JP2000264577A - Loading condition monitoring device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To give an operator the information from the position where as if a sign man were monitoring in a ship hold ideally even though no sign man exists actually. SOLUTION: A loading machine position sensor 31 senses the positions of a horizontal excavation part and vertical transport part of a loading machine. A machine dimension setting device 34 supplies the first data indicating the shape of the loading machine. A figure processing computer 36 graphically processes the loading machine in the first three-dimensional figure including the positional information on the basis of the first data and the result of sensing by the position sensor 31. A ship position sensor 32 senses the position of the ship hold relative to the loading machine. A ship shape data selector 35 supplies the second data indicating the shape of the hold. The figure processing computer 36 graphically processes the ship hold in the second three-dimensional figure including the positional information of the hold on the basis of the second data and the result of sensing by the ship position sensor 32. A display 37 displays the first and second three-dimensional figures as displayed figures.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cargo handling condition monitoring device for monitoring the condition of a cargo handling machine, and more particularly, to unloading a cargo by inserting a vertical transport unit such as a bucket elevator into a hold like a continuous unloader. The present invention relates to an in-cargo monitoring device for a cargo handling machine that performs an operation.

[0002]

2. Description of the Related Art As is well known, a continuous unloader (landing machine) of this type is a loading and unloading machine that puts a vertical transport unit such as a bucket elevator in a hold of a ship and wholesales a load (for example, coal). is there. In such a cargo handling machine, it is necessary to monitor the approach between the hold and the machine body in the cab.

[0003] Conventionally, as this kind of monitoring equipment in a hold,
An industrial television camera (hereinafter, referred to as "ITV") is attached to the vertical transport unit for monitoring.

[0004]

However, the ITV
Is fixedly installed in the vertical transport unit, so its field of view is limited. In addition, it is physically difficult to mount the ITV at a position for monitoring the deviation between the above-mentioned hold and the machine body that one actually wants to see. For this reason, conventionally, a signaling man has communicated the operation status of the cargo handling machine to the driver while moving in the hatch or in the hold according to the cargo handling, and the driver operates in accordance with the notified operating status.

Therefore, the signal man must always instruct the driver on the optimal next movement. For example, a signaling man monitors the hatch and post, the ship wall and the tip of the horizontal excavation. If the cargo is coal, the signaling man monitors the cutting and collapse of the coal. To do so, the signaling man must go up and down the hatch mouth, move over the coal with the horizontal digging section, and work in coal dust. Thus, it can be said that the operation of the signaling man is a so-called 3K operation.

Accordingly, an object of the present invention is to provide a cargo handling state monitoring device capable of transmitting information from a position ideally monitored in a hold to a driver as if the signaling man was not actually present. Is to provide.

[0007]

The present invention employs the following technical structure to achieve the above object.

That is, according to the present invention, there is provided a cargo handling state monitoring device for monitoring a state of a cargo handling machine, comprising: a cargo handling machine position detecting means for detecting a position of a horizontal excavation section and a vertical transport section of the cargo handling machine. Means for supplying first data indicative of the shape of the cargo handling machine, and a device including the position information of the cargo handling machine based on the first data and the detection result of the cargo handling machine position detecting means. A first figure-forming means for making a figure in one three-dimensional figure, a hold position detecting means for detecting a hold position of the ship with respect to the cargo handling machine, and a means for supplying second data indicating the shape of the ship's hold; Based on the second data and the detection result of the hold position detection means, a second figure-forming means for drawing the hold of the ship in a second three-dimensional figure including the position information thereof; The first three-dimensional figure and the second three-dimensional figure Load state monitoring device is obtained, characterized in that it comprises a display for displaying a graphic display.

[0009] In the above-mentioned cargo handling state monitoring device, it is preferable that the apparatus further includes a means for moving a visual point of the display on the display together with the horizontal excavation part in a space around the horizontal excavation part. Further, it is preferable that the apparatus further includes means for enlarging or reducing the display figure. Further, it is preferable that the display device further includes a unit for moving a viewpoint in graphic form on the display device up, down, left, and right. Further, the apparatus may further include means for detecting a cargo shape, and the digging cargo handling surface may be stereoscopically displayed on the display together with the display figure. Further, the apparatus may further include means for calculating an approach distance between the tip of the horizontal excavation section and the wall surface of the ship, and the approach distance may be numerically displayed on the display.

[0010]

[Function] Since the cargo handling machine and the hold are displayed three-dimensionally, the driver can visually recognize the driving situation as if the signal man were watching, even if there was no signal man.

[0011]

Embodiments of the present invention will be described below in detail with reference to the drawings.

First, with reference to FIG. 2, a continuous unloader (loading machine) to which a loading state monitoring device according to an embodiment of the present invention is applied will be described.

