

[0025] Figure 4 This is a flowchart showing an example of each step of the RTG remote operation method according to the embodiment. DETAILED DESCRIPTION

[0026] The following describes embodiments of the RTG remote operation system and RTG remote operation method according to the present invention with reference to the accompanying drawings. In the accompanying drawings, identical or corresponding elements are denoted by the same reference numerals, and duplicate descriptions are omitted as appropriate. Furthermore, for ease of understanding, portions of the drawings may be simplified or exaggerated, and dimensional ratios and other aspects are not limited to those depicted in the drawings.

[0027] Figure 1 FIG. 1 is a plan view showing an exemplary container terminal 1 to which the RTG remote operation system according to the present embodiment is applied. Figure 1 As shown, the container terminal 1 is provided with: a container stacking yard 2 for arranging containers 3; a plurality of gantry cranes 4 for transferring containers 3 to the docked container ships; a plurality of RTG cranes 10, which are arranged at the container stacking yard 2 and carry out loading and unloading of containers 3; and a remote operation room 5, which can remotely operate the plurality of RTG cranes 10.

[0028] As an example, the container 3 is an ISO standard container. The container 3 has an elongated rectangular parallelepiped shape. For example, the longitudinal length of the container 3 is 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.

[0029] For example, a travel path for transport vehicles such as trucks, trailers, or AGVs (Automated Guide Vehicles) is provided in the container yard 2. The RTG crane 10 receives a container 3 transported by the transport vehicle and places the container 3 at a position indicated by a predetermined position number in the container yard 2. For example, multiple RTG cranes 10 are deployed in each container yard 2. The RTG crane 10 receives a container 3 placed in the container yard 2 and transfers the container 3 to the transport vehicle, which then unloads the container 3 to the outside.

[0030] Figure 2 2 is a perspective view schematically showing an RTG crane 10 disposed at a container yard 2. Figure 2 As shown, the RTG crane 10 is a container handling crane for loading and unloading containers 3 and is a rubber tire gantry crane (RTG). The RTG crane 10 automatically loads and unloads containers 3 placed in a container yard 2 in a container terminal 1.

[0031] The RTG crane 10, for example, includes a trolley 11 capable of transverse movement on a crane girder; a spreader 12 for loading and unloading containers 3; and a traveling device 13 with wheels. The RTG crane 10 has a pair of legs mounted upright on the traveling devices 13, and a crane girder connecting the upper ends of the pair of legs, forming a portal shape. The trolley 11 is transversely moved, for example, by a transverse motor. For example, the trolley 11 includes a drum that rotates forward and reversely by a drum drive motor, and the spreader 12 is suspended from the trolley via a wire rope.

[0032] The spreader 12 is used to lift the container 3. The spreader 12 can lock the container 3 from above, locking and lifting the container 3 to facilitate loading and unloading. For example, the movement and position of the spreader 12 are controlled by the RTG remote operation system or RTG remote operation method according to this embodiment.

[0033] Figure 3 1 is a block diagram showing the functions of an exemplary RTG remote operation system 100 according to this embodiment. Figure 2 and Figure 3 As shown, the RTG remote operation system 100 enables loading and unloading using RTG cranes 10 while minimizing manual operations by remote operators M. The RTG remote operation system 100 includes multiple RTG cranes 10, a remote operation room 5 with multiple operating stations 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 mechanism 15 for communicating via the local high-speed wireless communication line L1 and a second communication mechanism 16 for communicating via the public line L2. The first communication mechanism 15 serves as a primary communication mechanism capable of transmitting and receiving data using the local high-speed wireless communication line L1, while the second communication mechanism 16 serves as a backup communication mechanism capable of transmitting and receiving data using the public line L2. The local high-speed wireless communication line L1 is, for example, a wireless communication line dedicated to the container terminal 1 and uses a different frequency band than wireless communication lines provided by telecommunications carriers, such as mobile phones.

