JP2012193030A - Raw material yard management system, raw material yard management method and computer program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately manage the shape of a heap of a raw material in a raw material yard in comparison with a conventional way.SOLUTION: Stereo cameras 201a, 201b, and 201c for measuring information which specifies the position of a surface of a heap 102 of the raw material are fitted to a boom 114 of a stacker 104. A GPS antenna 203 for measuring information which specifies the position of the stereo cameras 201a, 201b and 201c is fitted to the boom 114 of the stacker 104. An inclination meter 202 for measuring information which specifies the measuring direction of the stereo cameras 201a, 201b, and 201c is fitted to the boom 114 of the stacker 104. In a state of directing the boom 114 of the stacker 104 in a plane direction of a y-z plane, these measurement are performed, and based on results of these measurements, the shape of the surface of the heap 102 of the raw material is obtained.

Description

  The present invention relates to a raw material yard management system, a raw material yard management method, and a computer program, and is particularly suitable for use in managing a raw material pile in a raw material yard.

  For example, at a steelworks, raw materials such as iron ore and coal of various types and brands that have been transported by large ships are unloaded at the raw material quay, and the unloaded materials are mixed by type and brand using a stacker. The raw material yard is loaded as a separate raw material pile. The raw material stacked in the raw material yard is discharged from the raw material pile by a reclaimer (dispensing machine) according to the operation schedule, and is passed to a subsequent process such as a sintering factory or a blast furnace factory. In this way, in the raw material yard, raw material is loaded and discharged according to the operation schedule, and the shape of the raw material mountain changes from moment to moment, so it is possible to monitor the shape of the raw material mountain in real time. It is important for the management of materials and the efficient operation of the raw material yard.

As a technique for managing the shape of the raw material pile, there is a technique described in Patent Document 1. In the technique described in Patent Document 1, information on the stacker traveling position, the pivoting position of the stacker boom, the stacking height of the raw material pile, and the angle of repose of the raw material grains is input, and based on these, the conical region The three-dimensional shape of the raw material mountain is calculated as follows. Further, when the raw material is discharged from the raw material pile, information on the reclaimer operation locus is input, and based on the information, the three-dimensional shape of the raw material pile is corrected.
Moreover, there exists a technique of patent document 2 as a technique of managing the shape of a raw material pile. In the technique described in Patent Document 2, the position of the raw material (start point, end point) stacked in the raw material yard by the stacker and the position of the raw material dispensed by the reclaimer (start point, end point) are received for each work unit and received. Based on the information, the shape and stock quantity of the raw material pile are calculated.

Japanese Patent Laid-Open No. 11-268834 Japanese Patent Laid-Open No. 4-251033

By the way, in the reclaimer, the entire amount of the raw material of the raw material pile cannot be paid out, and a part of the raw material may remain. Therefore, the remaining raw materials are collected with a bulldozer, etc., and a small mountain is made and re-stacked. In such a case, the shape of the raw material pile changes from the time of stacking. In addition, the shape of the raw material pile changes from the time of loading due to natural phenomena such as rain and wind.
However, in the technique described in Patent Document 1, the shape of the raw material mountain is estimated on the assumption that the raw material mountain has an ideal conical shape. Therefore, in the technique described in Patent Document 1, the shape of the raw material pile cannot be accurately managed unless the shape of the raw material mountain is an ideal conical shape (if the shape of the raw material mountain changes from the time of stacking). In the technique described in Patent Document 2, since the shape of the raw material pile is calculated from the working position of the stacker and the reclaimer, if the shape of the raw material pile changes due to a factor other than the discharge by the reclaimer after loading, The shape cannot be grasped accurately. Thus, if the shape of the raw material pile cannot be accurately grasped, not only the shape of the raw material mountain but also the volume of the raw material mountain is calculated from the shape of the raw material mountain, for example, and the stock amount of the raw material in the raw material yard is also calculated. It is difficult to accurately grasp and manage. That is, accurate information cannot be obtained as information that needs to be managed in operating the raw material of the raw material mountain, such as the shape and stock quantity of the raw material mountain in the raw material yard. This makes it difficult to plan the placement of raw materials that effectively use the yard area.

  The present invention has been made in view of the above problems, and is capable of accurately managing the operation of the raw material yard by grasping the shape of the raw material mountain in the raw material yard more accurately than before. Objective.

The raw material yard management system of the present invention is a heavy machine capable of positioning a boom above the raw material pile stacked in the raw material yard, and can be moved in the longitudinal direction of the raw material pile. A raw material pile measuring device that is attached to a predetermined position of the boom and measures information for specifying the position of the surface of the raw material pile, and a position of the raw material pile measuring device that is attached to the predetermined position of the boom. A position measuring device that measures information for specifying, a direction measuring device that is attached to a predetermined position of the boom, and that measures information for specifying the measuring direction of the raw material yard in the raw material pile measuring device; Using the information measured by the raw material mountain measuring device, the information measured by the position measuring device, and the information measured by the direction measuring device, the shape of the raw material mountain is measured. And having a that measuring means.
In another embodiment of the raw material yard management system according to the present invention, the raw material stock that calculates the stock amount of the raw material mountain by calculating the volume of the raw material mountain from the shape of the raw material mountain measured by the measuring means. It has quantity calculation means.
Further, in another embodiment of the raw material yard management system of the present invention, the heavy machinery or a reclaimer as a heavy machinery different from the heavy machinery, and a conveying device that conveys the raw material discharged by the reclaimer to a subsequent process, The stock pile calculation means subtracts the amount transported by the transport device from the stock amount based on the stock pile volume calculated by the stock pile volume calculation means, The stock quantity is updated.
In another embodiment of the raw material yard management system of the present invention, when the reclaimer as the heavy machine or a heavy machine different from the heavy machine and the discharge of the raw material from the raw material pile by the reclaimer are performed, Among these, the payout range calculation means for calculating the range where the excavation part of the reclaimer was present, and the range calculated by the payout range calculation means from the shape of the raw material pile measured by the measurement means And a raw material mountain shape correcting means for correcting the shape of the raw material mountain.
In another embodiment of the raw material yard management system according to the present invention, the raw material stock that calculates the stock amount of the raw material mountain by calculating the volume of the raw material mountain from the shape of the raw material mountain measured by the measuring means. A raw material pile inventory amount calculating means that calculates a volume based on the corrected raw material pile shape when the raw material pile shape correcting means corrects the raw material pile shape; It is characterized by calculating the stock quantity of the mountain.
In another embodiment of the raw material yard management system of the present invention, the raw material yard management system includes a control unit that controls the operation of the boom of the heavy machinery, and the control unit includes the raw material mountain measuring device, the position measuring device, and the direction. While the measurement is being performed by the measuring device, the extending direction of the boom of the heavy machinery is a plane determined by the direction perpendicular to the longitudinal direction and the height direction of the raw material yard and the height direction of the raw material yard. The operation of the boom of the heavy machinery is controlled so as to face the surface direction.
In another embodiment of the raw material yard management system of the present invention, the heavy machinery is a stacker.
In another example of the raw material yard management system of the present invention, the position measuring device measures its own position as information for specifying the position of the raw material mountain measuring device, and the direction measuring device is In the raw material pile measuring device, as information for specifying the measurement direction of the raw material yard, the elevation angle of the boom is measured, and the measurement means includes information indicating the length of the extending direction of the boom, and The shape of the raw material mountain is measured by further using information indicating a positional relationship between the position measuring device and the raw material mountain measuring device and information indicating an installation direction of the raw material mountain measuring device.
In another embodiment of the raw material yard management system of the present invention, the raw material hill measuring device, the position measuring device, and the direction measuring device perform measurement after the operation of the heavy machinery operating in the raw material yard is completed. It operates in the operation priority mode.
In another embodiment of the raw material yard management system of the present invention, the raw material hill measuring device, the position measuring device, and the direction measuring device perform measurement after the operation of the heavy machinery operating in the raw material yard is interrupted. It operates in the measurement priority mode.

The raw material yard management method of the present invention is a heavy machine capable of positioning a boom above a raw material pile stacked in the raw material yard, and uses a heavy machine capable of moving in the longitudinal direction of the raw material pile. A raw material yard management method for managing a raw material hill in a raw material yard, wherein information for specifying the position of the surface of the raw material hill is measured by a raw material hill measuring device attached to a predetermined position of the boom. A raw material pile measuring step, a position measuring step of measuring information for specifying the position of the raw material pile measuring device by a position measuring device attached to a predetermined position of the boom, and a predetermined position of the boom A direction measuring step for measuring information for specifying a measuring direction of the raw material yard in the raw material mountain measuring device by the attached direction measuring device, and the raw material mountain measuring step Using the measured information, the information measured in the position measuring step, and the information measured in the direction measuring step, and measuring the shape of the raw material pile, To do.
Further, in another embodiment of the raw material yard management method of the present invention, the raw material stock that calculates the stock amount of the raw material mountain by calculating the volume of the raw material mountain from the shape of the raw material mountain measured by the measuring step It has the quantity calculation process, It is characterized by the above-mentioned.
Further, in another embodiment of the raw material yard management method of the present invention, the raw material pile inventory amount calculating step includes, based on the inventory amount based on the raw material pile volume calculated by the raw material pile volume calculating means, the heavy machinery, or the The stock quantity of the raw material pile is updated by subtracting the amount transported by the transport device for transporting the raw material paid out by a reclaimer as a heavy machine different from the heavy machine to a subsequent process.
Further, in another embodiment of the raw material yard management method of the present invention, when the raw material is discharged from the raw material pile by the reclaimer as the heavy equipment or the heavy equipment different from the heavy equipment, By removing the range calculated by the payout range calculation step from the shape of the raw material pile measured by the measurement step and the payout range calculation step for calculating the range where the excavation part of the reclaimer existed, And a raw material mountain shape correcting step for correcting the shape of the material.
Further, in another embodiment of the raw material yard management method of the present invention, the raw material stock that calculates the stock amount of the raw material mountain by calculating the volume of the raw material mountain from the shape of the raw material mountain measured by the measuring step A raw material pile inventory amount calculating step, when the raw material pile shape correction step corrects the raw material pile shape, the raw material pile inventory amount calculating step calculates a volume based on the corrected raw material pile shape and calculates the raw material It is characterized by calculating the stock quantity of the mountain.
In another embodiment of the raw material yard management method of the present invention, the raw material yard management method includes a control step of controlling the operation of the boom of the heavy machinery, and the control step includes the raw material pile measuring device, the position measuring device, and the direction. While the measurement is being performed by the measuring device, the extending direction of the boom of the heavy machinery is a plane determined by the direction perpendicular to the longitudinal direction and the height direction of the raw material yard and the height direction of the raw material yard. The operation of the boom of the heavy machinery is controlled so as to face the surface direction.
In another embodiment of the raw material yard management method of the present invention, the heavy machinery is a stacker.
In another aspect of the raw material yard management method of the present invention, the position measuring step measures the position of the position measuring device as information for specifying the position of the raw material mountain measuring device, and measures the direction. The step measures the elevation angle of the boom as information for specifying the measurement direction of the raw material yard in the raw material hill measuring device, and the measurement step indicates information indicating the length in the extending direction of the boom. And the information indicating the positional relationship between the position measuring device and the raw material mountain measuring device, and the information indicating the installation direction of the raw material mountain measuring device, further measuring the shape of the raw material mountain And
In another embodiment of the raw material yard management method of the present invention, the raw material hill measuring step, the position measuring step, and the direction measuring step are measured after the operation of the heavy machinery operated in the raw material yard is completed. It operates in the operation priority mode.
In another embodiment of the raw material yard management method of the present invention, the raw material hill measuring step, the position measuring step, and the direction measuring step are measured after the operation of the heavy machinery operating in the raw material yard is interrupted. It operates in the measurement priority mode.

