CN111344238B - Unloading device - Google Patents

Abstract

The unloading device (100) is provided with an edge detection unit (152) that detects the edge of the upper end of a hatch coaming (7) provided on the upper part of a cabin (5) in the ship (4), and a model arrangement unit (156) that arranges at least a part of a three-dimensional model of the unloading device (100) and at least a part of a three-dimensional model of the ship (4) on the basis of the detection result of the edge detection unit (152). The model arrangement unit (156) may be configured with a three-dimensional model of the vertical transport mechanism unit (110) that holds the scooping unit (112) that scoops the cargo (6) in the hold (5), and a three-dimensional model (410) of the hatch coaming (7). The model arrangement unit (156) may arrange a three-dimensional model (400) of a scooping unit (112) that scoops cargo (6) in the hold (5) and a three-dimensional model (420) of the hold (5).

Description

Unloading device

Technical Field

The present disclosure relates to an unloading device. The present application claims the benefit of priority based on japanese patent application No. 2018-017503 filed on 2/2018, and the contents of which are incorporated herein by reference.

Background

The unloading device carries out the cargo loaded in the cabin to the outside of the cabin. As an example of the unloading device, there is an unloading device. In many cases, it is difficult or impossible for an operator to visually observe the state of the cargo, the distance to the wall surface of the ship's hold, and the like. In the unloading device, a technique has been developed in which a sensor is attached to a scooping portion to measure a distance to a wall surface of a cabin (for example, patent document 1).

Documents of the prior art

Patent document

Patent document 1: japanese laid-open patent publication No. 8-012094

Disclosure of Invention

Problems to be solved by the invention

In the technique described in patent document 1, as described above, the distance between the scooping portion and the wall surface of the cabin can be grasped. However, it is difficult to derive the relative position of the unloading apparatus and the ship, such as the positional relationship between the elevator of the unloading apparatus and the hatch coaming of the ship, for example.

In view of the above problems, an object of the present disclosure is to provide an unloading apparatus capable of deriving a relative position between an unloading apparatus and a ship.

Means for solving the problems

In order to solve the above problem, an unloading device according to one aspect of the present disclosure includes: an edge detection unit that detects an edge of an upper end of a hatch coaming provided in an upper portion of a cabin in a ship; and a model arrangement unit that arranges at least a part of the three-dimensional model of the unloading device and at least a part of the three-dimensional model of the ship on the basis of the detection result of the edge detection unit.

Preferably, the model arrangement unit is configured to arrange a three-dimensional model of the vertical transfer mechanism unit and a three-dimensional model of the hatch coaming that hold the scooping unit that scoops the cargo in the cabin.

Preferably, the model arrangement unit arranges a three-dimensional model of a scooping unit for scooping the cargo in the ship compartment and a three-dimensional model of the ship compartment.

Preferably, the ship-side configuration device further includes a coordinate conversion derivation unit that derives edge information on each of the edges based on the edge detected by the edge detection unit, and derives conversion parameters of a coordinate system of the unloading device and a coordinate system of the ship tank based on the derived edge information, and the model configuration unit configures at least a part of the three-dimensional model of the unloading device and at least a part of the three-dimensional model of the ship using the conversion parameters derived by the coordinate conversion derivation unit.

Preferably, the apparatus comprises: a state monitoring unit that derives a minimum distance and a direction of the minimum distance between at least a part of the three-dimensional model of the unloading device and at least a part of the three-dimensional model of the ship; and an anti-collision unit that restricts the operation of the unloading device when the minimum distance is equal to or less than a threshold value.

Preferably, the apparatus comprises: a state monitoring unit that derives a minimum distance and a direction of the minimum distance between at least a part of the three-dimensional model of the unloading device and at least a part of the three-dimensional model of the ship; and a collision prevention unit that restricts the movement of the unloading device in the direction of the minimum distance when the minimum distance is equal to or less than a threshold value.

Preferably, the three-dimensional model display device further includes a display unit that displays a cross section of the three-dimensional model of the vertical transport mechanism and the hatch coaming disposed in the model disposition unit, and a distance between the vertical transport mechanism and the hatch coaming.

Preferably, the ship control device further includes a distance measuring sensor for measuring distances to a plurality of measurement points projected onto the ship, and the edge detecting unit derives a direction between the plurality of measurement points using the plurality of measurement points measured by the distance measuring sensor, extracts a measurement point in which the direction between the measurement points is a vertical direction, and extracts an uppermost point in the vertical direction as an edge point of the hatch coaming.

Preferably, the edge detection unit divides the plurality of measurement points into two groups with respect to a vertically lower side, and extracts an edge point of the hatch coaming from the measurement points included in each group.

Preferably, the coordinate conversion derivation unit associates a straight line of the edge of the hatch coaming with an upper edge of the three-dimensional model of the hatch coaming in the edge information based on the attitude of the unloading apparatus, and then derives the conversion parameter based on a positional relationship between the straight line of the edge and the upper edge after the association is established.

Preferably, the coordinate conversion derivation unit represents a straight line of the edge of the hatch coaming formed based on the edge information by a three-dimensional point group, and derives the conversion parameter by minimizing a total value of distances between the three-dimensional point group and an upper edge of the three-dimensional model of the hatch coaming.

Preferably, the coordinate conversion derivation unit modifies the direction of the straight line of the edge of the hatch coaming in the edge side information based on information acquired from a sensor that detects the attitude of the unloading device.

Preferably, the distance measuring sensor includes: a distance measuring sensor capable of measuring a distance from an upper portion of the vertical conveying mechanism portion to a lower side; and a distance measuring sensor capable of measuring a distance to the side and the lower side of the scooping portion.

Preferably, the cargo handling device further includes a coordinate conversion derivation unit that derives conversion parameters of a coordinate system of the unloading device and a coordinate system of the cabin based on a measurement result of a distance measurement sensor capable of measuring a distance from an upper portion of the vertical transportation mechanism unit to a lower portion, and the cargo handling device further includes a display unit that converts measurement results of the distance measurement sensor capable of measuring a distance to a side and a lower portion of the scooping unit into the coordinate system of the cabin using the conversion parameters, and displays the measurement results of the distance measurement sensor capable of measuring a distance to a side and a lower portion of the scooping unit in the coordinate system of the cabin.

ADVANTAGEOUS EFFECTS OF INVENTION

The relative position to the vessel can be derived.

Drawings

Fig. 1 is a diagram illustrating a discharge system.

Fig. 2 is a diagram illustrating the structure of the discharge device.

Fig. 3 is a diagram illustrating a measurement range of the distance measuring sensor.

Fig. 4 is a diagram illustrating a measurement range of the distance measuring sensor.

Fig. 5 is a diagram illustrating a measurement range of the distance measuring sensor.

Fig. 6 is a diagram illustrating a measurement range of the distance measuring sensor.

Fig. 7 is a diagram illustrating the electrical structure of the unloading system.

Fig. 8A is a diagram illustrating a coordinate system of the unloading device.

Fig. 8B is a diagram illustrating a coordinate system of the unloading means.

Fig. 9 is a diagram illustrating the measurement points of the distance measuring sensor.

Fig. 10 is a diagram showing a situation in which edge points are detected.

Fig. 11A, 11B, and 11C are diagrams illustrating the arrangement of the three-dimensional model.

Fig. 12 is a diagram illustrating an upper viewpoint image.

Fig. 13 is a diagram illustrating a shovel portion peripheral image.

Fig. 14A and 14B are diagrams illustrating an automatic route.

Detailed Description

Hereinafter, one embodiment of the present disclosure will be described in detail with reference to the drawings. Dimensions, materials, other specific numerical values, and the like shown in the embodiments are mere examples for easy understanding, and the present disclosure is not limited except for the case of the specific description. In the present specification and the drawings, elements having substantially the same function and configuration are denoted by the same reference numerals, overlapping description is omitted, and elements not directly related to the present disclosure are not illustrated.