[0034] Public line L2 is a wireless communication line provided by a telecommunications carrier, such as a mobile phone, and serves as a backup line for the local high-speed wireless communication line L1. For example, the local high-speed wireless communication line L1 is a 5G communication line (fifth-generation mobile communication system), which is a higher-speed communication line than the public line L2. The communication standard of the public line L2 is not particularly limited and can be a 5G communication line or a line other than a 5G communication line.

[0035] The remote operation room 5 (operating stations 6) and the RTG cranes 10 can communicate with each other via the local high-speed wireless communication line L1 through the control device 20. The control device 20 serves as a communication control device for controlling communication between the remote operation room 5 and the RTG cranes 10.

[0036] The control device 20 includes, for example, a communication device equipped with a communication interface for enabling data communication between each operator's station 6 in the remote operation room 5 and each RTG crane 10. Normally, an RTG crane 10 automatically loads and unloads a container 3. However, an RTG crane 10 may be assigned to an operator's station 6, for example. When an RTG crane 10 is assigned to an operator's station 6, it can be manually operated from that operator's station 6. Manual operation of the RTG crane 10 can be performed, for example, to transfer a container 3 to the aforementioned transport vehicle for safety reasons. When an RTG crane 10 is assigned to an operator's station 6, the assigned RTG crane 10 can be operated from that operator's station 6.

[0037] The RTG cranes 10 are assigned to the operator stations 6, for example, randomly. Multiple operator stations 6 are provided in the remote operation room 5. Each of the multiple operator stations 6 includes a display 7 that allows the naked eye to view the area surrounding the RTG crane 10. The display 7 displays, for example, images captured by a camera mounted on the RTG crane 10 (e.g., images of the containers 3 surrounding the RTG crane 10 or other images of the RTG crane 10).

[0038] The console 6 can, for example, have a processor, memory, storage device (storage), communication interface and user interface, and can 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 (Read Only Memory) or a RAM (Random Access Memory). The storage device is a storage unit (storage medium) such as an HDD (Hard Disk Drive). The communication interface is a communication device for realizing data communication. The user interface includes an output device such as a display 7 for display output and a speaker for sound output, as well as an input device such as a joystick, a button, a keyboard, a touch panel and a microphone. The processor controls the memory, storage device, communication interface and user interface. In 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 into the RAM by the CPU.

[0039] 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 monitoring unit 22 for monitoring the communication status of the local high-speed wireless communication line L1. For example, in the RTG remote operation 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 operation room 5.

[0040] The communication monitoring unit 22 monitors, for example, the communication status of the local high-speed wireless communication line L1 between each RTG crane 10 and each operator's console 6 in real time. The communication monitoring unit 22 may function as a communication self-diagnostic function within the local high-speed wireless communication line L1, or it may monitor the communication status of the local high-speed wireless communication line L1 based on a pseudo signal within the local high-speed wireless communication line L1. Various examples of methods for monitoring the local high-speed wireless communication line L1 using the communication monitoring unit 22 are available.

[0041] If the communication monitoring 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 operator's console 6 from the local high-speed wireless communication line L1 to the public line L2. For example, the communication monitoring unit 22 continues to monitor the local high-speed wireless communication line L1 even after the switching unit 21 switches the communication line.

[0042] Next, if the communication state of the local high-speed wireless communication line L1 is detected to be normal, the switching unit 21 may return the communication line between the RTG crane 10 and the operator console 6 to the local high-speed wireless communication line L1. The switching unit 21 may automatically switch the communication line.

[0043] For example, when switching the communication line from the local high-speed wireless communication line L1 to the public line L2, the switching unit 21 reduces the number of operating stations 6 capable of operating the RTG crane 10. In this case, the switching unit 21 may reduce the image quality of the image displayed on the display 7 of the operating station 6. Thus, the switching unit 21 coarsens the image displayed on the display 7. Furthermore, the switching unit 21 may reduce the number of frames of the image displayed on the display 7 of the operating station 6 when switching the communication line from the local high-speed wireless communication line L1 to the public line L2.