  The computer program of the present invention is a heavy machine capable of positioning the boom above the raw material pile stacked in the raw material yard, and using a heavy machine capable of moving in the longitudinal direction of the raw material pile, A computer program for causing a computer to manage a raw material pile in a raw material yard, and specifying a position of a surface of the raw material mountain with respect to a raw material pile measuring device attached to a predetermined position of the boom Instructing measurement of information for specifying the position of the raw material mountain measuring device to the raw material mountain measuring step for instructing measurement of information for performing and a position measuring device attached to a predetermined position of the boom With respect to the position measuring step and the direction measuring device attached at a predetermined position of the boom, the measuring direction of the raw material yard in the raw material mountain measuring device is Direction measuring step for instructing measurement of information for setting, information measured based on an instruction by the raw material peak measuring step, information measured based on an instruction by the position measuring step, and the direction measuring step And a measurement step of measuring the shape of the raw material pile using the information measured based on the instruction by, and a computer.

According to the present invention, since the shape of the raw material mountain is measured based on the measurement result, the shape of the raw material mountain in the raw material yard is more than the conventional technique for obtaining the raw material mountain shape under a certain assumption. Can be grasped more accurately than before, and the operation of the raw material yard can be managed accurately.
Further, according to another feature of the present invention, since the volume of the raw material pile is calculated from the raw material pile shape more accurate than before and the stock amount of the raw material pile is calculated, the stock amount of the raw material pile in the raw material yard is also calculated. It can be grasped more accurately than before.
Further, according to another feature of the present invention, the amount transported by the transporting device is subtracted from the stock amount based on the volume of the raw material peak obtained from the shape of the raw material peak more accurate than before, Since the stock quantity is updated, the stock quantity of the raw material pile in the raw material yard can be grasped more accurately than before.
Further, according to another feature of the present invention, the shape of the raw material mountain is obtained by removing the range (dispensing range) where the excavation part of the reclaimer was present from the raw material mountain from the shape of the raw material mountain that is more accurate than before. Therefore, even if there is a payout, the shape of the raw material pile can be grasped more accurately than before.
Further, according to another feature of the present invention, the volume based on the shape of the raw material pile after correction is calculated to calculate the stock amount of the raw material mountain. The amount can be grasped more accurately than before.
According to another feature of the present invention, while the raw material pile measuring device, the position measuring device, and the direction measuring device are measuring, the extending direction of the boom of the heavy machinery is the longitudinal direction of the raw material yard and The heavy machinery boom operation is controlled so that it faces the plane direction determined by the direction perpendicular to the height direction and the height direction of the raw material yard, so the turning angle of the heavy machinery boom is not considered. The shape of the raw material pile can be measured.
Further, according to another feature of the present invention, since the heavy machinery is a stacker, the shape of the raw material pile can be measured using a heavy machinery that has a surplus operation compared to the reclaimer. Therefore, it is possible to reduce the competition between the operation and the measurement of the shape of the raw material pile.
Further, according to another feature of the present invention, since the operation is performed in the operation priority mode, it is possible to reliably prevent the operation from being interrupted due to the measurement of the shape of the raw material pile.
Further, according to another feature of the present invention, since the operation is performed in the measurement priority mode, it is possible to reliably measure the shape of the raw material pile and prevent measurement omission.

It is a figure which shows embodiment of this invention and shows an example of a mode that the raw material yard was seen from the upper direction. It is a figure which shows embodiment of this invention and shows an example of the model of the stacker and the measuring apparatus attached to the stacker. It is a figure which shows embodiment of this invention and shows an example of the model of the reclaimer for calculating payout locus | trajectory. It is a figure which shows embodiment of this invention and shows an example of a structure of an excavation part. It is a figure which shows embodiment of this invention and shows the arbitrary positions C of an excavation part. It is a figure which shows embodiment of this invention and shows an example of a functional structure of the raw material yard management apparatus. It is a figure which shows embodiment of this invention and demonstrates an example of the method of cutting out the shape of a raw material peak. It is a flowchart which shows embodiment of this invention and demonstrates an example of a process of the measurement instruction | indication part in operation priority mode. It is a flowchart which shows embodiment of this invention and demonstrates an example of a process of the measurement instruction | indication part in a measurement priority mode. It is a flowchart which shows embodiment of this invention and demonstrates an example of the process of the raw material yard management apparatus at the time of measuring the shape of a raw material peak. It is a flowchart which shows embodiment of this invention, calculates | requires the stock amount of a raw material pile, and demonstrates an example of the process of the raw material yard management apparatus at the time of displaying the state of a raw material yard.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
[Composition of raw material yard]
Drawing 1 is a figure showing an example of a mode that a raw material yard of a steelworks was seen from the upper part. In each drawing, only the configuration necessary for the description of the present embodiment is shown in a simplified manner.
In FIG. 1, a plurality of raw material yards 101a and 101b are arranged at intervals in the width direction (y direction). In the plurality of raw material yards 101a and 101b, a plurality of raw material peaks 102a to 102d and 102e to 102h are arranged at intervals in the longitudinal direction (x direction), respectively. Here, in order to explain the arrangement in an easy-to-understand manner, a horizontal coordinate plane in the raw material yard is formed by the x axis and the y axis, and the vertical direction is defined as the z direction.
In addition, the number of the raw material yards 101 and the raw material mountains 102 is not limited to what is shown in FIG. In the following description, the x, y, z coordinate system shown in FIG. 1 is referred to as an on-site coordinate system.

  Next to the raw material yards 101a and 101b, traveling rails 103a to 103c are laid in parallel to the longitudinal direction (x direction). Stackers 104a and 104b are disposed on the traveling rails 103a and 103c. The stackers 104a and 104b travel on the traveling rails 103a and 103c and can move in the x direction. A reclaimer 105 is disposed on the traveling rail 103b. The reclaimer 105 travels on the travel rail 103b and can move in the x direction. The raw material stack is usually long in the x direction.

The stacker 104 is, for example, for forming a material pile 102 by dropping and stacking materials carried on a ship and conveyed by a belt conveyor (not shown) onto the material yard 101. The reclaimer 105 scrapes the raw material from the raw material pile 102 to discharge the raw material, and carries it to a subsequent process by a belt conveyor (not shown). The amount of raw material carried by the belt conveyor is measured by a conveyor scale.
The stacker 104 and the reclaimer 105 are connected to the respective main bodies, and each has a boom (arm) positioned above the raw material stack 102 when the raw material is stacked and scraped. The stacker 104 drops the raw material onto the raw material yard 101 from the tip of the boom. The reclaimer 105 scrapes off the raw material at an excavation section provided at the tip of the boom.

  Note that the stacker 104 and the reclaimer 105 are normally capable of turning in the directions of the double arrows shown in FIG. Therefore, for example, the reclaimer 105 can scrape not only the raw material hills 102a to 102d in the raw material yard 101a but also the raw materials in the raw material hills 102e to 102h in the raw material yard 101b adjacent to the raw material yard 101a. The same applies to the stacker 104. The stacker 104 and the reclaimer 105, the stackers 104, and the reclaimers 105 are operated so as not to interfere with each other.

[Configuration of stacker and measuring device]
FIG. 2 is a diagram illustrating an example of a stacker 104 and a model of a measuring device attached to the stacker 104. Specifically, FIG. 2A is a diagram illustrating a state in which the stacker 104 is viewed from the x direction (the direction along the longitudinal direction of the raw material yard 101) in the on-site coordinate system. FIG. 2B is a diagram illustrating a state in which the stacker 104 is viewed from the z direction (top) in the on-site coordinate system.
The measurement apparatus of the present embodiment is attached to the stacker 104, and includes stereo cameras 201a to 201c, an inclinometer 202, and a GPS (Global Positioning System) antenna 203. Although details will be described later, the measuring device of the present embodiment measures the distance from the measuring device (stereo cameras 201a to 201c) to the raw material stack 102 and measures the position and orientation of the stacker 104 at that time. .
Here, in the present embodiment, the boom 114 of the stacker 104 can be lifted (rotated in the yz plane) while the measurement is performed by the measurement device described below, (Rotate in the xy plane). Α [°] shown in FIG. 2 is an angle formed by the boom 114 of the stacker 104 with respect to the ground when the boom 114 of the stacker 104 is lifted and lowered. In this case, the counterclockwise direction toward FIG. 2A is defined as a positive direction with reference to the horizontal broken line shown in FIG. In the following description, “the angle α formed by the boom 114 of the stacker 104 with respect to the ground” is referred to as “the elevation angle α of the boom 114 of the stacker 104” or “the elevation angle α” as necessary.
In the present embodiment, as will be described later, the elevation angle α of the boom 114 of the stacker 104 is measured by the inclinometer 202. Further, the turning angle (rotation angle in the xy plane) of the boom 114 of the stacker 104 is obtained by using the measured values of the encoder and pulse counter provided in the stacker 104. However, the method of obtaining the turning angle of the boom 114 of the stacker 104 is not limited to such a method, and can be obtained by using, for example, an absolute coder or two GPSs. In the present embodiment, information on the turning angle of the boom 114 of the stacker 104 is output from the stacker 104 as a heavy equipment signal.