Fig. 1 is a diagram illustrating a discharge system 1. As shown in fig. 1, the unloading system 1 includes an unloading device 100 as an example of an unloading device and a control device 200. Although the description is given by taking an example in which four discharge devices 100 are provided, the number of discharge devices 100 may be arbitrary.

The unloading apparatus 100 can travel on a pair of rails 3 laid along the land wall 2 in the extending direction of the rails 3. In fig. 1, the plurality of unloading apparatuses 100 are disposed on the same track 3, but may be disposed on different tracks 3.

The unloading device 100 is communicatively connected to the control device 200. The communication method between the unloading device 100 and the control device 200 may be wired or wireless.

The unloading device 100 carries out the cargo 6 loaded in the hold 5 of the ship 4 moored to the quay wall 2 to the outside. The cargo 6 is assumed to be bulk cargo, and coal is given as an example.

Fig. 2 is a diagram illustrating the structure of the unloading device 100. Fig. 2 shows the quay wall 2 and the ship 4 in cross section. As shown in fig. 2, the unloading apparatus 100 includes a traveling body 102, a revolving body 104, a boom 106, a top frame 108, an elevator 110, a scooping section 112, and a boom conveyor 114.

The traveling body 102 can travel on the track 3 by driving an actuator, not shown. The traveling body 102 is provided with a position sensor 116. The position sensor 116 is, for example, a rotary encoder. The position sensor 116 measures the position of the traveling body 102 on the horizontal plane with respect to a predetermined origin position based on the rotation speed of the wheels of the traveling body 102.

The revolving unit 104 is provided on the upper portion of the traveling body 102 so as to freely revolve around a vertical axis. By driving an actuator, not shown, the revolving structure 104 can revolve with respect to the traveling structure 102.

The cantilever 106 is provided at the upper part of the rotator 104 so as to be capable of changing the inclination angle. By driving an actuator, not shown, the cantilever 106 can change the inclination angle with respect to the rotator 104.

The rotator 104 is provided with a rotation angle sensor 118 and a tilt angle sensor 120. The turning angle sensor 118 and the tilt angle sensor 120 are, for example, rotary encoders. The turning angle sensor 118 measures a turning angle of the turning body 104 with respect to the traveling body 102. The inclination angle sensor 120 measures the inclination angle of the boom 106 with respect to the revolving body 104.

The top frame 108 is provided at the front end of the boom 106. A drive for rotating the elevator 110 is provided on the top frame 108.

The lifter 110 is formed substantially in a cylindrical shape. The lifter 110 is supported by the top frame 108 to be rotatable about a central axis. A pivot angle sensor 122 is provided on the top frame 108. The rotation angle sensor 122 is, for example, a rotary encoder. The pivot angle sensor 122 measures the pivot angle of the lifter 110 with respect to the top frame 108.

The scooping portion 112 is provided at the lower end of the lifter 110. Scooping unit 112 rotates integrally with elevator 110 in accordance with the rotation of elevator 110. In this way, the scooping unit 112 is rotatably held by the top frame 108 and the lifter 110 functioning as the vertical conveyance mechanism.

The scooping portion 112 is provided with a plurality of buckets 112a and a chain 112 b. The plurality of buckets 112a are continuously arranged on the chain 112 b. The chain 112b is mounted inside the scooping portion 112 and the lifter 110.

The scooping portion 112 is provided with a link mechanism not shown. Since the link mechanism is movable, the length of the bottom of the scooping portion 112 is made variable. Thus, the scooping unit 112 can change the number of buckets 112a that come into contact with the cargo 6 in the hold 5. The scooping unit 112 scoops the cargo 6 in the hold 5 by the bucket 112a at the bottom by rotating the chain 112 b. Then, the bucket 112a that scoops the load 6 moves to the upper portion of the elevator 110 in accordance with the rotation of the chain 112 b.

The boom conveyor 114 is disposed below the boom 106. The boom conveyor 114 carries out the load 6 moved to the upper portion of the elevator 110 by the bucket 112a to the outside.

The unloading apparatus 100 having such a configuration is moved in the extending direction of the track 3 by the traveling body 102, and the relative positional relationship with the ship 4 in the longitudinal direction is adjusted. The unloading apparatus 100 also rotates the boom 106, the top frame 108, the elevator 110, and the scooping portion 112 by the rotation body 104, and adjusts the relative positional relationship with the ship 4 in the short-side direction. In addition, the unloading apparatus 100 adjusts the relative positional relationship with the ship 4 in the vertical direction by vertically moving the top frame 108, the lifter 110, and the scooping portion 112 by the cantilever 106. In addition, the unloading apparatus 100 rotates the elevator 110 and the scooping portion 112 by the top frame 108. In this way, the unloading apparatus 100 can move the scooping portion 112 to an arbitrary position and angle.

Here, the ship 4 is partitioned into a plurality of cabins 5. A hatch coaming 7 is provided in the upper part of the hold 5. The hatch coaming 7 has a wall surface with a predetermined height in the vertical direction. The opening area of the hatch coaming 7 is smaller than that of a horizontal cross section near the center of the cabin 5. That is, the hold 5 is formed so as to be opened and narrowed by the hatch coaming 7. Further, a hatch cover 8 for opening and closing the hatch coaming 7 is provided above the hatch coaming 7.

Since the opening is narrowed by the hatch coaming 7 in this way, it is difficult for the operator to visually confirm the state inside the ship compartment 5 when the operator scoops the cargo 6 by the scooping portion 112. Therefore, the unloading device 100 of the present disclosure is provided with the ranging sensors 130 to 136. In addition, the unloading system 1 of the present disclosure can display the positional relationship between the unloading device 100 and the hold 5 and the cargo 6 based on the distances measured by the distance measuring sensors 130 to 136, and allow the operator to grasp the state of the inside of the hold 5.

The distance measuring sensors 130 to 136 are, for example, laser sensors capable of measuring distance, and VLP-16 and VLP-32 manufactured by Velodyne, M8 manufactured by Quanergy, and the like can be used. The distance measuring sensors 130 to 136 are provided with 16 laser beam irradiation portions spaced in the axial direction on the side surface of a cylindrical body portion, for example. The laser irradiation unit is provided on the main body so as to be rotatable 360 degrees. The laser irradiation portions are respectively arranged so that the difference between emission angles of the laser light in the axial direction of the laser irradiation portions arranged adjacent to each other is 2 degrees. That is, the distance measuring sensors 130 to 136 can irradiate laser light in a range of 360 degrees in the circumferential direction of the main body. The distance measuring sensors 130 to 136 can emit laser light within a range of ± 15 degrees with respect to a plane orthogonal to the axial direction of the main body. Furthermore, the main body of the distance measuring sensors 130 to 136 is provided with a receiving unit for receiving laser light.

The distance measuring sensors 130 to 136 irradiate the laser beam at a predetermined angle while rotating the laser beam irradiation unit. The distance measuring sensors 130 to 136 receive the laser beams irradiated (projected) from the plurality of laser beam irradiation units and reflected by the object (measurement point) by the receiving units, respectively. The distance measuring sensors 130 to 136 derive the distance to the object based on the time from the irradiation of the laser light to the reception thereof.

Fig. 3 and 4 are diagrams illustrating the measurement ranges of the distance measuring sensors 130 to 132. Fig. 3 is a diagram illustrating the measurement ranges of the distance measuring sensors 130 to 132 when the unloading apparatus 100 is viewed from above. Fig. 4 is a diagram illustrating the measurement ranges of the distance measuring sensors 130 to 132 when the unloading apparatus 100 is viewed from the side. In fig. 3 and 4, the measurement ranges of the distance measuring sensors 130 to 132 are indicated by alternate long and short dash lines.