[0044] Next, an example of control content of the RTG remote operation method according to this embodiment will be described. Figure 4 1 is a flowchart showing exemplary steps of the RTG remote operation method according to the present embodiment. As an example, the RTG remote operation method according to the present embodiment can be performed using the RTG remote operation system 100.

[0045] like Figure 3 and Figure 4 As shown, the remote operation room 5 first communicates with multiple RTG cranes 10 using the local high-speed wireless communication line L1 (a process of communicating via the local high-speed wireless communication line, step S1). At this point, the multiple RTG cranes 10 each automatically load and unload a container 3, and images of the surroundings of each RTG crane 10 are transmitted to the remote operation room 5 via the local high-speed wireless communication line L1 and displayed on the displays 7 of the multiple operating stations 6. For example, when the RTG crane 10 is remotely operated from the operating station 6, such as when transferring a container 3 to a transport cart, the operating signal from the operating station 6 is transmitted to the RTG crane 10 via the local high-speed wireless communication line L1 and the first communication mechanism 15. Furthermore, the communication monitoring unit 22 monitors the local high-speed wireless communication line L1 (step S2).

[0046] If the communication monitoring 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 ends. On the other hand, if the communication monitoring unit 22 detects a communication anomaly 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 operation room 5 from the local high-speed wireless communication line L1 to the public line L2 (switching to the public line, step S4).

[0047] At this time, the switching unit 21 reduces the number of operating stations 6 that can operate the RTG crane 10, reduces the image quality of the image displayed on the display 7, and reduces the number of frames of the image displayed on the display 7. Furthermore, the switching unit 21 may not perform all of the operations of reducing the number of operable operating stations 6, reducing the image quality, and reducing the number of image frames, but may perform only one or two of these operations.

[0048] After the switch 21 switches the communication line to the public line L2, the communication monitoring unit 22 monitors the local high-speed wireless communication line L1. If the communication monitoring 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), the communication monitoring unit 22 continues monitoring the local high-speed wireless communication line L1.

[0049] On the other hand, if the communication monitoring 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 operation room 5 from the public line L2 to the local high-speed wireless communication line L1 (step S6).

[0050] For example, when local high-speed wireless communication line L1 has been repaired and communication monitoring unit 22 detects that local high-speed wireless communication line L1 is normal, switching unit 21 switches to local high-speed wireless communication line L1. As described above, after switching unit 21 switches from public line L2 to local high-speed wireless communication line L1, the series of steps ends.

[0051] Next, the effects of the RTG remote operation system 100 and the RTG remote operation method according to the present embodiment will be described.

[0052] The RTG remote operation system 100 and RTG remote operation method according to this embodiment include a local high-speed wireless communication line L1 as a communication link between a remote operation room 5 equipped with multiple operating stations 6 and multiple RTG cranes 10. This enables high-speed wireless communication between the multiple operating stations 6 and the multiple RTG cranes 10. This allows for high-precision transmission of images captured by the RTG cranes 10 to the operating stations 6 in large quantities, thus achieving high-speed communication. Furthermore, the RTG remote operation system 100 and RTG remote operation method according to this embodiment include a switching unit 21 that switches the communication link from the local high-speed wireless communication line L1 to the public line L2 if a communication anomaly occurs in the local high-speed wireless communication line L1. Furthermore, the public line L2 is less expensive to install than the local high-speed wireless communication line L1. Therefore, increases in the cost of communication equipment can be suppressed.

[0053] When switching from the local high-speed wireless communication line L1 to the public line L2, the switching unit 21 can reduce the number of operating stations 6 capable of operating each RTG crane 10. By reducing the number of operable operating stations 6 when a communication anomaly occurs in the local high-speed wireless communication line L1, loading and unloading operations using the RTG crane 10 can be reliably continued using a limited number of operating stations 6, even when using the public line L2, which has a lower speed than the local high-speed wireless communication line L1.