As shown in FIG. 2, in this embodiment, three stereo cameras 201 a to 201 c are attached with an interval in the axial direction (extending direction) of the boom 114 of the stacker 104. _X'1 shown in FIG. _{2 (a), y'1,} z'1 shows a coordinate system in the case relative to the stereo camera 201a (when viewed from the stereo camera 201a). _{Similarly, x'2, y'2, z'} 2 represents a coordinate system in the case where a stereo camera 201b as a _{reference, x'3, y'3, z'} 3 has a stereo camera 201c as a reference The coordinate system is shown. In the following description, this coordinate system is referred to as a camera coordinate system.

The stereo camera 201 rotates in a plane (in the yz plane) determined by the height direction of the stacker 104 and the extending direction of the boom 114 of the stacker 104. The φ ₁ and φ ₃ [°] shown in FIG. 2 (a) indicate that the stereo cameras 201a and 201c (imaging surfaces) of the stereo cameras 201a and 201c are rotated in the boom 114 (in the extending direction). It is an angle made with respect to. In this case, the counterclockwise direction toward FIG. 2A is defined as a positive direction with reference to the horizontal broken line shown in FIG. In the following description, “the angle φ formed by the stereo camera 201 with respect to the boom 114” is referred to as “the rotation angle φ of the stereo camera 201” as necessary.
Here, in the present embodiment, the rotation angle φ of the stereo camera 201 is determined in advance and is a fixed value. In the example shown in FIG. 2, the angle φ ₂ formed by the stereo camera 201b with respect to the boom 114 is 0 [°].

The inclinometer 202 is attached to the boom 114 of the stacker 104 and measures the elevation angle α of the boom 114 of the stacker 104. Thus, in the present embodiment, the elevation angle α is obtained from the measurement result of the inclinometer 202. However, it is not always necessary to do this. For example, the elevation angle α of the boom 114 of the stacker 104 may be obtained as a heavy equipment signal in the same manner as the turning angle.
A GPS (Global Positioning System) antenna 203 is used to measure the position of the stereo camera 201 using GPS coordinates (latitude, longitude, height). L ₁ [m] shown in FIG. 2A represents the distance between the GPS antenna 203 (predetermined position) and the stereo camera 201a (predetermined position) in the extending direction of the boom 114. Similarly, L ₂ and L ₃ [m] represent distances in the extending direction of the boom 114 between the GPS antenna 203 and the stereo cameras 201b and 201c. In the following description, “the distance L between the GPS antenna 203 and the stereo camera 201 in the extending direction of the boom 114” is referred to as “the horizontal distance L between the GPS antenna 203 and the stereo camera 201” as necessary. .
Here, in the present embodiment, the horizontal distance L between the GPS antenna 203 and the stereo camera 201 is determined in advance and is a fixed value.

Further, H [m] shown in FIG. 2A is the extension direction of the boom 114 and the material yard 101 between the GPS antenna 203 (predetermined position) and the stereo cameras 201a to 201c (predetermined positions). This represents a distance in a direction perpendicular to the longitudinal direction (traveling direction of the stacker 104). In the following description, “the distance H between the GPS antenna 203 and the stereo camera 201 in a direction perpendicular to the extending direction of the boom 114 and the longitudinal direction of the material yard 101” is set as necessary. This is referred to as a height direction distance H from the camera 201.
Here, in the present embodiment, the height direction distance H between the GPS antenna 203 and the stereo camera 201 is determined in advance and is a fixed value.

[Configuration of reclaimer]
FIG. 3 is a diagram illustrating an example of a model of the reclaimer 105 for calculating the payout trajectory. Specifically, FIG. 3A is a diagram illustrating a state in which the reclaimer 105 is viewed from the x direction (the direction along the longitudinal direction of the raw material yard 101) in the field coordinate system. FIG. 3B is a diagram showing a state in which the reclaimer 105 is viewed from the z direction (upper) in the field coordinate system.
As shown in FIG. 3, the reclaimer 105 has a boom 115 and an excavation part 125 attached to the tip of the boom 115. The boom 115 of the reclaimer 105 performs both operations of raising and lowering (rotating in the yz plane) and turning (rotating in the xy plane) when the raw material is dispensed. Can do.

Α _R [°] shown in FIG. 3A is an angle formed by the boom 115 of the reclaimer 105 with respect to the ground when the boom 115 of the reclaimer 105 is lifted and lowered. Here, the counterclockwise direction toward FIG. 3A is defined as the positive direction with reference to the horizontal broken line shown in FIG. In the following description, it referred to as necessary "boom 115 of reclaimer 105 angle alpha _R which makes with the ground,""angle of elevation alpha _R boom 115 of reclaimer 105" or "angle of elevation alpha _R".
Further, L [m] shown in FIG. 3A is the length of the boom 115 of the reclaimer 105 in the axial direction (extension direction). In the following description, “the length L of the boom 115 of the reclaimer 105 in the axial direction” is referred to as “the length L of the boom 115 of the reclaimer 105” as necessary.

Further, β _R [°] shown in FIG. 3B is a turning angle of the boom 115 of the reclaimer 105. Here, the angle when the boom 115 of the reclaimer 105 is oriented in a direction perpendicular to the longitudinal direction of the raw material yard 101 (traveling direction (x direction) of the reclaimer 105) is 0 [°], and FIG. A counterclockwise direction toward 3 (b) is a positive direction. In the following description, if necessary, "turning angle of the boom 115 of reclaimer 105 beta _R" is referred to as "turning angle beta _R".
Further, W [m] shown in FIG. 3B is the width (thickness) of the excavation part 125.
Further, a point A shown in FIG.

Here, the elevation angle α _R and the turning angle β _R can be obtained, for example, by using measured values of an encoder and a pulse counter provided in the reclaimer 105. However, the method of obtaining the elevation angle α _R and the turning angle β _R is not limited to such a method, and can be obtained by using, for example, an absolute coder or two GPS units. In the present embodiment, information on the elevation angle α _R and the turning angle β _R is output from the reclaimer 105 as a heavy equipment signal.
In the present embodiment, the length L of the boom 115 of the reclaimer 105 and the width W of the excavation part 125 are determined in advance and are fixed values.
Further, the coordinates (x _R , y _R , z _R ) of the point A in the field coordinate system are obtained by using, for example, the measured values of the encoder and pulse counter provided in the reclaimer 105 and the design drawing of the reclaimer 105. The information on the coordinates of the point A is also included in the heavy equipment signal. That is, the coordinate x _R is obtained by using the measured values of the encoder and the pulse counter, and the coordinates y _R and z _R are obtained by using the design drawing of the reclaimer 105. However, the method of obtaining the coordinates of the point A is not limited to such a method, and can be obtained by using, for example, GPS.

FIG. 4 is a diagram illustrating an example of the configuration of the excavation unit 125.
As illustrated in FIG. 4, the excavation unit 125 includes a bucket wheel 401 and buckets 402a to 402h. In this embodiment, when calculating the payout trajectory of the reclaimer 105, the excavation part 125 is handled as a cylindrical shape. Specifically, the excavation part 125 is a circle having a shortest distance from the point B of the rotation center of the bucket wheel 401 to the tip of the bucket 402a to 402h (see the broken line in FIG. 4) as an upper surface and a lower surface. The bucket wheel 401 and the packets 402a to 402h have a cylindrical shape having a height (the maximum value) in the width direction (thickness direction).

FIG. 5 is a diagram illustrating an arbitrary position C of the excavation unit 125. Specifically, FIG. 5A is a view of the excavation part 125 as seen from the direction along the width direction (thickness direction), and FIG. 5B is a view of the thickness part of the excavation part 125. It is.
A _R [m] shown in FIG. 5A is a distance between a point B of the rotation center of the excavation part 125 and a point C in the surface direction of the excavation part 125 (direction along the paper surface of FIG. 5A). It is. In the following description, the “distance a _R in the surface direction of the excavation part 125 between the point B and the point C of the excavation part 125” is referred to as “the point B and the point C of the rotation center as necessary. Is referred to as a surface direction distance a _R ”.
The surface direction distance a _R between the rotation center point B and point C takes any value within the range of the following equation (1), where R [m] is the radius of the cylinder defining the excavation part 125. obtain.
0 ≦ a _R ≦ R (1)

In addition, b _R [m] shown in FIG. 5B is an excavation portion between a point C and a surface 501 passing through the point B of the rotation center of the excavation portion 125 and parallel to the surface direction of the excavation portion 125. 125 is a distance in the width direction (thickness direction). In the following description, the “width direction (thickness direction) of the excavation part 125 between the point C and a surface 501 that passes through the point B of the rotation center of the excavation part 125 and is parallel to the surface direction of the excavation part 125. ) the distance b _R "as needed in the referred to as the" thickness direction between the point B and the point C of the rotation center b _R ".
As the thickness direction distance b _R between the rotation center point B and the point C, if the width of the excavation part 125 (the height of the cylinder that defines the excavation part 125) W is used, any of the ranges of the following formula (2) Can take these values.
-W / 2 ≦ b _R ≦ W / 2 (2)

[Configuration of raw material yard management equipment]
FIG. 6 is a diagram illustrating an example of a functional configuration of the raw material yard management apparatus 600.
As shown in FIG. 6, the raw material yard management apparatus 600 includes an optimum arrangement calculation unit 601, an operation control unit 602, a measurement instruction unit 603, a data collection unit 604, a stereo processing unit 605, a coordinate conversion unit 606, and a three-dimensional orthogonal coordinate conversion. Unit 607, data sample unit 608, data interpolation unit 609, raw material mountain information cutout unit 610, raw material mountain shape storage unit 611, payout range calculation unit 612, raw material mountain shape correction unit 613, raw material mountain volume calculation unit 614, and display Part 615. The raw material yard management apparatus 600 can be realized by, for example, a CPU, ROM, RAM, HDD, and a personal computer equipped with various interfaces.