The distance measuring sensors 130 to 132 are mainly used for detecting the edge of the upper end of the hatch coaming 7. As shown in FIGS. 3 and 4, the distance measuring sensors 130 to 132 are mounted on the side surface of the top frame 108. Specifically, the distance measuring sensors 130 to 132 are disposed apart from each other by 120 degrees in the circumferential direction with respect to the center axis of the lifter 110. The distance measuring sensors 130 to 132 are disposed such that the center axis of the body portion is along the radial direction of the lifter 110. The upper half portions in the vertical direction of the distance measuring sensors 130 to 132 are covered with a cover, not shown.

Therefore, as shown in fig. 3 and 4, the distance measuring sensors 130 to 132 can measure the distances to: the object is located below the horizontal plane and within ± 15 degrees with respect to a tangent line tangent to the side surface of the top frame 108 as a measurement direction.

FIGS. 5 and 6 are views for explaining the measurement ranges of the distance measuring sensors 133 to 136. Fig. 5 is a diagram illustrating the measurement ranges of the distance measuring sensors 133 to 136 when the scooping unit 112 is viewed from above. Fig. 5 shows only the scooping portion 112 of the unloading apparatus 100. Fig. 5 shows a horizontal cross section of the vessel 4 at the same position as the scooping portion 112 in the vertical direction. Fig. 6 is a diagram illustrating the measurement ranges of the distance measuring sensors 133 to 136 when the unloading apparatus 100 is viewed from the side. In fig. 5 and 6, the measurement ranges of the distance measuring sensors 133 and 134 are shown by alternate long and short dash lines. In fig. 5 and 6, the measurement ranges of the distance measuring sensors 135 and 136 are shown by two-dot chain lines.

The distance measuring sensors 133 to 136 are mainly used for detecting the cargo 6 in the hold 5 and the wall surface of the hold 5. As shown in fig. 5 and 6, distance measuring sensors 133 and 134 are attached to side surface 112c and side surface 112d of cutting portion 112, respectively. Distance measuring sensors 133 and 134 are disposed such that the central axis of the body is orthogonal to side surface 112c and side surface 112d of scooping portion 112, respectively. The upper half portions in the vertical direction of the distance measuring sensors 133 and 134 are covered with a cover, not shown.

Therefore, the distance measuring sensors 133 and 134 can measure the distances between: the object is located below side surfaces 112c and 112d of scooping portion 112 in the measurement direction, and is located within ± 15 degrees with respect to the position parallel to side surfaces 112c and 112d of scooping portion 112. More specifically, the distance measuring sensors 133 and 134 can measure the distance to the object (cargo 6) located on the bottom side of the scooping unit 112 and on both sides of the scooping unit 112. Distance measuring sensors 133 and 134 are disposed so as to be able to measure at least a range equal to or larger than the maximum length of the bottom portion of scooping portion 112 on a plane on which the bottom portion of scooping portion 112 is located.

Distance measuring sensors 135 and 136 are attached to side surface 112c and side surface 112d of cutting unit 112, respectively. The distance measuring sensors 135 and 136 are disposed such that the central axis of the main body portion is orthogonal to the bottom surface of the scooping portion 112.

Therefore, the distance measuring sensors 135 and 136 can measure the distances between: the object is located outside scooping portion 112 in the measurement direction, and is located within ± 15 degrees with respect to a horizontal plane orthogonal to side surface 112c and side surface 112d of scooping portion 112.

Fig. 7 is a diagram illustrating the electrical structure of the unloading system 1. As shown in fig. 7, the unloading apparatus 100 is provided with an unloading control unit 140, a storage unit 142, and a communication device 144.

The unloading control unit 140 is connected to the position sensor 116, the turning angle sensor 118, the tilt angle sensor 120, the turning angle sensor 122, the distance measuring sensors 130 to 136, and the communication device 144. The unloading control unit 140 is formed of a semiconductor integrated circuit including a CPU (central processing unit). The unloading control unit 140 reads a program, parameters, and the like for operating the CPU itself from the ROM. The unloading control unit 140 manages and controls the entire unloading apparatus 100 in cooperation with the RAM as a work area and other electronic circuits. The unloading control unit 140 also functions as a drive control unit 150, an edge detection unit 152, a coordinate conversion derivation unit 154, a model arrangement unit 156, a state monitoring unit 158, a route generation unit 160, an automatic operation instruction unit 162, an automatic operation end determination unit 164, and a collision avoidance unit 166. In addition, the discharge control unit 140 is described in detail below.

The storage unit 142 is a storage medium such as a hard disk or a nonvolatile memory. The storage unit 142 stores data of the three-dimensional models of the unloading apparatus 100 and the ship 4. The data of the three-dimensional model of the unloading apparatus 100 is three-dimensional pixel data of at least the outer shape of the elevator 110 and the scooping portion 112. The data of the three-dimensional model of the ship 4 is three-dimensional pixel data of the external shape of the hatch coaming 7 and three-dimensional pixel data of the wall surface shape and the internal space of the cabin 5. The data of the three-dimensional model may be data that enables grasping of the three-dimensional shapes of the unloading apparatus 100 and the ship 4, and may be used together with polygonal data, contours (straight lines), point groups, and the like. The data of the three-dimensional model of the ship 4 is set for each type of the ship 4.

The data of the three-dimensional model of the unloading apparatus 100 can be calculated from the shape information at the time of design and the measurement results of the position sensor 116, the turning angle sensor 118, the tilt angle sensor 120, and the turning angle sensor 122 of the unloading apparatus 100. Further, the data of the three-dimensional model of the ship 4 may use design data of the ship, and may also use data measured at the time of the past arrival. The measurement at the time of entry can be performed using a device such as a laser sensor that can generate data of a three-dimensional model. The three-dimensional model data may be restored by accumulating information from the distance measuring sensors 130 to 136.

The communication device 144 communicates with the control device 200 by wire or wirelessly.

The control device 200 includes a monitoring control unit 210, an operation unit 220, a display unit 230, and a communication device 240. The monitoring control unit 210 is formed of a semiconductor integrated circuit including a CPU (central processing unit). The monitoring control unit 210 reads a program, parameters, and the like for operating the CPU itself from the ROM. The monitoring and control unit 210 manages and controls the plurality of unloading devices 100 in a unified manner in cooperation with the RAM and other electronic circuits as the work area. The monitoring control unit 210 functions as a remote operation switching unit 212, a display switching unit 214, and a situation determination unit 216. Further, the monitor control section 210 is described in detail below.

The operation unit 220 receives an input operation for operating the unloading apparatus 100. As described in detail below, the display unit 230 displays an image that enables the operator to grasp the relative positional relationship between the unloading apparatus 100, the hold 5, and the cargo 6. Communication means 240 communicates with unloading device 100 by wire or wirelessly.

Fig. 8A and 8B are views illustrating a coordinate system of the unloading apparatus 100. Fig. 8A is a view of the unloading device 100 from above. Fig. 8B is a view of unloading device 100 viewed from the side. As shown in fig. 8A and 8B, unloading device 100 has three coordinate systems, namely, an above-ground coordinate system 300, a top frame coordinate system 310, and a hatch coaming coordinate system 320.

The ground coordinate system 300 sets a preset initial position of the unloading apparatus 100 as an origin. The ground coordinate system 300 is defined as an X-axis direction, which is a direction orthogonal to the extending direction and the vertical direction of the rail 3. The ground coordinate system 300 sets the extending direction of the rail 3 as the Y-axis direction. The ground coordinate system 300 has the vertical direction as the Z-axis direction.

The top frame coordinate system 310 has a lower end of the top frame 108 in the vertical direction, which is located on the center axis of the elevator 110, as an origin. The top frame coordinate system 310 sets the extending direction of the cantilever 106 as the X-axis direction. The top frame coordinate system 310 is defined as a Y-axis direction, which is a direction orthogonal to the extending direction and the vertical direction of the cantilever 106. The top frame coordinate system 310 sets the vertical direction as the Z-axis direction.