On a quay 12 on which a ship 11 berths and anchors, a continuous unloader 14 running on a running rail 13
Is provided. The continuous unloader 14 includes a traveling platform 15 traveling on a traveling rail 13, a turning frame 16 installed on the traveling platform 15, and a turning frame 16.
, A bucket elevator (BE) 18 provided at the tip of the boom 17, and a horizontal excavation section (scraping section) 19 extending horizontally at the lower end of the bucket elevator 18. It is configured. The bucket elevator 18 is also called a vertical transport unit.

In the continuous unloader 14 having such a configuration, the traveling operation as indicated by the arrow A, the traversing operation as indicated by the arrow B, the boom undulating operation as indicated by the arrow C, and the arrow D
Boom swiveling operation as indicated by, BE as indicated by arrow E
A turning operation, a BE swing operation as indicated by an arrow F, and a BE tilting operation as indicated by an arrow G can be performed.

The operator cab 20 is installed on the side of the upper end 18a of the bucket elevator 18, as shown in FIG. For this reason, it is difficult to grasp from the cab 20 what kind of state (state) the tip 19 a of the horizontal excavating portion (scraping portion) 19 is now in relation to the hold of the ship 11. is there. In other words, the shift between the hold of the ship 11 and the tip portion 19a of the horizontal excavation portion (scraping portion) 19 is moved to the cab 2
It is almost impossible for the driver to monitor directly within zero.

For this reason, conventionally, as described above, an industrial television camera (ITV) is attached to the bucket elevator 18 which is a vertical transport unit for monitoring. However, since the ITV is fixedly installed, its field of view is limited. Also, the ITV cannot be physically attached to the position where the user actually wants to watch the above-mentioned approach. For this reason, at present, the signaling man communicates the operation status to the driver in the cab 20 while moving on the hatch or in the hold according to cargo handling. The driver operates the continuous unloader 14 in accordance with the operation status.

According to the present invention, even if the signal man is not actually on the hatch or in the hold, the operating condition that is presumed to be as if the signal man is looking at is indicated by the indicator ( (Described later).

Referring to FIG. 1, a cargo handling state monitoring apparatus according to an embodiment of the present invention will be described. The illustrated cargo handling state monitoring device 30 is a cargo handling machine (continuous unloader) 14.
For monitoring the status of the cargo handling machine, the cargo handling machine position detector 31, the ship position detector 32, and the drive sequencer 3
3, a machine size setting device 34, and a boat shape data selector 35
, A graphic processing computer 36, and a display 37.

The loading machine position detector 31 detects the positions of the horizontal digging section (scraping section) 19 and the vertical transport section (bucket elevator) 18 of the loading machine (continuous unloader) 14. Therefore, the cargo handling machine position detector 3
Reference numeral 1 denotes a boom undulation (arrow C in FIG. 2), a boom swing (arrow D in FIG. 2), a BE swing (arrow E in FIG. 2), a BE swing (arrow F in FIG. 2), and traveling (see FIG. 2 arrow A) and the like are detected. Further, as a detector for detecting these, a detector (not shown) which has been conventionally attached to the cargo handling machine (continuous unloader) 14 can be used.

The ship position detector 32 detects the hold position of the ship 11 with respect to the cargo handling machine 14. The ship position detector 32 is described in, for example,
The one disclosed in JP 8736 may be used. Alternatively, the ship position detector 32 may move the horizontal excavation unit 19 to a predetermined position on the ship 11 and recognize the position via the continuous unloader 14.

The drive sequencer 33 receives the position detection signal of the cargo handling machine from the cargo handling machine position detector 31 and the ship position detection signal from the ship position detector 32, and performs graphic processing on the machine position information and the ship position information. The data is supplied to the computer 36.

The machine size setting unit 34 sets machine shape data indicating the shape of the cargo handling machine (continuous unloader) 14 to the graphic processing computer 36. The ship shape data selector 35 selects ship shape data indicating the hold shape of the ship 11 and supplies it to the graphic processing computer 36. Here, the machine shape data is called first data, and the ship shape data is called second data.

The graphic processing computer 36 has the following 2
And two graphic means (not shown). That is,
The first graphic unit is a machine shape data (first data)
The cargo handling machine 14 is formed into a first three-dimensional figure including the position information based on the position information and the machine position information. The second graphic unit, based on the ship shape data (second data) and the ship position information, figures out the hold of the ship 11 with a second three-dimensional figure including the position information. The display 37 displays the first three-dimensional figure and the second three-dimensional figure as display figures.

The graphic processing computer 36 is connected to the display 3
7 is provided with means (not shown) for moving the viewpoint at the time of graphic formation together with the horizontal excavation unit 19 in the space around the horizontal excavation unit 19. Further, the graphic processing computer 36 may include means (not shown) for enlarging or reducing the first and second three-dimensional graphics. Further, the graphic processing computer 36
Means (not shown) for moving the viewpoint vertically and horizontally in space may be provided. By freely moving the viewpoint in this way, it is possible to monitor from the excavation direction of the horizontal excavation unit 19 and to monitor from the direction after excavation.