<Optimal placement calculation unit 601>
The optimum placement calculation unit 601 receives the yard information and the arrival information from the host computer, performs optimization calculation based on the received information, and arranges the placement of each raw material pile 102 in each raw material yard 101 at each time. Ask. The yard information includes, for example, information on a stacking shape, a stacking range, a volume, and a brand. The arrival information includes a scheduled arrival date and time, a brand, and an arrival amount.
In the optimal arrangement calculation unit 601, for example, the communication interface receives the above-described information, and the CPU performs arithmetic processing according to the computer program to obtain the arrangement of the raw material piles 102 in the raw material yard 101 at each time, and the result ( The operation schedule can be realized by storing it in an HDD or the like. Note that the process performed by the optimal arrangement calculation unit 601 is not a main process of the present embodiment, but can be realized by a known technique, and thus detailed description thereof is omitted.

<Operation control unit 602>
The operation control unit 602 transmits an operation instruction signal for instructing operation to the stacker 104 and the reclaimer 105 based on the result obtained by the optimum arrangement calculation unit 601. For example, when paying out the raw material of the raw material pile 102b of the raw material yard 101a shown in FIG. The contents of the payout operation are instructed to the reclaimer 105.

Further, the operation control unit 602 receives an operation end signal indicating that the operation according to the instruction is completed from the stacker 104 or the reclaimer 105 that has instructed the operation. Further, the operation control unit 602 receives heavy equipment signals from the stacker 104 and the reclaimer 105. The heavy equipment signal is information indicating the state of the stacker 104 and the reclaimer 105 (travel position, positions of the booms 114 and 115, etc.). As described above, the heavy equipment signal transmitted from the reclaimer 105 includes information on “the elevation angle α _R , the turning angle β _R , the elevation and the center A of the turning” of the boom 115 of the reclaimer 105. The heavy equipment signal transmitted from the stacker 104 includes information on the turning angle (rotation angle in the xy plane) of the boom 114.
The operation control unit 602 can be realized, for example, when the CPU performs arithmetic processing according to a computer program and the communication interface communicates with the stacker 104 and the reclaimer 105 to control operations by the stacker 104 and the reclaimer 105. .

<Measurement instruction unit 603>
The measurement instructing unit 603 instructs to measure the shape of the raw material stack 102 (mainly the measurement range). Hereinafter, an example of specific processing of the measurement instruction unit 603 will be described.
First, the measurement instruction unit 603 determines whether it is the operation priority mode or the measurement priority mode based on the operation of the user interface by the operator. The operation priority mode is a mode in which the operation by the stacker 104 and the reclaimer 105 is prioritized over the measurement of the shape of the raw material pile 12. On the other hand, the measurement priority mode is a mode in which the measurement of the shape of the raw material pile 12 is prioritized over the operation by the stacker 104 and the reclaimer 105. Below, the process of the measurement instruction | indication part 603 according to these modes is demonstrated separately.

(Operation priority mode)
First, an example of processing of the measurement instruction unit 603 in the operation priority mode will be described.
((Measurement immediately after packing))
Based on the operation end signal received by the operation control unit 602, the measurement instruction unit 603 determines the timing when the material stacking operation by the stacker 104 is completed. As a result of the determination, when the stacking operation of the raw material by the stacker 104 is completed, the measurement instruction unit 603 temporarily determines the raw material stack 102 on which the stacking operation has been performed as a measurement range.
Then, the measurement instruction unit 603 determines whether or not the stacker 104 is loading the provisionally determined measurement range. This determination can be made based on, for example, the heavy equipment signal of the stacker 104 received by the operation control unit 602.
As a result of this determination, when the stacker 104 is loading the temporarily determined measurement range, the operation by the stacker 104 is prioritized over the measurement of the temporarily determined measurement range. On the other hand, when the stacker 104 has not stacked the provisionally determined measurement range, the measurement instruction unit 603 determines whether or not the reclaimer 105 is paying out the provisionally determined measurement range. This determination can be made based on the heavy equipment signal of the reclaimer 105 received by the operation control unit 602, for example.

As a result of this determination, when the reclaimer 105 is paying out the temporarily determined measurement range, the measurement instruction unit 603 determines, as the measurement range, a range that does not interfere with the payout of the reclaimer 105 among the temporarily determined measurement ranges. To do.
On the other hand, when the reclaimer 105 has not paid out the temporarily determined measurement range, the measurement instruction unit 603 determines the entire temporarily determined measurement range as the measurement range.
Then, the measurement instruction unit 603 instructs the operation control unit 602 to turn the boom 114 of the stacker 104 for measuring the determined measurement range in the surface direction of the yz plane. Thereby, the operation control unit 602 controls the operation of the boom 114 of the corresponding stacker 104.

((Measurement immediately after withdrawal))
Based on the operation end signal received by the operation control unit 602, the measurement instructing unit 603 determines the timing when the operation of dispensing the raw material by the reclaimer 105 is completed. As a result of the determination, when the work of discharging the raw material by the reclaimer 105 is completed, the measurement instruction unit 603 temporarily determines the raw material stack 102 on which the payout work has been performed as a measurement range. Since the process after provisionally determined as the measurement range is the same as the measurement immediately after the stacking, detailed description thereof is omitted here.

((Measurement by instructions from the operator))
The measurement instruction unit 603 determines whether the operator has operated the user interface to instruct an area for measuring the shape of the raw material pile 102. If the operator indicates an area as a result of this determination, the measurement instruction unit 603 temporarily determines the area as a measurement range. Since the process after provisionally determined as the measurement range is the same as the measurement immediately after the stacking, detailed description thereof is omitted here.

((Measurement over time))
The measurement instruction unit 603 determines whether or not there is a region where a predetermined time has elapsed since the shape of the raw material pile 102 was measured. That is, the measurement instruction unit 603 determines whether or not there is a region where the shape of the raw material pile 102 has not been measured for a predetermined time. This determination can be made, for example, by the measurement instruction unit 603 managing the determined measurement range and the time when the measurement range is determined. As a result of this determination, if there is a region where the shape of the raw material pile 102 has not been measured for a predetermined time, the measurement instruction unit 603 temporarily determines that region as a measurement range. Since the process after provisionally determined as the measurement range is the same as the measurement immediately after the stacking, detailed description thereof is omitted here.

(Measurement priority mode)
Next, an example of processing of the measurement instruction unit 603 in the measurement priority mode will be described.
Since the process until the measurement range is tentatively determined is the same as the process in the operation priority mode, detailed description thereof is omitted here.
When the measurement range is provisionally determined, the measurement instruction unit 603 determines whether or not the stacker 104 is stacking the provisionally determined measurement range. An example of this determination method is the same as the processing in the operation priority mode, and thus detailed description thereof is omitted here.
As a result of this determination, when the stacker 104 is stacking the temporarily determined measurement range, the measurement instruction unit 603 instructs the operation control unit 602 to interrupt the stacking operation by the stacker 104. Thereby, the operation control unit 602 controls the operation of the corresponding stacker 104.

Thereafter, the measurement instruction unit 603 determines whether or not the reclaimer 105 is paying out the temporarily determined measurement range. An example of this determination method is the same as the processing in the operation priority mode, and thus detailed description thereof is omitted here.
As a result of this determination, when the reclaimer 105 is paying out the temporarily determined measurement range, the measurement instructing unit 603 interrupts the payout operation by the reclaimer 105 and retreats to a place where it does not interfere with the measurement by the stacker 104. To the operation control unit 602. Thereby, the operation control unit 602 controls the operation of the corresponding reclaimer 105.

  As described above, when there are the stacker 104 and the reclaimer 105 in operation, the measurement instruction unit 603 interrupts the operation. Then, the measurement instruction unit 603 determines the entire temporarily determined measurement range as the measurement range. In addition, the measurement instruction unit 603 instructs the operation control unit 602 so that the boom 114 of the stacker 104 for measuring the determined measurement range faces the surface direction of the yz plane. Thereby, the operation control unit 602 controls the operation of the boom 114 of the corresponding stacker 104.

  The measurement instruction unit 603 can be realized by, for example, the CPU determining the measurement range by performing arithmetic processing according to a computer program and instructing the operations of the stacker 104 and the reclaimer 105.

<Data collection unit 604>
The data collection unit 604 collects information obtained at the same time or at a time that can be regarded as the same time as information obtained by the stereo cameras 201a to 201c, the inclinometer 202, and the GPS antenna 203 at regular intervals. As described above, when information is collected by the data collection unit 604, the boom 114 of the stacker 104 is set to face the surface direction of the yz plane.
The data collection unit 604 can be realized, for example, when the communication interface receives the above-described information and the CPU stores the received information in a RAM or the like.

<Stereo processing unit 605>
The stereo processing unit 605 performs stereo processing based on the two pieces of image data picked up by the stereo cameras 201a to 201c, and displays the “three-dimensional coordinates P _C1 , P _C2 , P _C3 in the camera coordinate system on the surface of the raw material mountain 102. "Ask. The three-dimensional coordinates P _C1 are based on image data captured by the stereo camera 201a, and the three-dimensional coordinates P _C2 are based on image data captured by the stereo camera 201b. _C3 is based on image data captured by the stereo camera 201c. For example, the three-dimensional coordinate P _C1 is expressed by the following equation (3).

The stereo processing unit 605 is realized, for example, when the CPU obtains the three-dimensional coordinates P _C1 , P _C2 , and P _C3 from the image data captured by the stereo cameras 201a to 201c by performing arithmetic processing according to a computer program. it can.

<Coordinate converter 606>
The coordinate conversion unit 606 converts GPS coordinates (latitude, longitude, height) obtained by the GPS antenna 203 into three-dimensional coordinates Q in the field coordinate system. The three-dimensional coordinate Q is expressed by the following equation (4). Since this conversion method can be realized by a known technique, a detailed description thereof is omitted here.

  The coordinate conversion unit 606 can be realized, for example, when the CPU obtains the position of the GPS antenna 203 in the on-site coordinate system by performing arithmetic processing according to a computer program.

<Three-dimensional Cartesian coordinate conversion unit 607>
Three-dimensional orthogonal coordinate conversion unit 607, the three-dimensional coordinates P _C1, P _C2, P _C3 of the camera coordinate system obtained by the stereo processor 605, the 3-dimensional coordinates of the site coordinate system P _1, P _2, P ₃ Convert. For example, the three-dimensional coordinate P _C1 is converted into the three-dimensional coordinate P ₁ in the field coordinate system by the following equation (5). The three-dimensional coordinates P ₂ and P ₃ can be expressed by substituting “2” and “3” in the subscript “1” in the equation (5), respectively.