The hatch coaming coordinate system 320 is defined by the origin of the upper end of the hatch coaming 7 located at the center of the wall surface of the ship's 4 hatch coaming 7 on the stern side. The hatch coaming coordinate system 320 is defined by the longitudinal direction of the ship 4, that is, the extension direction of the hatch coaming 7 along the ship 4, as the X-axis direction. The hatch coaming coordinate system 320 is defined such that the short side direction (width direction) of the ship 4 is the Y-axis direction. The hatch coaming coordinate system 320 is defined as a Z-axis direction, which is a direction orthogonal to the upper end surface of the hatch coaming 7.

Here, the ground coordinate system 300 and the top frame coordinate system 310 may be transformed based on the shape of the unloading device 100 and the movement of the unloading device 100.

For example, since the distance measuring sensors 133 to 136 are attached to the scooping portion 112, the position with respect to the scooping portion 112 is known in advance. Also, the position of the top frame coordinate system 310 can be derived based on the swivel angle of the elevator 110.

Furthermore, since the ranging sensors 130-132 are mounted to the top frame 108, the position of the top frame coordinate system 310 is known in advance.

Here, the relative positional relationship between the top frame coordinate system 310 and the hatch coaming coordinate system 320 changes with the movement of the unloading apparatus 100 and the ship 4. For example, since the ship 4 is swayed and the ship 4 is moved in the vertical direction by the tide or the load amount of the cargo 6, the relative positional relationship between the top frame coordinate system 310 and the hatch coaming coordinate system 320 changes.

Therefore, the edge detection unit 152 detects the edge of the upper end of the hatch coaming 7 based on the measurement points measured by the distance measurement sensors 130 to 132. The coordinate conversion derivation unit 154 derives conversion parameters of the top frame coordinate system 310 and the hatch coaming coordinate system 320 based on the detected edge of the upper end of the hatch coaming 7.

First, the edge detection unit 152 derives the three-dimensional position of the measurement point in the top frame coordinate system 310 based on the positions of the distance measurement sensors 130 to 132 and the distances to the measurement points measured by the distance measurement sensors 130 to 132.

FIG. 9 is a diagram illustrating measurement points of the distance measuring sensors 130 to 132. In fig. 9, the measurement ranges of the distance measuring sensors 130 to 132 on the hatch coaming 7 are shown by thick lines. As shown in fig. 9, the distance measuring sensors 130 to 132 measure distances to: the object is located below the horizontal plane and within a range of + -15 degrees from the distance measuring sensors 130 to 132 with reference to a plane contacting the top frame 108. Therefore, the edges of the hatch coamings 7 on the front side and the rear side are different from each other with respect to the vertically lower side (the rotation center of the elevator 110) of the distance measurement sensors 130 to 132, and the measurement ranges are set as the measurement ranges. The front side means a measurement range measured in the first half in one measurement. The rear side means a measurement range measured in the rear half in one measurement.

Therefore, the measurement points measured by the distance measuring sensors 130 to 132 are divided into two parts on the front side and the rear side with respect to the vertically lower side of the distance measuring sensors 130 to 132.

Fig. 10 is a diagram showing a situation in which edge points are detected. In fig. 10, the measurement points are shown as black dots. Fig. 10 shows measurement points at which the laser light emitted from one of the laser light emitting units of the distance measuring sensors 130 to 132 is reflected at a predetermined angle.

The edge detection unit 152 performs the following processing for each measurement point group (in terms of the front side and the rear side) that is irradiated with one laser irradiation unit and measured. The edge detection unit 152 derives a vector (direction) of each measurement point irradiated and measured by one laser irradiation unit. Further, as for the vector of the measurement points, a direction (vector) of a measurement point to be measured next among the continuously measured measurement points with respect to one measurement point is derived as a vector of one measurement point.

The edge detection unit 152 extracts a measurement point whose vector is in the vertical direction. This is because: the wall surface of the hatch coaming 7 measured by the distance measuring sensors 130 to 132 extends substantially in the vertical direction, and when there are measurement points on the wall surface of the hatch coaming 7, the vector of the measurement points is in the vertical direction.

When there are a plurality of measurement points extracted in succession from the extracted measurement points, the edge detection unit 152 extracts the uppermost point in the vertical direction. This is because: in order to detect the edge of the upper end of the hatch coaming 7, the uppermost point of the continuously measured measurement point group may be the edge of the upper end of the hatch coaming 7.

Next, the edge detection unit 152 extracts the measurement points closest to the origin in the X-axis direction and the Y-axis direction in the top frame coordinate system 310 among the extracted measurement points. This is because: the hatch coamings 7 are located in the structures of the vessel 4 nearest to the lift 110.

Then, the edge detection unit 152 extracts again the measurement points located within a predetermined range (for example, a range of several tens of cm) in the X-axis direction and the Y-axis direction in the top frame coordinate system 310 with respect to the extracted measurement points. Here, the measurement points on the hatch coaming 7 are extracted.

Then, of the re-extracted measurement points, that is, the measurement points on the hatch coaming 7, the edge detection section 152 extracts the measurement point located uppermost in the vertical direction as the edge point of the hatch coaming 7.

The edge detection unit 152 extracts edge points on the front side and the rear side for each measurement point group that is irradiated and measured by one laser irradiation unit of the distance measurement sensors 130 to 132.

Then, when all the edge points are extracted, the edge detection unit 152 detects a straight line of the edge of the hatch coaming 7. Specifically, the edge detection unit 152 groups the edge points extracted on the front side of the distance measurement sensor 130. Similarly, the edge detection unit 152 groups the edge points extracted on the rear side of the distance measurement sensor 130. The edge detection unit 152 groups the edge points extracted on the front side and the rear side of the distance measurement sensors 131 and 132, respectively.

Here, as shown in fig. 9, two straight lines of the edge of the upper end of the hatch coaming 7 measured on the front side and the rear side of the distance measurement sensors 130 to 132 are measured when the corner of the hatch coaming 7 is included.

Therefore, the edge detection unit 152 derives, as candidate vectors, vectors of line segments having the most similarities among the line segments between the extracted edge points for each group. Then, the edge detection unit 152 extracts edge points within a predetermined range with respect to the candidate vectors. Then, the edge detection unit 152 calculates a straight line again using the extracted edge points.

Next, the edge detection unit 152 repeats the above-described processing using the edge points that have not been extracted. However, when the number of extracted edge points is smaller than a preset threshold, no straight line is derived. This makes it possible to derive straight lines at both edges even when the corners of the hatch coaming 7 are included.

The edge detection unit 152 repeats the above-described processing for each group to derive a straight line of an edge.

Thus, for the straight lines of the edge, since two straight lines are detected at most at one place, 12 lines are detected at most.

Then, the edge detection unit 152 derives an angle between each of the detected straight lines. When the included angle is equal to or smaller than a predetermined threshold value, the edge detection units 152 are aligned on the same straight line. Specifically, the edge points constituting a straight line having an included angle equal to or smaller than a predetermined threshold are used, and the straight line is derived again by least squares approximation.

Next, the edge detection unit 152 derives edge information including the three-dimensional direction vector of each edge, the three-dimensional barycentric coordinates of each edge, the length of each edge, and the coordinates of the end point of each edge from the straight line of the detected edge. In this way, by deriving the edge information of the hatch coaming 7 provided at the upper portion of the cabin 5 using the distance measuring sensors 130 to 132 provided above the ship 4, the position (attitude) of the cabin 5 can be derived with high accuracy and with ease.

Next, the coordinate conversion derivation section 154 reads the three-dimensional model information of the hatch coaming 7 stored in advance in the storage section 142 from the storage section 142. The three-dimensional model information includes a three-dimensional direction vector of the side at the upper end of the hatch coaming 7, a three-dimensional barycentric coordinate of each side, a length of each side, and a coordinate of an end point of each side. And, the three-dimensional model information is represented by the hatch coaming coordinate system 320. The coordinate conversion derivation unit 154 derives conversion parameters of the top frame coordinate system 310 and the hatch coaming coordinate system 320 based on the read three-dimensional model information and the edge information (detection result) expressed by the top frame coordinate system 310.