[0054] Each of the multiple operating stations 6 includes a display 7 that allows visual identification of each RTG crane 10. The switching unit 21 can reduce 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 reducing the image quality of the image displayed on the operating station 6 display 7 when a communication anomaly occurs on the local high-speed wireless communication line L1, the communication capacity on the public line L2 can be reduced, allowing loading and unloading by the RTG crane 10 to continue reliably.

[0055] Each of the multiple operating stations 6 includes a display 7 that allows visual identification of each RTG crane 10. The switching unit 21 can reduce the frame rate 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 reducing the frame rate of the image displayed on the operating station 6 display 7 when a communication anomaly occurs on the local high-speed wireless communication line L1, communication with the RTG crane 10 can be smoothly continued using the public line L2.

[0056] 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.

[0057] 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 operating consoles 6 and the plurality of RTG cranes 10 can be achieved.

[0058] The above describes the implementation of the RTG remote operating system and RTG remote operation method according to the present invention. However, the present invention is not limited to the above implementation and can be modified without changing the scope of the principles described in the various technical solutions. Specifically, the structure and function of each component of the RTG remote operating system according to the present invention, as well as the content and sequence of each step of the RTG remote operation method, can be appropriately modified without changing the above-mentioned scope.

[0059] For example, in the above embodiment, the switching unit 21 automatically switches the communication line. However, the switching unit can also switch the communication line manually, and the communication line switching method can be modified as appropriate. Furthermore, the communication line monitoring method is not limited to the above embodiment and can be modified as appropriate. The shape, size, and arrangement of the various components of the RTG crane can also be modified as appropriate.

[0060] In the above embodiment, the local high-speed wireless communication line L1 is illustrated as 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 higher than 5G, and the specification can be changed as appropriate.

[0061] Explanation of symbols

[0062] 1-Container terminal, 2-Container yard, 3-Container, 4-Gantry crane, 5-Remote operation room, 6-Operation console, 7-Display, 10-RTG crane, 11-Crane trolley, 12-Spreader, 13-Traveling device, 15-First communication mechanism, 16-Second communication mechanism, 20-Control device, 21-Switching unit, 22-Communication monitoring unit, 100-RTG remote operation system, L1-Local high-speed wireless communication line, L2-Public line, M-Remote operator.

Claims

1. An RTG remote operating system, characterized in that: have: Multiple RTG cranes; a remote operation room having a plurality of operation stations capable of respectively operating the plurality of RTG cranes; a local high-speed wireless communication link enabling the remote operator's cabin to communicate with the plurality of RTG cranes; and a switching unit configured to switch the communication between the remote operation room and the plurality of RTG cranes from the local high-speed wireless communication line to a public line when an abnormality occurs in the communication between the remote operation room and the plurality of RTG cranes via the local high-speed wireless communication line; Here, when switching from the local high-speed wireless communication line to the public line, the switching unit reduces the number of the operating platforms capable of operating each of the RTG cranes.

2. The RTG remote operating system according to claim 1, characterized in that: Each of the plurality of operating consoles has a display capable of visually identifying each of the RTG cranes. When switching from the local high-speed wireless communication line to the public line, the switching unit reduces the quality of an image displayed on the display.

3. The RTG remote operating system according to claim 1 or 2, characterized in that: Each of the plurality of operating consoles has a display capable of visually identifying each of the RTG cranes. 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.

4. The RTG remote operating system according to claim 1 or 2, characterized in that: The local high-speed wireless communication line is a 5G communication line.

5. The RTG remote operating system according to claim 1 or 2, characterized in that: The public line is a 5G communication line.

6. A method for remotely operating a plurality of RTG cranes, comprising the following steps: enabling a remote operation room having a plurality of operation stations capable of operating the plurality of RTG cranes to communicate with the plurality of RTG cranes via a local high-speed wireless communication line; and When an abnormality occurs in the communication between the remote operation room and the plurality of RTG cranes via the local high-speed wireless communication line, switching the communication between the remote operation room and the plurality of RTG cranes from the local high-speed wireless communication line to a public line; in, When the local high-speed wireless communication line is switched to the public line, the number of the operating platforms capable of operating each of the RTG cranes is reduced.

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