In the equation (5), (x _G , y _G , z _G ) is a value of the three-dimensional coordinate Q obtained by the coordinate conversion unit 606. L ₁ is a horizontal distance between the GPS antenna 203 and the stereo camera 201a, and is stored in advance in an HDD or the like (see FIG. 2). α is the elevation angle α measured by the inclinometer 202 (see FIG. 2). H is the height direction distance between the GPS antenna 203 and the stereo camera 201, and is stored in advance in an HDD or the like (see FIG. 2). φ ₁ is the rotation angle of the stereo camera 201a and is stored in advance in an HDD or the like (see FIG. 2). (X _C1 , y _C2 , z _C3 ) is the value of the three-dimensional coordinate P _C1 obtained by the stereo processing unit 605.
Here, the three-dimensional orthogonal coordinate conversion unit 607 obtains the three-dimensional coordinates P of the on-site coordinate system for all points (on the surface of the raw material mountain 102) measured by the stereo camera 201.
The three-dimensional orthogonal coordinate conversion unit 607 can be realized by, for example, the CPU obtaining the position of the surface of the raw material mountain 102 in the on-site coordinate system by performing arithmetic processing according to a computer program. Note that if the position of the surface of the raw material pile 102 in the on-site coordinate system can be obtained, it is not always necessary to obtain the position according to the equation (5).

<Data sample part 608>
The data sample unit 608 is arranged in a predetermined virtual space of the site coordinate system among the “data of the 3D coordinates P ₁ , P ₂ , P ₃ of the site coordinate system” obtained by the 3D orthogonal coordinate conversion unit 607. Data closest to each grid point of the three-dimensional grid is extracted (selected) from data included in the measurement range determined by the measurement instruction unit 603, and other data is excluded. This is because the processing load becomes too large because there is too much “data of the three-dimensional coordinates P ₁ , P ₂ , P _{3 in} the field coordinate system” obtained by the three-dimensional orthogonal coordinate conversion unit 607. Because there is. Here, the three-dimensional lattice is arranged in the entire virtual space where the raw material pile is assumed to be formed. In the present embodiment, the length of one side of the three-dimensional lattice is 10 cm. In this case, among the “data of the three-dimensional coordinates P ₁ , P ₂ , P ₃ of the on-site coordinate system”, the data closest to each grid point of the three-dimensional grid arranged in a predetermined virtual space of the on-site coordinate system is used. In addition, a part of the “data of the surface coordinates of the raw material mountain 102 in the on-site coordinate system” obtained by the three-dimensional orthogonal coordinate conversion unit 607 is extracted from the data included in the measurement range. However, the method for extracting a part of the “coordinate data of the surface of the raw material mountain 102 in the on-site coordinate system” is representative of “data on the three-dimensional coordinates P ₁ , P ₂ , P ₃ of the on-site coordinate system”. As long as it is made to extract, it will not be limited to such a method.
The data sample unit 608 performs, for example, computation processing according to a computer program, from the data of the three-dimensional coordinates P ₁ , P ₂ , and P ₃ of the field coordinate system obtained by the three-dimensional orthogonal coordinate conversion unit 607, as a raw material pile. This can be realized by extracting data used for evaluating the shape of 102.

<Data interpolation unit 609>
The data interpolation unit 609 refers to the “three-dimensional lattice point” corresponding to the data extracted by the data sample unit 608 and determines whether there is a lattice point with missing data. For example, if there is data corresponding to all of the lattice points around the lattice point that is one or a plurality of lattice points adjacent to each other with no corresponding data, the data is missing for the lattice point. It is determined that As a result of the determination, if there is a grid point with missing data, the data interpolation unit 609 performs linear interpolation using data corresponding to the grid points around the grid point, and data corresponding to the grid point. Ask for. The data interpolation method is not limited to linear interpolation.
The data interpolation unit 609 can be realized by calculating missing data for the lattice points of the three-dimensional lattice by performing arithmetic processing according to a computer program.

<Raw material mountain information cutout unit 610, raw material mountain shape storage unit 611>
The raw material mountain information cutout unit 610 cuts out the shape of the raw material mountain individually based on the “data of the surface coordinates of the raw material mountain 102 in the on-site coordinate system” obtained by the data sample unit 608 and the data interpolation unit 609. Then, the raw material mountain information cutout unit 610 provides data for identifying the cut out raw material mountain 102 to each of the cut out raw material peaks 102. Then, the raw material mountain information cutout unit 610 mutually converts the raw material mountain shape information E (t) indicating the shape of the cut raw material mountain 102 and the data for identifying the raw material mountain 102 to which the data of the three-dimensional coordinate belongs. And stored in the raw material mountain shape storage unit 611. The entity of the raw material peak shape information E (t) stored in the raw material peak shape storage unit 611 is a set of three-dimensional coordinates in the field coordinate system. Moreover, t is the time when data was acquired by the data collection unit 604, for example.

  FIG. 7 is a diagram for explaining an example of a method for cutting out the shape of the raw material pile. The raw material mountain information cutting-out unit 610 stores, for example, a threshold value Th1 that is the value of the z-axis of the local coordinate system in advance according to an instruction from the user, and cuts the data when the threshold value Th1 is equal to or lower than the threshold value Th1. The shapes of the peaks 102a and 102b can be individually cut out and extracted, and the three-dimensional shapes of the raw material peaks 102a and 102b can be individually measured (in FIG. 7, regions shown by hatching are cut out).

However, the method of cutting out the shape of the raw material piles 102a and 102b is not limited to such a method. For example, the data may be separated at the coordinates of the site coordinate system designated in advance by the user. Further, the “data of the coordinates of the surface of the raw material mountain 102 in the on-site coordinate system” obtained by the data sample unit 608 and the data interpolation unit 609 is displayed three-dimensionally, and data is displayed at a location designated by the user from the displayed result. May be carved. In addition, from the “data of the surface coordinates of the raw material mountain 102 in the on-site coordinate system” obtained by the data sample unit 608 and the data interpolation unit 609, the level ground between the raw material mountains is automatically (based on the gradient or the like). It may be recognized and data may be separated at the recognized location.
The raw material mountain information extraction unit 610 divides the data obtained by the data sample unit 116 and the data interpolation unit 117 for each raw material mountain 102a, 102b, for example, by the CPU performing arithmetic processing according to the computer program. This data can be realized by storing the data in a RAM or the like in association with the data for identifying the material peaks 102a and 102b to which the data belongs. The raw material mountain shape storage unit 611 can be realized by using a RAM or the like.

<Payout range calculator 612>
The payout range calculation unit 612 calculates a range in which the reclaimer 105 is paying out the raw material from the raw material stack 102.
Specifically, first, the payout range calculation unit 612 obtains the position information of the point A (the point that is the center of elevation and turning of the boom 115 of the reclaimer 105) from the operation control unit 602 as the current position information of the reclaimer 105. get. The three-dimensional coordinates of the point A in the field coordinate system are expressed by the following equation (6).

  Next, the payout range calculation unit 612 calculates the three-dimensional coordinates in the field coordinate system of the point B of the rotation center of the bucket wheel 401 by the following equation (7).

In the formula (7), L is the length L of the boom 115 of the reclaimer 105, and is stored in advance in the HDD or the like. Α _R is “the elevation angle of the boom 115 of the reclaimer 105” included in the heavy machinery signal of the reclaimer 105, and is obtained from the operation control unit 602.
Next, the payout range calculation unit 612 calculates the three-dimensional coordinates in the field coordinate system of an arbitrary point C in the excavation unit 125 having a cylindrical shape as shown in FIGS. calculate.

In the equation (8), β _R is “the turning angle of the boom 115 of the reclaimer 105” included in the heavy machinery signal of the reclaimer 105, and is obtained from the operation control unit 602. θ is an angle corresponding to the rotation of the excavating part 125, and can take any value within the range of the following equation (9).
0 ≦ θ ≦ 2π (9)
Further, a _R is the distance in the surface direction between the center B and the point C of the rotation center, and can take any value within the range of the expression (1). B _R is the distance in the thickness direction between the point B and the point C at the center of rotation, and can take any value within the range of the equation (2).
The payout range calculation unit 612 changes the possible range for each of a _R , b _R , and θ in Equation (8), and obtains the three-dimensional coordinates of the point C in the on-site coordinate system. That is, for a _R , b _R , and θ, predetermined values (preferably all values) including the upper and lower limits of the range that can be taken are substituted into equation (8) to obtain the three-dimensional coordinates of the point C in the field coordinate system. Then, excavation range information D (t) indicating the range in which the excavation unit 125 exists is obtained. The entity of the range where the excavation unit 125 exists in this way is “a set of three-dimensional coordinates in the on-site coordinate system” in the region where the excavation unit 125 exists.

  The payout range calculation unit 612 can be realized by, for example, the CPU calculating a range where the excavation unit 125 exists by performing arithmetic processing according to a computer program. In addition, if the “range where the excavation part 125 exists” in the on-site coordinate system can be obtained, it is not always necessary to obtain the position according to the equation (8).

<Raw material shape correction unit 613>
When the excavation range information D (t) is calculated by the payout range calculation unit 612, the raw material mountain shape correction unit 613 excavates the raw material mountain shape information E (t) stored in the raw material mountain shape storage unit 611. The latest raw material peak shape information E (t) corresponding to the raw material peak 102 paid out by the unit 125 is read out.
If the raw material pile shape information of the raw material pile 102 (in a state where the payout has been performed) is E (t _n ), the raw material pile shape information E (t) corresponding to the raw material pile 102 is stored as the raw material pile shape information. The raw material peak shape information stored in the part 611 is E (t _n-1 ). Here, n represents the order in which the data collection unit 604 collects data. As described above, in this embodiment, the data collection unit 604 collects data at a constant period. Therefore, the time interval between t _n and t _n-1 is constant.

The raw material mountain shape correcting unit 613 uses the raw material mountain shape information E (t _n-1 ) read from the raw material mountain shape storage unit 611 and the excavation range information D (t _n ) calculated by the payout range calculating unit 612. The part F (t _n ) is obtained. The raw material peak shape correcting unit 613 then sets a range obtained by removing the common portion F (t _n ) from the raw material peak shape information E (t _n-1 ) read from the raw material peak shape storage unit 611 to the current peak of the raw material peak 102. The raw material peak shape information is obtained as E (t _n ). The raw material peak shape correcting unit 613 corresponds to the raw material peak corresponding to the raw material peak 102 that has been paid out by the excavating unit 125 in the raw material peak shape information E (t _n-1 ) stored in the raw material peak shape storage unit 611. The raw material peak shape information E (t) stored in the raw material peak shape storage unit 611 is updated by rewriting the shape information E (t _n-1 ) with the obtained raw material peak shape information to E (t _n ).