The coordinate conversion derivation unit 154 roughly corrects the detected direction of the straight line of the edge of the hatch coaming 7 by rotating the rotation angle of the cantilever 106. Then, the coordinate conversion derivation section 154 associates the straight line of the detected edge of the hatch coaming 7 with the straight line of the upper end of the hatch coaming 7 in the three-dimensional model information, the straight line having the closest direction of the edge. Thus, a correct correspondence relationship is established, and a transformation parameter close to a solution of a positive solution can be stably obtained. In the correspondence relationship, a straight line of the detected edge of the hatch coaming 7 may be represented by a three-dimensional point group, and the three-dimensional point group may be brought into correspondence relationship with each other so as to be close to an average value of the shortest distances of the edges of the upper end of the hatch coaming 7 in the three-dimensional model information. Further, the correspondence relationship may be established in consideration of both the direction of the edge and the average value of the shortest distance.

The coordinate transformation deriving unit 154 finds the rotation angles α, β, and γ around the X, Y, and Z axes and the travel vector t ═ (tx, ty, tz) as transformation parameters by, for example, the LM method. In the LM method, for example, the square sum of the difference between the edge point and the edge at the upper end of the hatch coaming 7 based on the three-dimensional model information is used as an evaluation function, and a transformation parameter for minimizing the evaluation function is obtained. Specifically, the conversion parameters are obtained so that the total distance between the edge point and the edge at the upper end of the hatch coaming 7 based on the three-dimensional model information or the area of the curved surface formed by the straight line of the edge and the edge at the upper end of the hatch coaming 7 based on the three-dimensional model information becomes minimum. The scheme for solving the transformation parameters is not limited to the LM method, and other methods such as the steepest descent method and the newton method may be used.

In this way, the coordinate transformation derivation unit 154 derives transformation parameters for transforming the top frame coordinate system 310 into the hatch coaming coordinate system 320.

Thus, the unloading apparatus 100 can grasp the relative positional relationship between the lifter 110 and the scooping portion 112 represented by the top frame coordinate system 310 and the hold 5 and the hatch coaming 7 represented by the hatch coaming coordinate system 320.

Further, the unloading device 100 can easily derive the positional relationship between the unloading device 100 and the hold 5 by a simple configuration in which only the distance measuring sensors 130 to 132 capable of measuring a distance downward are disposed on the side surface of the top frame 108.

Further, the unloading apparatus 100 can estimate the position and posture of the hatch coaming 7 expressed by the hatch coaming coordinate system 320 in the top frame coordinate system 310.

In addition, in the two distance measuring sensors, two edge sides having different directions may not be measured depending on the posture of the unloading apparatus 100, in addition to the square hatch coaming 7. However, in the case where the distance measuring sensors 130 to 132 are arranged in the circumferential direction of the elevator 110 with the 120-degree direction changed, if the aspect ratio of the edge side is 1.73: the hatch coaming 7 within 1 can detect two edge sides with different directions regardless of the position and posture of the unloading apparatus 100. Therefore, two edge edges different in direction can be detected.

Next, processing of arranging the three-dimensional models of the lifter 110, the scooping portion 112, the cabin 5, and the hatch coaming 7 will be described.

Fig. 11A, 11B, and 11C are diagrams illustrating the arrangement of the three-dimensional model. As shown in fig. 11A, 11B, and 11C, the model arrangement unit 156 first arranges the three-dimensional model 400 of the elevator 110 and the scooping unit 112 stored in the storage unit 142 on the hatch coaming coordinate system 320. The three-dimensional model 400 of the elevator 110 and the scooping portion 112 is represented by the top frame coordinate system 310. Therefore, the model arrangement unit 156 converts the three-dimensional model 400 of the elevator 110 and the scooping unit 112 into the hatch coaming coordinate system 320 using the conversion parameters derived by the coordinate conversion derivation unit 154.

When the elevator 110 and the scooping portion 112 move relative to the top frame 108, the model arrangement portion 156 reflects the rotation of the elevator 110, the length of the scooping portion 112, and the like in the three-dimensional model 400 based on the measurement results of the position sensor 116, the turning angle sensor 118, the inclination angle sensor 120, and the turning angle sensor 122 of the unloading apparatus 100.

In addition, the three-dimensional model 400 is a model obtained by temporarily loading another measuring device into the cabin and measuring the three-dimensional model, regardless of whether the model is a model obtained by filtering out noise and moving objects from the accumulated result of the measurement values obtained by scooping the cargo 6, or a model obtained by accumulating the measurement values obtained at the end of scooping in the past, or a model of the design drawing.

The model arrangement unit 156 arranges the three-dimensional model 400 of the elevator 110 and the scooping unit 112 converted into the hatch coaming coordinate system 320 on the hatch coaming coordinate system 320 (fig. 11A).

Next, the model arrangement unit 156 arranges the three-dimensional model 410 of the hatch coaming 7 stored in the storage unit 142 on the three-dimensional models 400 of the elevator 110 and the scooping unit 112 in a superimposed manner (fig. 11B). Further, the three-dimensional model 410 of the hatch coaming 7 is represented by the hatch coaming coordinate system 320, and is thus directly arranged without being subjected to coordinate transformation.

The model arrangement unit 156 arranges the three-dimensional model 420 of the hold 5 stored in the storage unit 142 on the three-dimensional model 400 of the elevator 110 and the scooping unit 112 and the three-dimensional model 410 of the hatch coaming 7 in a superimposed manner (fig. 11C).

Thus, the model arrangement portion 156 can easily grasp the relative positions of the lifter 110 and the scooping portion 112, which are part of the unloading apparatus 100, and the hatch coaming 7 and the hold 5, which are part of the ship 4, using the three-dimensional model.

In particular, by arranging the three-dimensional model of the elevator 110 and the three-dimensional model of the hatch coaming 7, which are likely to collide with the hatch coaming 7, the position of the elevator 110 with respect to the hatch coaming 7 can be easily grasped.

Further, by arranging the three-dimensional model of the scooping portion 112 and the three-dimensional model of the ship compartment 5, which may collide with the ship compartment 5, the position of the scooping portion 112 with respect to the ship compartment 5 can be easily grasped.

Next, the state monitoring process of the state monitoring unit 158 will be described. The state monitoring unit 158 cyclically derives the distances (distance information) of the respective voxels between the three-dimensional model 410 of the hatch coaming 7 and the three-dimensional model 420 of the ship cabin 5, which are arranged on the hatch coaming coordinate system 320 by the model arrangement unit 156, and the three-dimensional models 400 of the elevator 110 and the scooping unit 112.

The state monitoring unit 158 derives the state of the cabin 5 based on the measurement points measured by the distance measuring sensors 133 to 136. Specifically, the state monitoring unit 158 derives the three-dimensional positions of the measurement points in the top frame coordinate system 310 based on the distances to the measurement points measured by the distance measurement sensors 133 to 136 and the positions of the distance measurement sensors 133 to 136.

Further, the state monitoring section 158 converts the three-dimensional positions of the measurement points in the top frame coordinate system 310 into the hatch coaming coordinate system 320 using the conversion parameters. Then, whether each measurement point is a wall surface of the ship tank 5 or the cargo 6 is determined using the position of each measurement point and the three-dimensional model 420 of the ship tank 5. Here, the measurement points having a relationship in which the positions of the measurement points and the position of the three-dimensional model 420 of the hold 5 are within a predetermined range are determined as the wall surfaces of the hold 5, and the other measurement points are determined as the cargo 6.

The state monitoring unit 158 sets, as the voxel of the cargo 6, a voxel including a measurement point determined as the cargo 6 among voxels in the internal space of the three-dimensional model 420 of the hold 5, and sets, as the voxel of the cargo 6, a voxel vertically below the voxel determined as the cargo 6. The model arrangement unit 156 again arranges, as the three-dimensional model of the cargo 6, the three-dimensional pixels determined as the three-dimensional pixels of the cargo 6 among the three-dimensional pixels of the internal space of the three-dimensional model 420 of the hold 5. This makes it possible to grasp the state of the cargo 6 in the hold 5.