Further, the cargo handling state monitoring device 30 may be provided with a means (not shown) for detecting the cargo shape.
In this case, the graphic processing computer 36 stereoscopically displays the excavation cargo handling surface on the display 37 together with the first and second three-dimensional graphics.

The graphic processing computer 36 may include means (not shown) for calculating the approach distance between the tip portion 19a of the horizontal excavation section 19 and the wall of the boat 11. In this case, the graphic processing computer 36 displays the approach distance on the display 37.
Numeric display above.

As described above, according to the present invention, the approaching state between the hold and the machine body is immediately converted into a three-dimensional figure, and the viewpoint of the figure is changed.
Since the cargo handling machine 14 is moved relative to the cargo handling machine 14 in the space (plane) around the cargo handling machine 14 or the cargo handling machine 14, even though the signaling man 22 is not actually there, as shown in FIG. Instead, from the position where the signal man 22 is there and ideally monitored in the hold of the ship 11, the state of deviation between the hold and the machine body can be displayed on the display 37, and the driver can display it. You can see it.

Further, as shown in FIG.
It can also be set at any position on the XY plane and height. Further, by fixing the relative position of the viewpoint with respect to the cargo handling machine 14, the viewpoint can be freely moved together with the movement of the cargo handling machine 14.

FIGS. 5 and 6 show examples of three-dimensional figures displayed on the display 37. FIG.

Although the present invention has been described with reference to the preferred embodiment, the present invention is not limited to the above-described embodiment, and various modifications and changes can be made without departing from the spirit of the present invention. Nor.

[0031]

As described above, in the present invention, the cargo handling machine and the hold are displayed in a three-dimensional figure, so that even if there is no signal man, the driver can move the cargo hold and the machine body closer to the cab. Monitoring.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a configuration of a cargo handling state monitoring device according to an embodiment of the present invention.

FIG. 2 is a perspective view showing a configuration of a cargo handling machine (continuous unloader) to which the cargo handling status monitoring device shown in FIG. 1 is applied.

FIG. 3 is a schematic sectional view for explaining a viewpoint on a display of the cargo handling state monitoring device shown in FIG. 1;

4A and 4B are a plan view and a schematic cross-sectional view for explaining movement of a viewpoint on a display of the cargo handling state monitoring device shown in FIG.

5 is a diagram showing an example of a three-dimensional figure displayed on a display of the cargo handling state monitoring device shown in FIG.

FIG. 6 is a diagram showing another example of the three-dimensional figure displayed on the display of the cargo handling state monitoring device shown in FIG. 1;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 11 Ship 12 Wharf 13 Running rail 14 Continuous unloader (loading machine) 15 Traveling stand 16 Revolving frame 17 Boom 18 Bucket elevator (vertical conveyance part) 19 Horizontal excavation part (scraping part) 30 Cargo handling state monitoring device 31 Detection of cargo handling machine position Device 32 ship position detector 33 drive sequencer 34 machine dimension setting device 35 ship shape data selector 36 graphic processing computer 37 display

Claims (6)

[Claims] 1. A cargo handling state monitoring device for monitoring a state of a cargo handling machine, comprising: a cargo handling machine position detecting means for detecting a position of a horizontal excavation unit and a vertical transport unit of the cargo handling machine; and a shape of the cargo handling machine. Means for supplying first data indicating the following; and, based on the first data and the detection result of the cargo machine position detecting means, the cargo handling machine is represented by a first three-dimensional figure including its position information. A first figure-forming means for converting, a hold position detecting means for detecting a hold position of the ship with respect to the cargo handling machine, a means for supplying second data indicating a hold shape of the ship, and the second data. Based on the detection result of the hold position detection means, the hold of the ship is stored in a second position including its position information.
2. A cargo handling state monitoring device, comprising: a second figure-forming unit that forms a figure with a three-dimensional figure; and a display that displays the first three-dimensional figure and the second three-dimensional figure as display figures. 2. A viewpoint in a graphic form on the display unit,
2. The apparatus according to claim 1, further comprising: means for moving together with the horizontal excavation part in a space around the horizontal excavation part.
The cargo handling state monitoring device according to item 1. 3. The cargo handling state monitoring device according to claim 1, further comprising means for enlarging or reducing the display figure. 4. A viewpoint in graphic form on the display device,
The cargo handling state monitoring device according to claim 1, further comprising: means for moving up, down, left, and right. 5. The cargo handling state monitoring device according to claim 1, further comprising means for detecting a cargo shape, wherein a digging cargo handling surface is three-dimensionally displayed on the display together with the display figure. 6. The apparatus according to claim 1, further comprising: means for calculating an approach distance between the tip of the horizontal excavation section and a wall surface of the ship, wherein the approach distance is numerically displayed on the display. Cargo handling status monitoring device as described in the above.