The raw material mountain shape correcting unit 613 obtains the current raw material mountain shape information E (t _n ) of the raw material mountain 102 that has been paid out by the excavating unit 125, for example, by the CPU performing arithmetic processing according to a computer program, This can be realized by storing the obtained raw material peak shape information E (t _n ) in the RAM or the like as the latest raw material peak shape information E (t).

<Raw material volume calculation unit 614>
The raw material mountain volume calculation unit 614 individually calculates the volume (inventory amount) of each raw material mountain 102 based on the raw material mountain shape information E (t) read from the raw material mountain shape storage unit 611. At this time, the raw material mountain volume calculation unit 614 stores in advance a threshold value Th2 that is the value of the z-axis of the site coordinate system in accordance with an instruction from the user, and each raw material mountain is regarded as a reference (considering the ground). The volume of 102 is calculated. The threshold value Th2 used at this time is preferably set to a value smaller than the threshold value Th1 used in the raw material peak information cutout unit 610. At this time, the raw material peak volume calculation unit 614 identifies each raw material peak 102 whose volume has been calculated based on the “data for identifying the raw material peak 102” obtained by the raw material peak information extraction unit 610. . Since the method for calculating the volume of the raw material pile 102 can be realized by a known technique, the detailed description thereof is omitted here. The stock quantity (weight) can be obtained by multiplying the volume by the density of the raw material.
The raw material mountain volume calculation unit 614 calculates the volume of each raw material mountain 102, for example, by performing arithmetic processing according to a computer program, and identifies the raw material mountain 102 to which the data belongs, from the calculated volume data of the raw material mountain 102 This can be realized by storing it in a RAM or the like in association with data to be performed.

<Display unit 615>
Based on the raw material peak shape information E (t) stored in the raw material peak shape storage unit 611 and the volume of each raw material peak 102 calculated by the raw material peak volume calculation unit 614, the display unit 615 displays each raw material peak. An image showing the three-dimensional shape of 102 and each volume of the raw material pile 102 is generated and displayed on a computer display. At this time, the display unit 615 displays an image so that the user can recognize the volume of the raw material mountain 102 represented by a three-dimensional shape. For example, the same number can be given to any raw material mountain 102 represented by a three-dimensional shape and the volume of the raw material mountain 102. In addition, the display unit 615 may individually display a three-dimensional shape image and an image showing a volume for each raw material mountain 102.
The display unit 615 can be realized by, for example, the CPU performing a process for displaying the three-dimensional shape of the raw material mountain and the volume of the raw material mountain on the computer display by performing arithmetic processing according to the computer program.

[Operation flowchart]
<Determination of measurement range in operation priority mode>
An example of processing of the measurement instruction unit 603 in the operation priority mode will be described with reference to the flowchart of FIG.
First, in step S <b> 801, the measurement instruction unit 603 determines whether it is the timing when the stacking operation of the raw material by the stacker 104 is completed based on the operation end signal received by the operation control unit 602. As a result of the determination, if it is not the timing when the stacking of raw materials by the stacker 104 is completed, the process proceeds to step S808 described later.
On the other hand, when it is the timing when the stacking of raw materials by the stacker 104 is completed, the process proceeds to step S2. In step S802, the measurement instruction unit 603 temporarily determines the measurement range. When the process proceeds from step S801 to step S803, the raw material stack 102 determined to have been loaded in step S801 is provisionally determined as a measurement range.
Next, in step S803, the measurement instruction unit 603 determines whether or not the stacker 104 is stacking the measurement range temporarily determined in step S802. If the result of this determination is that the stacker 104 is loading, the process returns to step S801. On the other hand, if the stacker 104 has not stacked, the process proceeds to step S804.

In step S804, the measurement instruction unit 603 determines whether the reclaimer 105 is paying out the temporarily determined measurement range. As a result of this determination, if the reclaimer 105 is paying out, the process advances to step S805, and the measurement instruction unit 603 sets a range that does not interfere with the payout of the reclaimer 105 among the measurement ranges temporarily determined in step S802. Determine as. And it progresses to step S807 mentioned later.
On the other hand, if the reclaimer 105 has not paid out, the process proceeds to step S806, and the measurement instruction unit 603 determines the entire measurement range temporarily determined in step S802 as the measurement range.
Then, when the process proceeds to step S807, the measurement instruction unit 603 controls the operation of the boom 114 of the stacker 104 for measuring the measurement range determined in step S805 or S806 in the plane direction of the yz plane. The unit 602 is instructed. And the process by the flowchart of FIG. 8 is complete | finished.

As described above, if it is determined in step S801 that the stacking of raw materials by the stacker 104 has not been completed, the process proceeds to step S808. In step S808, the measurement instruction unit 603 determines whether the operator has instructed an area for measuring the shape of the raw material pile 102. As a result of this determination, if the operator instructs an area for measuring the shape of the raw material pile 102, the process proceeds to step S802 described above. When the process proceeds from step S808 to step S802, the measurement instruction unit 603 temporarily determines the range instructed by the operator as the measurement range.
On the other hand, if the operator has not instructed the area for measuring the shape of the material stack 102, the process proceeds to step S809. In step S809, the measurement instruction unit 603 determines whether it is the timing when the reclaimer 105 has finished the operation of dispensing the raw material. As a result of the determination, if it is the timing when the work of dispensing the raw material by the reclaimer 105 is completed, the process proceeds to step S810 described later. On the other hand, when the operation of dispensing the raw material by the reclaimer 105 is completed, the process proceeds to step S802. When the process proceeds from step S809 to step S802, the measurement instruction unit 603 provisionally determines the raw material stack 102 determined to have completed the payout operation in step S809 as a measurement range.
On the other hand, if it is not the timing when the reclaimer 105 has finished the operation of dispensing the raw material, the process proceeds to step S810. In step S810, the measurement instruction unit 603 determines whether there is an area where the shape of the raw material pile 102 has not been measured for a predetermined time. As a result of the determination, if there is no region where the shape of the raw material pile 102 has not been measured for a predetermined time, the process returns to step S801. On the other hand, if there is a region where the shape of the ridge 102 has not been measured for a predetermined time, the process proceeds to step S802 described above. When the process proceeds from step S810 to step S802, the measurement instruction unit 603 provisionally determines an area that has not been measured for a predetermined time as a measurement range.

<Measurement range determination operation in measurement priority mode>
An example of processing of the measurement instruction unit 603 in the measurement priority mode will be described with reference to the flowchart of FIG.
First, steps S901 to S903 are the same as steps S801 to 803 in FIG. If it is determined in step S903 that the stacker 104 is loading, the process proceeds to step S904. In step S904, the measurement instruction unit 603 instructs the operation control unit 602 to interrupt the stacking operation by the stacker 104. Then, the process proceeds to step S905. On the other hand, if it is determined that the stacker 104 has not stacked, step S904 is skipped and the process proceeds to step S905.

  In step S905, the measurement instruction unit 603 determines whether the reclaimer 105 is paying out the measurement range provisionally determined in step S902. As a result of the determination, if the reclaimer 105 is paying out, the process proceeds to step S906. In step S906, the measurement instruction unit 603 instructs the operation control unit 602 to interrupt the payout operation by the reclaimer 105 and to retreat to a position that does not interfere with the stacker 104 that performs measurement. Then, the process proceeds to step S907. On the other hand, if the reclaimer 105 has not paid out, step S906 is omitted and the process proceeds to step S907.

In step S907, the measurement instruction unit 603 determines the entire measurement range temporarily determined in step S902 as the measurement range.
In step S908, the measurement instruction unit 603 instructs the operation control unit 602 to turn the boom 114 of the stacker 104 for measuring the measurement range determined in step S907 in the plane direction of the yz plane. To do. And the process by the flowchart of FIG. 9 is complete | finished.
Steps S909 to S911 are the same as steps S808 to S810 in FIG.

<Measurement of raw material pile>
Next, an example of processing of the raw material yard management apparatus 600 when measuring the shape of the raw material pile 102 will be described with reference to the flowchart of FIG. Before the flowchart of FIG. 10 starts, it is assumed that the measurement range is determined by the flowchart of FIG. 8 or 9 and the boom 114 of the stacker 104 faces the surface direction of the yz plane. That is, FIG. 10 is a flowchart following the flowcharts of FIGS.
First, in step S1001, the data collection unit 604 stands by until information is collected from the stereo cameras 201a to 201c, the inclinometer 202, and the GPS antenna 203. As described above, in the present embodiment, this information is collected at a constant period.
Next, in step S <b> 1002, the stereo processing unit 605 performs stereo processing based on the two pieces of image data captured by the stereo cameras 201 a to 201 c, and the “three-dimensional coordinates P in the camera coordinate system” _C1 , _PC2 , _PC3 "are obtained.

Next, in step S1003, the coordinate conversion unit 606 converts the GPS coordinates (latitude, longitude, height) obtained by the GPS antenna 203 into three-dimensional coordinates Q in the field coordinate system.
Next, in step S1004, the three-dimensional orthogonal coordinate transformation unit 607 has obtained data (three-dimensional coordinates P _C1 , P _C2 , P _C3 ) of the measurement range determined by the processing according to the flowchart of FIG. 8 or FIG. Determine whether or not. If the result of this determination is that measurement range data has not been obtained, processing returns to step S1001.
On the other hand, when the measurement range data is obtained, the process proceeds to step S1005. In step S1005, the three-dimensional orthogonal coordinate conversion unit 607 converts the three-dimensional coordinates P _C1 , P _C2 , and P _C3 of the camera coordinate system obtained by the stereo processing unit 605 into the three-dimensional coordinates P ₁ , Convert to P ₂ and P ₃ .