In the unloading apparatus 100, a three-dimensional model of the hatch coaming 7 and the unloading apparatus 100 in relative positions with high accuracy is used. Therefore, in the unloading device 100, even if all the edge sides of the hatch coaming 7 cannot be detected by the distance measuring sensors 130 to 132, collision or approach with all the side surfaces of the hatch coaming 7 can be detected and prevented.

The distance measuring sensors 133 and 135 are provided on the side surface 112c of the scooping portion 112. The distance measuring sensors 134 and 136 are provided on the side surface 112d of the scooping portion 112. Then, the scooping portion 112 scoops the cargo 6 while moving from the side surface 112d side to the side surface 112c side. Therefore, the unloading apparatus 100 can grasp the state of the load 6 on the traveling direction side of the scooping portion 112 by the distance measuring sensors 133 and 135. Further, in the unloading apparatus 100, the state of the load 6 on the opposite side to the traveling direction of the scooping portion 112 can be grasped by the distance measuring sensors 134 and 136.

The processes performed by the coordinate conversion derivation unit 154, the model arrangement unit 156, and the state monitoring unit 158 described above are repeated at predetermined intervals. The communication device 144 transmits the data of the three-dimensional model arranged by the model arrangement unit 156 and the distance information derived by the state monitoring unit 158 to the control device 200.

Fig. 12 is a diagram illustrating the upper viewpoint image 500. Fig. 13 is a diagram illustrating a scooping portion peripheral image 510. The monitoring control unit 210 of the control device 200 receives the three-dimensional model data and the distance information transmitted from the unloading device 100 by the communication device 240. The monitoring control unit 210 displays the upper viewpoint image 500 and the shovel portion peripheral image 510 on the display unit 230 based on the received data.

As shown in fig. 12, the three-dimensional model 410 of the hatch coaming 7 and the three-dimensional model 400 of the elevator 110 located at the same position as the hatch coaming 7 in the Z-axis direction are displayed in the upper viewpoint image 500. That is, a cross section perpendicular to the Z-axis direction (a cross section parallel to the upper surface of the hatch coaming 7 or parallel to the horizontal) at a position where the three-dimensional model 410 of the hatch coaming 7 is located is displayed in the upper viewpoint image 500.

Further, the three-dimensional model 400 of the scooping unit 112, the three-dimensional model 420 of the hold 5 and the three-dimensional model 430 of the cargo 6 located at the same position as the scooping unit 112 in the Z-axis direction are displayed in the upper viewpoint image 500. That is, a cross section perpendicular to the Z-axis direction at the position where the three-dimensional model 400 of the scooping unit 112 is located is displayed in the upper viewpoint image 500.

That is, the XY section of the position where the three-dimensional model 410 of the hatch coaming 7 is located and the XY section of the position where the three-dimensional model 400 of the scooping portion 112 is located are displayed in an overlapping manner in the upper viewpoint image 500.

Further, the upper viewpoint image 500 displays the distance between the hatch coaming 7 and the elevator 110 ("hatch 1.4 m") and the distance between the scooping portion 112 and the wall surface of the cabin 5 ("cabin 0.9 m") outside the three-dimensional model 420 of the cabin 5. The distance between the hatch coaming 7 and the elevator 110 shown here is only shown when it is equal to or less than a first threshold value (here, 1.5m) set in advance. More specifically, when the distance is equal to or less than a first threshold value and equal to or more than a second threshold value (here, 1.0m) smaller than the first threshold value, the distance is displayed on a yellow background. When the distance is smaller than the second threshold, the distance is displayed on a red background. The display is performed only when the distance between the scooping unit 112 and the wall surface of the ship tank 5 is equal to or less than a preset third threshold value (here, 1.5 m). More specifically, when the distance is equal to or less than the third threshold value and equal to or more than a fourth threshold value (here, 1.0m) smaller than the third threshold value, the distance is displayed on a yellow background. When the distance is smaller than the fourth threshold, the distance is displayed on a red background.

By displaying the distance between the hatch coaming 7 and the lifter 110 and the distance between the scooping portion 112 and the wall surface of the cabin 5 in this way, it is possible to quantitatively grasp whether or not there is a possibility of collision.

Further, by displaying the distance at the position corresponding to the first threshold value or the third threshold value, it is possible to easily grasp that the distance between the hatch coaming 7 and the lifter 110 and the distance between the scooping portion 112 and the wall surface of the ship cabin 5 are close to each other. Further, when the distance is equal to or smaller than the first threshold value and equal to or larger than the second threshold value, and when the distance is smaller than the second threshold value, the distance can be displayed in different display modes, so that the sense of distance can be easily grasped. Similarly, when the distance is equal to or less than the third threshold value and equal to or more than the fourth threshold value, and when the distance is smaller than the fourth threshold value, the distance can be displayed in different display modes, so that the sense of distance can be easily grasped. Further, the distance between the trunk deck 7 and the elevator 110 and the distance between the scooping portion 112 and the wall surface of the ship tank 5 are derived based on the distance information transmitted from the unloading apparatus 100.

This makes it possible to easily grasp the positional relationship between the hatch coaming 7 and the lifter 110 that may collide, and the positional relationship between the scooping portion 112 and the wall surface of the cabin 5 that may collide, in the upper viewpoint image 500. Therefore, the operator can avoid collision between the hatch coaming 7 and the lifter 110 and collision between the scooping portion 112 and the wall surface of the cabin 5 by visually observing the upper viewpoint image 500. Further, since the commander for commanding the operation of the unloading apparatus 100 may not be disposed in the hold 5 or on the ship 4, the number of persons required for scooping the cargo 6 can be reduced. Further, since only the part that may collide is displayed in an extracted manner, the amount of information given to the operator does not become excessive, and the operator can make an appropriate determination. Further, the upper viewpoint image 500 can easily grasp the state of the cargo 6 at the height position where the scooping unit 112 is located.

As shown in fig. 13, a scooping portion peripheral image 512 viewed from the side surface 112c side of the scooping portion 112, a scooping portion peripheral image 514 viewed from the front side of the scooping portion 112, and a scooping portion peripheral image 516 viewed from the side surface 112d side of the scooping portion 112 are displayed in a line in the scooping portion peripheral image 510.

The three-dimensional model 400 of the scooping unit 112, the three-dimensional model 430 of the cargo 6, and the three-dimensional model 420 (only the bottom surface) of the hold 5 are displayed in the scooping unit peripheral images 512, 514, and 516, respectively.

Here, the scooping portion 112 scoops the cargo 6 while moving from the side surface 112d side to the side surface 112c side. Therefore, the three-dimensional model 430 of the cargo 6 that is not scooped is displayed in the scooping section peripheral image 512. On the other hand, the three-dimensional model 430 of the cargo 6 scooped by the scooping unit 112 is displayed in the scooping unit peripheral image 516. Then, the scooped portion peripheral image 514 displays the cargo 6 whose side surface 112c is not scooped and whose side surface 112d is scooped. This makes it possible to easily grasp the scooping state of the load 6. For example, the operator can grasp the difference in height of the load 6 in the traveling direction of the scooping unit 112 and the direction opposite to the traveling direction, or the height of the load 6 in the traveling direction by observing the scooping unit peripheral image 514 or comparing the scooping unit peripheral images 512 and 516. This enables the operator to appropriately scoop the cargo 6 by the scooping unit 112. Further, even outside the hold 5, the operator can quantitatively grasp at which depth the load 6 is scooped. Further, since the commander for commanding the operation of the unloading apparatus 100 may not be disposed in the hold 5 or on the ship 4, the number of persons required for scooping the cargo 6 can be reduced. Further, since the scooping portion peripheral image 510 is displayed by the hatch coaming coordinate system 320, the cargo 6 and the scooping portion 112 in the cabin 5 can always be presented from the viewpoint of being fixed to the ship 4, and the operator can easily grasp the situation.

