JP2001289612A - Method and instrument for measuring load capacity of carrying ship such as gat ship - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method and an instrument for measurement which automatically measure the load capacity of a carrying ship such as a gat ship speedily, securely, and safely. SOLUTION: Synchronous scans are made continuously from above by a couple of scanners 8 on both sides which are shifted in the front and rear, and right and left directions along the traveling direction of the carrying ship such as a gat ship to detect the pitching, rolling, and yawing of the carrying ship for carrying a necessary load, and also to measure the load surface height while reducing the measurement dead angle of the carrying ship. After a ship body swing is corrected with obtained measurement data and then coordinate calculation is performed to calculate the volume of the load by a necessary arithmetic means.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for measuring the amount of load such as stone and earth and sand on a carrier such as a gut ship.

[0002]

2. Description of the Related Art Conventionally, a carrier of this kind, such as a crane,
A gut ship equipped with a ship is used for loading and transporting stones to be used for land reclamation at sea, construction of seawalls during the construction of artificial islands, or foundations of offshore breakwaters. This is extremely important in performing construction management such as processes. For example, in order to measure the amount of stone loaded on a gut ship, as shown in FIGS. 7 and 8, a gut ship 1 with a crane beam 2 which has been stopped at a stone input site has been conventionally used.
Inspection personnel of the required number of people get in through the vessel 3 and divide the hold 4 of the gut ship 1 at equal intervals in the longitudinal and transverse directions, and measure each intersection point as a measurement point from the top of the hold 4 to the surface of the loading stone 5 The height H is sequentially measured by hand, and the amount of loaded stone is calculated by the average section method based on the measured data.

[0003]

Conventionally, as described above, the amount of stone material loaded on the gut ship 1 is manually measured as described above, so that the measurement operation is very troublesome and troublesome, and the operation efficiency is extremely low. Not only is it bad, but too many measurement points cannot be set, and it is inevitable that the measurement accuracy is reduced. In addition, there is a problem in terms of safety, in combination with the fact that the working platform at the time of measurement is very bad.

[0004] Regarding the measurement of the amount of sediment loaded on a barge that transports sediment to be used for landfilling and other works, the height of the barge loading surface and the operating position of the barge are measured by an optical distance meter. An apparatus (see JP-A-2-263106) is disclosed, but has the following problems. Since the barge must have a prism,
Not only does it cost extra, but the prism must always be cleaned. It requires a large amount of money because it requires three rangefinders for measuring the prism and the personnel who operate it. It takes time to measure the position of the prism. Measurement errors occur due to measurement blind spots caused by the swinging of the hull of the navigating barge and the attached crane beam, and it is difficult to always expect sufficient measurement accuracy.

The present invention solves the problems of the conventional example at a glance, and makes it possible to quickly reduce the amount of load on a carrier such as a gut ship.
It is another object of the present invention to provide a measuring method and an apparatus for automatically and surely automatically measuring.

[0006]

That is, according to the first aspect of the present invention, at least a pair of scanners arranged at least on both sides of a carrier, such as a gut ship, which are displaced to the front, rear, left and right with respect to the traveling direction, continuously from above. Simultaneous scanning is performed to detect pitching, rolling, and yawing of the carrier on which the required load is loaded, and to measure the height of the load while reducing the blind spot measured by the crane beam. A method of measuring the amount of cargo on a carrier ship such as a gut ship, characterized in that the hull sway is corrected from the measured data obtained, the coordinates are calculated, and the volume of the cargo is calculated and processed by required arithmetic means. It is an abstract.

According to a second aspect of the present invention, there is provided a scanner having at least a pair of scanners disposed at a predetermined interval above a navigation route for scanning and measuring the height of a load on a carrier such as a gut ship. The scanner comprises required calculation means for calculating the coordinates of the cargo on the carrier by performing coordinate calculations based on the measurement data of the scanners. The pair of scanners on both sides are arranged so as to be shifted to the front, rear, left and right with respect to the traveling direction of the carrier. The gist of the present invention is a device for measuring the amount of load on a carrier such as a gut ship.