Next, in step S1006, the data sample unit 608 is arranged in a predetermined virtual space of the site coordinate system among the “three-dimensional coordinates P ₁ , P ₂ , P _{3 of the} site coordinate system” obtained in step S1005. Data closest to each lattice point of the three-dimensional lattice is extracted from data included in the measurement range determined by the processing according to the flowchart of FIG. 8 or FIG.
Next, in step S1007, the data interpolation unit 609 refers to the “three-dimensional lattice point” corresponding to the data extracted in step S1006, and determines whether there is a lattice point with missing data. To do. As a result of the determination, if there is a grid point with missing data, the process proceeds to step S1008. In step S1008, the data interpolation unit 609 performs linear interpolation using data corresponding to the grid points around the grid point, and obtains data corresponding to the grid point. Then, the process proceeds to step S1009.
On the other hand, if there is no grid point with missing data, step S1008 is omitted and the process proceeds to step S1009.

In step S1009, the raw material mountain information cutting unit 610 individually sets the shape of the raw material mountain 102 based on the “data of the surface coordinates of the raw material mountain 102 in the on-site coordinate system” obtained in steps S1006 and S1008. cut.
Next, in step S1010, the raw material mountain information cutting unit 610 displays the raw material mountain shape information E (t) indicating the shape of the raw material mountain 102 cut out in step S1009 and the raw material mountain 102 to which the data of the three-dimensional coordinate belongs. Data for identification is associated with each other and stored in the raw material mountain shape storage unit 611. And the process by the flowchart of FIG. 10 is complete | finished (it returns to the process of the flowchart of FIG. 8 or FIG. 9 according to the measurement mode).

<Inventory calculation and display of raw material pile>
Next, an example of processing of the raw material yard management apparatus 600 when the stock amount (volume) of the raw material pile 102 is obtained and the state of the raw material yard 101 is displayed will be described with reference to the flowchart of FIG.
First, in step S <b> 1101, the payout range calculation unit 612 determines whether or not the raw material mountain shape information E (t) is stored in the raw material mountain shape storage unit 611. As a result of this determination, if the raw material peak shape information E (t) is not stored, the processing according to the flowchart of FIG. 11 is terminated.
On the other hand, if the raw material peak shape information E (t) is stored, the process proceeds to step S1102. In step S 1102, the payout range calculation unit 612 determines whether operation information indicating that the reclaimer 105 is paying out the raw material from the raw material pile 102 has been acquired from the operation control unit 602. As a result of the determination, if the reclaimer 105 has not acquired operation information indicating that the raw material has been discharged from the raw material stack 102, the process proceeds to step S1105, which will be described later, omitting steps S1103 and S1104. On the other hand, if operation information indicating that the reclaimer 105 is paying out the raw material from the raw material stack 102 is obtained, the process proceeds to step S1103.

In step S1103, the payout range calculation unit 612 calculates a range (excavation range information D (t)) in which the reclaimer 105 is paying out the raw material from the raw material stack 102.
Next, in step S1104, the raw material peak shape correcting unit 613 reads the latest raw material peak shape information E (t _n-1 ) corresponding to the raw material peak from which the payout has been performed from the raw material peak shape storage unit 611 and reads it. a raw material mountain shape information E (t _n-1), the intersection F (t _n) of the calculated drilling range information D (t _n) at step S1103, from the raw material mountain shape information E (t _n-1) The excluded range is obtained as E (t _n ) as the current material peak shape information of the material peak 102. And the raw material peak shape correction | amendment part 613 respond | corresponds to the raw material peak 102 from which the excavation part 125 paid out among the raw material peak shape information E (tn _-1 ) memorize | stored in the raw material peak shape memory | storage part 611. The raw material peak shape information E (t _n-1 ) is rewritten to the obtained raw material peak shape information E (t _n ). Then, the process proceeds to step S1105.

In step S1105, the raw material mountain volume calculation unit 614 reads the raw material mountain shape information E (t) stored in the raw material mountain shape storage unit 611, and based on the read raw material mountain shape information E (t), The volume (inventory amount) of each raw material pile 102 is calculated individually.
Next, in step S1106, the display unit 615 displays the raw material peak shape information E (t) stored in the raw material peak shape storage unit 611 and the volume of each raw material peak 102 calculated in step S1105. An image showing the three-dimensional shape of each raw material pile 102 and the volume of each raw material pile 102 is generated and displayed on a computer display. Then, the process according to the flowchart of FIG.
Instead of performing the process of the flowchart of FIG. 11, the processes of steps S1102 to S1106 may be performed after the flowchart of FIG.

As described above, in this embodiment, the stereo camera 201 for measuring information specifying the position of the surface of the raw material stack 102 is attached to the boom 114 of the stacker 104. In addition, a GPS antenna 203 for measuring information specifying the position of the stereo camera 201 is attached to the boom 114 of the stacker 104. In addition, an inclinometer 202 for measuring information specifying the measurement direction of the stereo camera 201 is attached to the boom 114 of the stacker 104. Then, these measurements are performed in a state where the boom 114 of the stacker 104 is oriented in the plane direction of the yz plane, and the shape of the surface of the raw material pile 102 is obtained from the measurement results. Therefore, the shape of the surface of the raw material pile 102 can be obtained based on the measurement result, and the position of the raw material pile 102 can be specified more accurately than the conventional technique obtained under a certain assumption. . Further, even if the shape of the raw material mountain changes due to the restacking of the raw material mountain or a natural phenomenon, the shape of the raw material mountain 102 can be accurately obtained by measurement.
Moreover, since the shape of the raw material pile 102 can be accurately grasped as described above, the stock amount of the raw material pile 102 obtained from the shape of the raw material pile 102 can be grasped more accurately than before.

Further, in the present embodiment, the range in which the excavation part 125 at the tip of the boom 115 of the reclaimer 105 exists is obtained from information indicating the operation state of the reclaimer 105, and the raw material peak 102 is obtained from the measured raw material peak 102. The shape of the new raw material pile 102 is obtained except for the overlapping range with the range where the excavation part 125 exists. Therefore, the shape of the raw material pile 102 can be managed in real time. In addition, since the shape of the original raw material stack 102 is accurate, even when the reclaimer 105 pays out, the shape of the raw material stack 102 can be grasped more accurately than before.
In addition, as described above, the shape of the raw material stack 102 can be accurately grasped even when the material is paid out, so that the stock amount of the raw material mountain 102 can be grasped more accurately than before even when the material is paid out. can do.

In the present embodiment, the operation control unit 602 transmits an operation instruction signal for instructing operation to the stacker 104 and the reclaimer 105 based on the result obtained by the optimum arrangement calculation unit 601, so that the stacker 104 and the reclaimer 105 are automatically operated, and the shape of the raw material stack 102 in the measurement range determined in either the operation priority mode or the measurement priority mode is automatically measured. Can be done unattended. Therefore, for example, it is possible to prevent a measurement omission from occurring or hindering operation due to measurement at an inappropriate timing.
As described above, since the operation of the raw material pile 102 in the raw material yard 101 can be accurately managed, it is possible to accurately perform the raw material arrangement plan that effectively uses the yard area, and to reduce the berthing fee. Can do.

[Modification 1]
In this embodiment, the stock amount of the raw material pile 102 that has been paid out by the reclaimer 105 is obtained from the volume based on the shape of the raw material pile 102 after the payout. However, this is not always necessary. For example, the reclaimer is obtained by obtaining the stock amount of the raw material pile 102 before the payout from the shape and volume of the raw material pile 102 and subtracting the payout amount measured by the conveyor scale from the obtained stock amount of the raw material pile 102 before the payout. You may make it obtain | require the stock quantity of the raw material pile 102 which paid out by 105. FIG. As described above, in the present embodiment, the shape of the raw material stack 102 can be accurately grasped. Therefore, even if the stock amount of the raw material stack 102 is obtained in this way, the stock of the raw material stack 102 after the payout is obtained. The amount can be grasped more accurately than before.

[Modification 2]
Compared to the reclaimer 105, the stacker 104 has a surplus in operation (the time during which the operation is not performed is long). If it is made to attach to, it can prevent that an operation will be prevented by measurement, and it is preferable. However, the stereo camera 201, the inclinometer 202, and the GPS antenna 203 may be attached to the reclaimer 105. In addition, if the heavy machine is capable of positioning the boom above the raw material pile 102 and can move in the longitudinal direction of the raw material yard 101, the stereo camera 201, the tilting machine, A total 202 and a GPS antenna 203 may be attached.

[Modification 3]
In the present embodiment, a stereo camera 201 is used as an example of an apparatus for measuring the information specifying the position of the surface of the raw material pile 102, and an apparatus for measuring information specifying the position of the stereo camera 201 is used. As an example, a GPS antenna 203 is used, and an inclinometer 202 is used as an example of a direction measuring device for measuring information specifying the measurement direction of the stereo camera 201. However, the stereo camera 201, the inclinometer 202, and the GPS antenna 203 are not necessarily used as long as the device realizes these functions. For example, a 2D laser distance meter may be used instead of the stereo camera 201. Further, when measuring the shape of the raw material stack 102, the extending direction (axial direction) of the boom 114 of the stacker 104 may not be directed to the surface direction of the yz plane (it may be swung). In such a case, it is necessary to correct the turning angle when measuring the shape of the raw material pile 102. That is, if the extending direction (axial direction) of the boom 114 of the stacker 104 is directed to the surface direction of the yz plane as in this embodiment, it is not necessary to consider the turning angle of the boom 114.

[Modification 4]
In the present embodiment, the measurement is performed immediately after the completion of the stacking, immediately after the completion of the payout, when there is an instruction from the operator, and when a certain time has elapsed. However, the timing for performing the measurement is not limited to such timing. For example, only a part of these timings can be used as the timing for measurement.

  In the present embodiment, for example, the raw material mountain measuring device is realized by using the stereo camera 201, the position measuring device is realized by using the GPS antenna 203, and the direction measuring device is realized by using the inclinometer 202. Is done. For example, a heavy machine is realized by using the stacker 104. In addition, for example, a measurement unit is realized by using the raw material mountain information cutout unit 610. For example, a control means is realized by using the operation control unit 602. Further, for example, by using the raw material mountain volume calculation unit 614, the raw material mountain stock quantity calculating means is realized. For example, the conveyance apparatus which conveys a raw material to a post process is implement | achieved by using a belt conveyor. Further, for example, a payout range calculation means is realized by using the payout range calculation unit 612. Further, for example, by using the raw material peak shape correcting unit 613, the raw material peak shape correcting means is realized.