In the scooping unit peripheral image 514, a difference in scooping depth of the scooping unit 112 and a distance between the scooping unit 112 and the bottom surface of the ship tank 5, which will be described in detail later, are displayed. The depth of the cut is shown on the side of the side surface 112c and the side surface 112d, respectively. The depth of the scooping and the distance between the scooping portion 112 and the bottom surface of the ship tank 5 are derived based on the distance information transmitted from the unloading apparatus 100.

As described above, the above-described upper viewpoint image 500 and the shovel portion peripheral image 510 are displayed in an updated manner each time the three-dimensional model data and distance information are transmitted from the unloading apparatus 100.

Next, the processing of the path generation unit 160, the automatic operation instruction unit 162, and the automatic operation end determination unit 164 of the unloading apparatus 100 will be described.

Fig. 14A and 14B are diagrams illustrating an automatic route. Here, there are approximately three steps when the cargo 6 is scooped by the unloading device 100. When the cargo 6 in the hold 5 is not scooped up at a time, the cargo 6 is piled up in a mountain shape in the hold 5. Therefore, the first step is a step of flattening the cargo 6 in the hold 5. The first step is performed by an operator operating the unloading apparatus 100 via the operation unit 220. More specifically, when a signal corresponding to the operation of operation unit 220 is transmitted to discharge device 100, drive control unit 150 operates various actuators to drive discharge device 100 in accordance with the operation of operation unit 220.

After that, when the surface of the cargo 6 stacked in the hold 5 is substantially flat, the scooping portion 112 is moved several times along the wall surface of the hold 5 and then moved once to the center as a second step. In this second step, the path along which the scooping unit 112 moves is simplified, and the scooping amount of the cargo 6 is also stabilized, so that automation can be achieved.

When the number of the cargo 6 in the hold 5 is reduced, the remaining cargo 6 is scooped by the scooping unit 112 as a third step. In the third step, the scooping portion 112 needs to be moved to the position of the cargo 6 remaining in the hold 5. In the third step, it is necessary to move the scooping portion 112 near the bottom surface of the cabin 5. Therefore, the third step is performed by the operator operating the unloading apparatus 100 via the operation unit 220. Here, similarly, when a signal corresponding to the operation of the operation unit 220 is transmitted to the discharge device 100, the drive control unit 150 operates various drivers to drive the discharge device 100 in accordance with the operation of the operation unit 220.

In this way, the second step of the three steps when the cargo 6 is scooped by the unloading apparatus 100 can automate the unloading apparatus 100.

Therefore, as the automatic route, the route generating unit 160 makes the scooping unit 112 move further along the side wall of the ship tank 5 from the predetermined position of the scooping unit 112 shown by the solid line in fig. 14A. The scooping portion 112 is moved to a rotatable position with reference to the center axis of the lifter 110. Then, the scooping portion 112 is turned 90 degrees along the side wall of the ship tank 5. The scooping portion 112 is further moved along the side wall of the ship compartment 5. By repeating the above operation, the scooping portion 112 is moved 360 degrees along the side wall of the ship compartment 5. Further, the shovel depth was changed and the shovel was further moved several turns.

Finally, as shown in fig. 14B, after the scooping unit 112 is turned 90 degrees at the center of the cabin 5, it is moved along the center of the cabin 5. Thereby, the scooping portion 112 scoops the remaining cargo 6.

Here, the control device 200 can control the plurality of unloading devices 100 in parallel. Then, the operator who operates the operation unit 220 of the control device 200 selects one discharge device 100 as a target of remote operation, and performs the first step and the third step of the three steps described above on the selected discharge device 100. Then, the discharge device 100 capable of performing the second step is selected as the discharge device 100 to be automatically operated, and the discharge device 100 to be automatically operated is automatically operated.

When there is a discharge device 100 that is the target of the remote operation in the first step and the third step, the operator operates the operation unit 220 to select the discharge device 100 that is the target of the remote operation. The remote operation switching unit 212 determines the unloading apparatus 100 to be remotely operated according to the operation of the operation unit 220. The remote operation switching unit 212 establishes bidirectional communication with the discharge device 100 to be remotely operated via the communication device 240. However, the monitoring control unit 210 continues to receive data of the three-dimensional model and the distance information from the unloading apparatus 100 that is not the target of the remote operation.

The display switching unit 214 causes the display unit 230 to display images (the upper viewpoint image 500 and the shovel portion peripheral image 510) formed based on the data of the three-dimensional model and the distance information received from the unloading apparatus 100 that is the target of the remote operation. This makes it possible to easily grasp the status of the unloading apparatus 100 to be remotely operated.

When there is a discharge apparatus 100 to be subjected to the automatic operation in the second step, the operator operates the operation unit 220 to select the discharge apparatus 100 to be subjected to the automation. The remote operation switching unit 212 determines the unloading apparatus 100 to be automatically operated in accordance with the operation of the operation unit 220. Then, the remote operation switching unit 212 transmits an automation instruction command to the unloading apparatus 100 to be automatically operated. In the unloading apparatus 100, when the automation instruction command is received, the automatic operation command unit 162 causes the route generation unit 160 to generate the automatic route. Then, the drive control unit 150 drives the unloading apparatus 100 based on the automatic path.

When the automatic operation termination condition is satisfied or when an error occurs, the automatic operation termination determination unit 164 stops (limits) the driving of the unloading apparatus 100. As the automatic operation end condition, there are a case where the position of the scooping portion 112 is lower than the position determined by the automatic route, and a case where the scooping amount of the cargo 6 exceeds a preset amount.

The display switching unit 214 displays only the minimum information necessary for the automatic operation on the display unit 230 based on the three-dimensional model data and the distance information received from the unloading apparatus 100 in the automatic operation.

Further, with respect to the unloading device 100 in the automatic operation, the situation determination unit 216 predicts the time from the change in the height of the scooping portion 112, the average of the scooping amounts, and the like until the target height of the scooping portion 112 and the target scooping integrated amount are reached, for each unloading device 100. In addition, when there is a discharge apparatus 100 whose end time of the second step is close, the timing of the remote operation overlaps, and therefore the situation determination unit 216 issues a predetermined warning.

The state monitoring unit 158 derives the minimum distance and the direction in which the distance between the wall surfaces of the hatch coaming 7 and the cabin 5 and the elevator 110 and the scooping unit 112 is the minimum, based on the data of the three-dimensional model and the distance information transmitted from the unloading apparatus 100. When the derived minimum distance is equal to or less than the predetermined threshold value, the collision preventing unit 166 restricts (stops) the operation of the unloading apparatus 100 (collision preventing function). When the derived minimum distance is equal to or less than the predetermined threshold value, the collision preventing unit 166 may restrict the operation of the elevator 110 and the scooping unit 112 in the drawing direction. Thereby enabling an automatic operation of the unloading device 100 to be achieved more safely.

For example, while the operator is performing the first process on one discharge device 100, the remaining three discharge devices 100 are performed with the second process. Then, the operator transmits an automation instruction command to the unloading apparatus 100 after the first step is completed via the operation unit 220. Then, the operator performs the third step on the unloading device 100 after the second step is completed.

In this way, in the unloading system 1, a part of the plurality of processes is automated, so that the plurality of unloading apparatuses 100 can be controlled by one control apparatus 200. Thereby, the unloading system 1 enables a reduction of personnel. Further, the state monitoring unit 158 may stop the automation of the drive control unit 150 when the distance between the hatch coaming 7 and the lifter 110 and the distance between the scooping unit 112 and the wall surface of the cabin 5 are smaller than the distance at which the collision may occur.

While the embodiments have been described above with reference to the drawings, it is needless to say that the present disclosure is not limited to the embodiments. It is obvious to those skilled in the art that various modifications or alterations can be made within the scope described in the claims, and it is to be understood that such various modifications or alterations also fall within the technical scope.