[0008]

Embodiments of the present invention will be described below with reference to an embodiment shown in the drawings. FIG. 1 is a perspective view showing an embodiment of the present invention. In the figure, reference numeral 6 denotes an inverted L-shape having a required height and standing on a required structure 7 along a route of the gut ship 1. The gantry 8 is a pair of non-prism laser scanners 8 on both sides attached to the tip of the gantry 6, and the non-prism laser scanners 8 on both sides are respectively displaced to the front, rear, left and right with respect to the traveling direction of the gut 1. Has been established. The other parts are the same as those of the conventional example, and the same reference numerals indicate the same parts.

Next, the operation of the embodiment constructed as described above will be described with reference to FIGS. First, when the gut ship 1 loaded with the stones 5 approaches the measurement position, the ship name or registration number of the gut ship 1 is automatically recognized and input to the computer for calculation, or the measuring person visually confirms the ship name. Enter the ship name or registration number into the computer for calculation. In addition,
At this time, before measurement, the ship name of the gut ship or the registration number The data of the dimensions of the hold 4 and the dimensions of the crane beam 2 are registered in advance in the computer for calculation for each gut ship 1. Then, when the gut ship 1 further advances and reaches below the non-prism laser scanner 8, scanning starts in a direction Y orthogonal to the traveling direction X of the gut ship 1, and the gut ship 1 1
The vertical distance H to the surface of the loading stone 5 and the vertical distance Ho to the deck are respectively measured (see FIGS. 1 to 3). At this time, the non-prism laser scanners 8 on both sides are arranged on the left and right with respect to the traveling direction X of the gut ship 1, so that the blind spot measured by the crane beam 2 is significantly reduced, and scanning is performed over a wide range. Not only can be performed, but also is arranged so as to be shifted back and forth with respect to the traveling direction X, so that the hull of the gut ship 1, ie, pitching, rolling, and yawing, is reliably detected. I can do it. When the gut ship 1 has passed through the measurement route and the measurement of the loaded stone 5 has been completed, the measurement operation is completed.
Then, the measurement data of the non-prism laser scanner 8 is input to a personal computer for calculation, and the loaded stone 5 of the gut ship 1 is calculated.

When the measurement by the non-prism laser scanner 8 is completed, first, the pitching angle αp, the rolling angle αr, and the yawing angle αy are obtained from the obtained measurement data, and the hull of the gut ship 1 is obtained. Correct the fluctuation.

As shown in FIG. 4, the pitching angle αp is defined as the distance between the non-prism laser scanners 8 on both sides as Dx, the non-prism laser scanner 8 on both sides and the gut 1 as shown in FIG.
The vertical distance from the top of the hold 4 to the longitudinal direction of the
₁ and Hc _2, and is calculated from the equation αp = tan ⁻¹ {(Hc ₂ −Hc ₁ ) / Dx}.

[0012] b - Ring angle αr Russia - ring angle αr, as shown in FIG. 5, Nonpurizumure - The - the width of the hold 4 scanner 8 has detected with the L _1, one Nonpurizumure - The - scanner 8 The distance between the ship and both sides of the hold 4 is defined as Ha ₁ and Hb ₁ , respectively, and is obtained from the equation αr = Sin ⁻¹ {(Hb ₁ −Ha ₁ ) / L ₁ }.

The yawing angle αy The yawing angle αy is, as shown in FIG.
Of the width L ₂ of the hold 4, Nonpurizumure - The - obtained from equation the width of the hold 4 scanner 8 detects an ^{_{L 1 αy = Cos -1 (L}} 2 / L 1).

When the correction of the sway of the hull is completed, the three-dimensional coordinates of the surface of the stone 5 loaded on the gut 1 are calculated and obtained based on the corrected measurement data. The crane beam 2 part deletes the crane beam 2 data by comparing the measured coordinate value with the previously input crane beam 2 data. The data missing portion on the surface of the stone 5 is interpolated by the spline method from the coordinates before and after. At this time, the measurement data is measured by remarkably reducing the blind spot of the crane beam 2 by the non-prism laser scanners 8 on both sides which are disposed on the left and right with respect to the traveling direction of the gut ship 1. Thus, data loss due to the crane beam 2 can be accurately interpolated.

Next, the amount of loaded stone is calculated by the following weighted average method.

Average Height of Loading Stone 5 As shown in FIG. 2, the height Z from the bottom of the hold to the surface of loading stone 5 is Z = Z ₀ + (H ₀ −H). Z ₀ : vertical distance from the bottom of the hold to the deck H ₀ : vertical distance from the non-prism laser scanner 8 to the deck (measured value) H: vertical distance from the non-prism laser scanner 8 to the stone 5 ( (Measured value). The average height of the loading stone 5 is It is. Here, as shown in FIG. 2 and FIG. In the formula, i: line number j: point number N: total number of points m: number of points in one line n: number of lines in one measurement w: point interval W: sum of point intervals z : Indicates measurement point data (stone height).