Further, for example, “the three-dimensional coordinates P _C of the camera coordinate system” corresponds to “the position of the surface of the raw material mountain”. Further, for example, “three-dimensional coordinate Q in the field coordinate system” corresponds to “position of the raw material mountain measuring apparatus”. Further, for example, “the elevation angle α of the boom 114 of the stacker 104” corresponds to “the measurement direction of the raw material yard in the raw material mountain measuring apparatus”. Further, for example, “the horizontal distance L between the GPS antenna 203 and the stereo camera 201” corresponds to “information indicating the length in the extending direction of the boom”. Further, for example, “the height direction distance H between the GPS antenna 203 and the stereo camera 201” corresponds to “information indicating the positional relationship between the position measuring device and the raw material mountain measuring device”. Further, for example, “the angle φ formed by the stereo camera 201 with respect to the boom 114” corresponds to “information indicating the installation direction of the raw material mountain measuring apparatus”.

The embodiment of the present invention described above can be realized by a computer executing a program. Further, a means for supplying the program to the computer, for example, a computer-readable recording medium such as a CD-ROM recording such a program, or a transmission medium for transmitting such a program may be applied as an embodiment of the present invention. it can. A program product such as a computer-readable recording medium that records the program can also be applied as an embodiment of the present invention. The programs, computer-readable recording media, transmission media, and program products are included in the scope of the present invention.
In addition, the embodiments of the present invention described above are merely examples of implementation in carrying out the present invention, and the technical scope of the present invention should not be construed as being limited thereto. Is. That is, the present invention can be implemented in various forms without departing from the technical idea or the main features thereof.

DESCRIPTION OF SYMBOLS 101 Raw material yard 102 Raw material pile 103 Traveling rail 104 Stacker 114 Boom 105 Reclaimer 115 Boom 125 Excavation part 201 Stereo camera 202 Inclinometer 203 GPS antenna 600 Raw material yard management apparatus 601 Optimal arrangement calculation part 602 Operation control part 603 Measurement instruction part 604 Data collection Unit 605 Stereo processing unit 606 Coordinate transformation unit 607 Three-dimensional orthogonal coordinate transformation unit 608 Data sampling unit 609 Data interpolation unit 610 Raw material mountain information extraction unit 611 Raw material mountain shape storage unit 612 Discharge range calculation unit 613 Raw material mountain shape correction unit 614 Raw material Mountain volume calculation unit 615 Display unit

Claims (21)

A heavy machine capable of positioning the boom above the raw material pile stacked in the raw material yard, and capable of moving in the longitudinal direction of the raw material pile;
A raw material pile measuring device that is attached to a predetermined position of the boom and measures information for specifying the position of the surface of the raw material pile,
A position measuring device which is attached to a predetermined position of the boom and measures information for specifying the position of the raw material pile measuring device;
A direction measuring device that is attached to a predetermined position of the boom and measures information for specifying a measuring direction of the raw material yard in the raw material mountain measuring device;
Using the information measured by the raw material mountain measuring device, the information measured by the position measuring device, and the information measured by the direction measuring device, measuring means for measuring the shape of the raw material mountain, A raw material yard management system characterized by comprising:   The raw material pile inventory amount calculating means for calculating the stock amount of the raw material pile by calculating the volume of the raw material pile from the shape of the raw material pile measured by the measuring means. Raw material yard management system. A reclaimer as the heavy machine or a heavy machine different from the heavy machine;
A conveying device that conveys the raw material dispensed by the reclaimer to a subsequent process,
The raw material pile inventory amount calculation means subtracts the amount conveyed by the transfer device from the inventory amount based on the raw material pile volume calculated by the raw material pile volume calculation means, and updates the inventory amount of the raw material pile. The raw material yard management system according to claim 2, wherein: A reclaimer as the heavy machine or a heavy machine different from the heavy machine;
When the raw material is paid out from the raw material pile by the reclaimer, the payout range calculating means for calculating the range where the excavation part of the reclaimer is present in the raw material mountain,
And a raw material peak shape correcting means for correcting the raw material peak shape by removing the range calculated by the payout range calculating means from the raw material peak shape measured by the measuring means. The raw material yard management system according to claim 1. From the shape of the raw material pile measured by the measuring means, the raw material pile inventory amount calculating means for calculating the volume of the raw material pile and calculating the stock amount of the raw material mountain,
When the shape of the raw material mountain is corrected by the raw material mountain shape correcting unit, the raw material mountain inventory amount calculating unit calculates a volume based on the corrected raw material mountain shape and calculates an inventory amount of the raw material mountain The raw material yard management system according to claim 4. Control means for controlling the operation of the boom of the heavy machinery,
While the measurement is being performed by the raw material pile measuring device, the position measuring device, and the direction measuring device, the control means is configured such that the boom extending direction of the heavy machinery is the longitudinal direction and height of the raw material yard. The operation of the boom of the heavy machinery is controlled so as to face a plane direction determined by a direction perpendicular to the direction and a height direction of the raw material yard. Raw material yard management system as described in.   The raw material yard management system according to claim 1, wherein the heavy machinery is a stacker. The position measuring device measures its own position as information for specifying the position of the raw material mountain measuring device,
The direction measuring device measures the elevation angle of the boom as information for specifying the measuring direction of the raw material yard in the raw material mountain measuring device,
The measuring means includes information indicating a length in the extending direction of the boom, information indicating a positional relationship between the position measuring device and the raw material pile measuring device, and information indicating an installation direction of the raw material pile measuring device. The raw material yard management system according to any one of claims 1 to 7, wherein the shape of the raw material hill is further measured.   The said raw material mountain measuring device, the said position measuring device, and the said direction measuring device operate | move in the operation priority mode which performs a measurement, after the operation of the heavy machinery which operates in the said raw material yard is complete | finished. The raw material yard management system according to any one of the above.   9. The raw material mountain measuring device, the position measuring device, and the direction measuring device operate in a measurement priority mode in which measurement is performed after operation of a heavy machine operating in the raw material yard is interrupted. The raw material yard management system according to any one of the above. A heavy machine capable of positioning a boom above a raw material pile stacked in the raw material yard, and using a heavy machine capable of moving in the longitudinal direction of the raw material pile, the raw material pile in the raw material yard is A raw material yard management method for managing
A raw material mountain measuring step for measuring information for specifying the position of the surface of the raw material mountain by a raw material mountain measuring device attached to a predetermined position of the boom; and
A position measuring step of measuring information for specifying the position of the raw material pile measuring device by a position measuring device attached to a predetermined position of the boom; and
A direction measuring step for measuring information for specifying a measurement direction of the raw material yard in the raw material pile measuring device by a direction measuring device attached to a predetermined position of the boom,
Using the information measured in the raw material mountain measuring step, the information measured in the position measuring step, and the information measured in the direction measuring step, a measuring step for measuring the shape of the raw material mountain, The raw material yard management method characterized by having.   The raw material pile inventory amount calculating step of calculating the stock amount of the raw material pile by calculating the volume of the raw material pile from the shape of the raw material pile measured in the measuring step. Raw material yard management method.   In the raw material pile inventory calculation step, from the stock amount based on the raw material pile volume calculated by the raw material pile volume calculation means, the raw material dispensed by the heavy machinery or a reclaimer as a heavy machinery different from the heavy machinery is used. The raw material yard management method according to claim 12, wherein the stock amount of the raw material pile is updated by subtracting the amount transported by the transport device transported to a subsequent process. When the raw material is discharged from the raw material pile by a reclaimer as the heavy equipment or a heavy machine different from the heavy equipment, a payout range calculation for calculating the range where the excavation part of the reclaimer is present in the raw material pile Process,
A raw material peak shape correcting step of correcting the raw material peak shape by removing the range calculated by the payout range calculating step from the raw material peak shape measured by the measuring step. The raw material yard management method according to claim 11. From the shape of the raw material pile measured by the measuring step, the raw material pile inventory amount calculating step for calculating the volume of the raw material mountain and calculating the stock amount of the raw material mountain,
In the raw material stock inventory calculation step, when the shape of the raw material pile is corrected by the raw material pile shape correction step, the volume based on the corrected raw material pile shape is calculated to calculate the stock amount of the raw material pile. The raw material yard management method according to claim 14. A control step of controlling the operation of the boom of the heavy machinery,
In the control step, while the raw material pile measuring device, the position measuring device, and the direction measuring device are measuring, the extending direction of the boom of the heavy machinery is the longitudinal direction and the height of the raw material yard. The operation of the boom of the heavy machinery is controlled so as to face a plane direction determined by a direction perpendicular to the direction and a height direction of the raw material yard. Raw material yard management method described in 1.   The raw material yard management method according to claim 11, wherein the heavy machine is a stacker. The position measuring step measures the position of the position measuring device as information for specifying the position of the raw material mountain measuring device,
The direction measuring step measures the elevation angle of the boom as information for specifying the measurement direction of the raw material yard in the raw material hill measuring device,
The measuring step includes information indicating a length in the extending direction of the boom, information indicating a positional relationship between the position measuring device and the raw material mountain measuring device, and information indicating an installation direction of the raw material mountain measuring device. The raw material yard management method according to claim 11, further comprising: measuring the shape of the raw material mountain.   The said raw material peak measurement process, the said position measurement process, and the said direction measurement process operate | move in the operation priority mode which performs a measurement after the operation of the heavy machinery which operates in the said raw material yard is complete | finished, The features 11-18 characterized by the above-mentioned. The raw material yard management method according to any one of the above.   The said raw material peak measurement process, the said position measurement process, and the said direction measurement process operate | move in the measurement priority mode which performs a measurement after the operation of the heavy machinery operated in the said raw material yard is interrupted. The raw material yard management method according to any one of the above. A heavy machine capable of positioning a boom above a raw material pile stacked in the raw material yard, and using a heavy machine capable of moving in the longitudinal direction of the raw material pile, the raw material pile in the raw material yard is A computer program for causing a computer to execute management,
A raw material mountain measuring step for instructing measurement of information for specifying the position of the surface of the raw material mountain to the raw material mountain measuring device attached to a predetermined position of the boom,
A position measuring step for instructing measurement of information for specifying a position of the raw material pile measuring device to a position measuring device attached to a predetermined position of the boom;
A direction measuring step for instructing measurement of information for specifying a measuring direction of the raw material yard in the raw material pile measuring device with respect to the direction measuring device attached to a predetermined position of the boom,
Using the information measured based on the instruction by the raw material mountain measuring process, the information measured based on the instruction by the position measuring process, and the information measured based on the instruction by the direction measuring process, A computer program for causing a computer to execute a measuring process for measuring the shape of the raw material pile.

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