For example, in the above embodiment, a single control device 200 controls a plurality of unloading devices 100. However, it is also possible to provide one control device 200 in relation to one discharge device 100. In this case, the discharge control unit 140 and the monitoring control unit 210 may be unified into one unit. Communication device 144 and communication device 240 may not be provided.

In the above embodiment, the unloading control unit 140 functions as a drive control unit 150, an edge detection unit 152, a coordinate conversion derivation unit 154, a model arrangement unit 156, a state monitoring unit 158, a route generation unit 160, an automatic operation command unit 162, an automatic operation end determination unit 164, and a collision avoidance unit 166. However, the monitoring control unit 210 may function as part or all of the drive control unit 150, the coordinate conversion derivation unit 154, the model arrangement unit 156, the state monitoring unit 158, the route generation unit 160, the automatic operation instruction unit 162, the automatic operation end determination unit 164, and the collision prevention unit 166.

In the above embodiment, the distance measuring sensors 130 to 132 are disposed on the top frame 108. However, the distance measuring sensors 130-132 may be disposed on the elevator 110. In the above embodiment, the distance measuring sensors 133 to 136 are disposed in the scooping portion 112. However, the distance measuring sensors 133 to 136 may be disposed on the half side of the lifter 110 close to the scooping portion 112.

Further, in the above-described embodiment, a part (cross section) of the three-dimensional model is displayed as the upper viewpoint image 500, but the measurement results (measurement points) measured by the distance measuring sensors 130 to 132 may be displayed as they are, and the straight line of the edge detected by the edge detecting unit 152 may be displayed as an image. That is, the upper viewpoint image 500 showing at least a part of the elevator 110, the scooping portion 112, the cabin 5, and the hatch coaming 7 may be displayed based on the measurement results measured by the distance measuring sensors 130 to 132.

In the above embodiment, a part (cross section) of the three-dimensional model is displayed as the scooping section peripheral image 510, but the measurement results (measurement points) measured by the distance measuring sensors 133 to 136 may be displayed as images as they are. That is, the scooping unit peripheral image 510 showing at least a part of the elevator 110, the scooping unit 112, and the hold 5 may be displayed based on the measurement results measured by the distance measuring sensors 133 to 136.

In the above-described embodiment, the unloading apparatus 100 is described as an example of the unloading apparatus. However, the unloading device may be a device having a mechanism for taking in by a crane, a continuous unloading device (a skip type, a belt type, a vertical screw conveyor type, or the like), a grab type unloading device, a pneumatic type unloading device, or the like.

In the above embodiment, three distance measuring sensors 130 to 132 are provided so as to be separated by 120 degrees in the circumferential direction of the lifter 110 and to measure within a constant angular range from the planar direction in contact with the cylinder. However, the number of the distance measuring sensors may be three or more. The distance measuring sensor does not need to be arranged to measure in the direction of a plane tangent to the cylinder, and may be arranged to be inclined with respect to the plane. At least one of the distance measuring sensors may be oriented in a direction that differs from the other distance measuring sensors by 45 degrees or more in the circumferential direction (on a plane including the circumferential direction). The distance measuring sensors may have different measurement ranges.

In the above embodiment, the vertical conveyance mechanism exemplified by the lifter 110 and the like is a mechanism that mainly conveys a load upward from the scooping unit 112, and is not strictly vertical.

Description of the symbols

100-unloading device (unloading device), 110-elevator (vertical conveying mechanism part), 112-scooping part, 130, 131, 132, 133, 134, 135, 136-distance measuring sensor, 152-edge detecting part, 154-coordinate transformation deriving part, 156-model arranging part, 158-state monitoring part, 166-collision preventing part, 230-display part.

Claims (12)

1. An unloading device is characterized by comprising:

an edge detection unit that detects an edge of an upper end of a hatch coaming provided in an upper portion of a cabin in a ship; and

a model arrangement unit that arranges at least a part of a three-dimensional model of the unloading device and at least a part of a three-dimensional model of the ship on the basis of a detection result of the edge detection unit,

a distance measuring sensor for measuring distances to a plurality of measuring points projected on the ship,

the edge detection unit derives a direction between the plurality of measurement points using the plurality of measurement points measured by the distance measurement sensor, extracts a measurement point in which the direction between the measurement points is a vertical direction, and extracts a point located at the uppermost side in the vertical direction as an edge point of the hatch coaming,

the edge detection unit divides the plurality of measurement points into two groups with respect to a vertically lower direction, and extracts an edge point of the hatch coaming from the measurement points included in each of the groups.

2. Unloading device according to claim 1,

the model arrangement unit is configured to arrange a three-dimensional model of a vertical transfer mechanism unit that holds a shovel unit that shovels a load in the cabin, and a three-dimensional model of the hatch coaming.

3. Unloading device according to claim 1 or 2,

the model arrangement unit is configured to arrange a three-dimensional model of a scooping unit for scooping the cargo in the ship compartment and a three-dimensional model of the ship compartment.

4. Unloading device according to claim 1 or 2,

a coordinate conversion derivation unit that derives edge information on each edge based on the edge detected by the edge detection unit, and derives conversion parameters of a coordinate system of the unloading device and a coordinate system of the ship cabin based on the derived edge information,

the model arrangement unit is configured to arrange at least a part of the three-dimensional model of the unloading apparatus and at least a part of the three-dimensional model of the ship using the conversion parameter derived by the coordinate conversion derivation unit.

5. The unloading device according to claim 1 or 2, characterized by comprising:

a state monitoring unit that derives a minimum distance between at least a part of the three-dimensional model of the unloading device and at least a part of the three-dimensional model of the ship and a direction of the minimum distance; and

and an anti-collision unit which restricts the operation of the unloading device when the minimum distance is equal to or less than a threshold value.

6. The unloading device according to claim 1 or 2, characterized by comprising:

a state monitoring unit that derives a minimum distance between at least a part of the three-dimensional model of the unloading device and at least a part of the three-dimensional model of the ship and a direction of the minimum distance; and

and a collision prevention unit which restricts the movement of the unloading device in the direction of the minimum distance when the minimum distance is equal to or less than a threshold value.

7. Unloading device according to claim 2,

the three-dimensional model display device is provided with a display unit for displaying the cross section of the three-dimensional model of the vertical conveying mechanism and the hatch coaming arranged by the model arrangement unit, and the distance between the vertical conveying mechanism and the hatch coaming.

8. Unloading device according to claim 4,

the coordinate conversion derivation unit associates a straight line of the edge of the hatch coaming with an upper edge of the three-dimensional model of the hatch coaming in the edge information based on the attitude of the unloading apparatus, and then derives the conversion parameter based on a positional relationship between the straight line of the edge and the upper edge after the association is established.

9. Unloading device according to claim 8,

the coordinate conversion derivation unit may represent, as a three-dimensional point group, a straight line of the edge of the hatch coaming formed based on the edge side information, and may derive the conversion parameter by minimizing a total value of distances between the three-dimensional point group and an upper side of a three-dimensional model of the hatch coaming.

10. Unloading device according to claim 8,

the coordinate conversion derivation unit modifies a direction of a straight line of the edge of the hatch coaming in the edge side information based on information acquired from a sensor that detects a posture of the unloading device.

11. Unloading device according to claim 8,

the distance measuring sensor includes: a distance measuring sensor capable of measuring a distance from an upper portion of the vertical conveying mechanism portion to a lower side; and a distance measuring sensor capable of measuring a distance to the side and the lower side of the scooping portion.

12. Unloading device according to claim 11,

a coordinate conversion derivation unit for deriving conversion parameters between the coordinate system of the unloading device and the coordinate system of the ship cabin based on the measurement result of a distance measurement sensor capable of measuring a distance from the upper portion of the vertical transportation mechanism unit to the lower side,

and a display unit that converts the measurement results of the distance sensors capable of measuring distances to the side and the lower side of the scooping unit into a coordinate system of the cabin using the conversion parameter, and displays the measurement results of the distance sensors capable of measuring distances to the side and the lower side of the scooping unit in the coordinate system of the cabin.

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