5 Quantity of Loading Stone Material 5 quantity of loading stone material V is V = (Vs ₁ + Vs ₂ ) / 2. Here, Vs is the amount of loaded stone 5 calculated based on the measurement value of each non-prism laser scanner 8, and Vs is In the formula, S indicates the area of the hold.

In the above embodiment, a pair of non-prism laser scanners 8 are shown on both sides as a scanner. However, the present invention is not limited to this, and a known scanner similar to this may be used. In addition, the number may be increased as necessary. In addition, loading stone 5
Is calculated by the weighted average method, but a known calculation method such as a triangular mesh method, polynomial approximation, or Gaussian function approximation may be employed. Further, although the embodiment measures the amount of the loaded stone 5 on the gut ship 1, it can be applied to the measurement of the amount of sediment on a barge ship and the measurement of the amount of load on another carrier. It is.

[0019]

Since the present invention is constructed as described above, it is continuously synchronized from above by a pair of scanners at least on both sides which are arranged to be shifted to the front, rear, left and right with respect to the traveling direction of a carrier such as a gut ship. Scanning and detecting the pitching, rolling, and yawing of the carrier loaded with the required load, and measuring the height of the load on the carrier over a wide range while reducing blind spots measured by the boom. Can do that. For this reason, not only can the fluctuation of the carrier during the measurement be corrected at all times to reduce the measurement error, but also the data loss due to the crane beam during the arithmetic processing can be reliably interpolated. As a result, as compared with the conventional example, it is possible to quickly, reliably and safely measure the amount of load on the carrier ship.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an embodiment of the present invention together with a use state.

FIG. 2 shows a double-sided non-prism laser scanner 8 according to the embodiment.
FIG. 5 is a schematic side view showing a scanning state according to FIG.

FIG. 3 shows a double-sided non-prism laser scanner 8 according to the embodiment.
FIG. 3 is a schematic plan view showing scanning points according to the first embodiment.

FIG. 4 shows a double-sided non-prism laser scanner 8 according to the embodiment.
It is a schematic side view which shows the detection state of the pitching in the gut ship 1 by.

FIG. 5 shows a double-sided non-prism laser scanner 8 of the embodiment.
FIG. 3 is a schematic front view showing a detection state of rolling in the gut ship 1.

FIG. 6 shows a double-sided non-prism laser scanner 8 according to the embodiment.
FIG. 3 is a schematic plan view showing a detected state of yawing in the gut ship 1.

FIG. 7 is a perspective view showing a conventional example.

FIG. 8 is a cross-sectional view showing a measurement state of a conventional example.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Gut ship 2 Crane beam 5 Stone material 8 Non-prism laser scanner

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 2F014 AA05 AB01 FA01 2F065 AA04 AA06 AA24 AA31 AA37 AA52 AA59 BB05 CC00 DD06 EE00 FF09 FF24 GG13 HH14 JJ01 JJ05 MM03 MM11 PP05 PP11 PP22 QQ00 QQ23 QQ27

Claims (2)

[Claims] 1. A transport ship in which a required load is loaded by carrying out synchronous scanning continuously from above by means of at least a pair of scanners arranged on both sides of the carrier which are displaced to the front, rear, left and right with respect to the traveling direction of a transport ship such as a gut ship. pitching·
Detect rolling and yawing, and
The height of the load is measured while reducing the blind spot, and the hull sway is corrected based on the obtained measurement data.Then, coordinate calculation is performed and the volume of the load is calculated by required calculation means. A method for measuring the amount of load on a carrier such as a gut ship, which is characterized by being processed. 2. A pair of scanners at least on both sides disposed at a predetermined interval above a seaway to scan and measure the height of the load of a carrier such as a gut ship, and measurement data of each of the scanners. And a required calculating means for calculating the coordinate of the cargo volume by carrying out the coordinate calculation, and the pair of scanners on both sides are arranged so as to be shifted to the front, rear, left and right with respect to the traveling direction of the carrier. A device for measuring the load on a carrier such as a gut ship.