JP2019095379A - Quantity inspection system and quantity inspection method of loading in ship's storehouse - Google Patents

Abstract

To enable performing a quantity inspection of the load in a storehouse of a ship during navigation using the image taken by an unmanned aircraft.SOLUTION: A first positioning means 22 repeatedly measures a position of a ship 2. A second positioning means 32 repeatedly measures a position of an unmanned aircraft 3. A first guiding means 101 guides the unmanned aircraft 3 to the sky of the ship 2 using the position of the ship 2 measured by the first positioning means 22 using the position of the unmanned aircraft 3 measured by the second positioning means 32. The imaging means 31 is provided in the unmanned aircraft 3 to photograph the storehouse 24 of the ship 2. The shape calculating means 103 calculates the three-dimensional shape of the load in the storehouse 24 using a plurality of images taken by the imaging means 31. The quantity calculating means 104 calculates the quantity of the load from the three-dimensional shape calculated by the shape calculating means 103.SELECTED DRAWING: Figure 3

Description

  TECHNICAL FIELD The present invention relates to a technology for detecting the quantity of cargo in a ship's container.

  Materials such as stone used in port construction are transported using vessels such as earth transportation vessels and gut vessels, but before loading the materials into the water area of the construction work, measure the quantity of materials loaded in the Dokura Inspection is carried out, and construction progress, construction costs, etc. are calculated based on the quantity. The number of materials is calculated by measuring the shape of the surface of the material being loaded. For example, when the material is shaped in a trapezoidal shape in the Dokura, the height, the distance between adjacent change points, and the like are measured at each change point of the shape, and the quantity is calculated from these measured values. However, in this method, it is necessary for a measuring person to enter the Dokura and, moreover, a plurality of measuring persons are required. In addition, since the quantity inspection is carried out on the ship sailing toward the construction target water area, every time the material is transported to the construction target water area, a plurality of measuring personnel board the ship between the office on land and the ship. Will need to be moved.

  Patent documents 1 to 4 are, for example, as patent documents disclosing a technique for mechanizing the inspection of the number of loads loaded in the ship's hold. According to Patent Document 1, the surface of a deck of a transport machine and a shipyard covered with earth and sand is photographed by a photographing machine installed on a movable work machine, and a stereo is provided using a reference point provided on the deck by a computer. Based on the image measurement principle, the three-dimensional coordinates of the photographed image are calculated, and the sediment loading amount is calculated from the difference between the sediment loading state and the three-dimensional coordinates of empty state. It is done.

  In Patent Document 2, a carrier having a required load loaded thereon is continuously scanned synchronously from the upper side by at least a pair of scanners arranged at least on both sides with respect to the traveling direction of the carrier such as a gut. To detect the pitching, rolling, and yawing of the vehicle, and to measure the load surface height while reducing the dead angle measured by the crane boom, and correcting the ship's swing from the obtained measurement data, and then performing the coordinate calculation. A method of measuring the amount of load on a carrier such as a gut is described, which is characterized in that the load volume is processed by a required calculation means.

  In Patent Document 3, a step of installing a laser measuring instrument, a step of outputting a laser beam from the laser measuring instrument, a step of performing three-dimensional scanning on the earth and sand loaded on the earth transportation vessel, a scanning angle of the laser beam And the step of inputting data of distance based on the reflected beam from the soil surface, calculating the factor of measurement error caused by the earth ship and ship's motion, and the factor from the scanning angle and the earth surface by the factor Correcting the data with the distance based on the reflected beam, calculating the cross-sectional area of the soil based on the corrected data, and calculating the soil volume by accumulating the cross-sectional area The method of measuring the soil volume of the earth-handed ship characterized by the above is described.

  In patent document 4, while scanning from above with a light wave distance meter, the loading stone surface height of a navigation gut ship is measured, and the prism installed in the front, middle part, and rear of a gut ship respectively by an auto-tracking distance measuring method. The position of the gut, the approach angle, and the inclination are measured in order, and the three-dimensional coordinates of the surface of the load stone are determined from each measurement data, and then divided based on that to create a triangular mesh. A method of measuring the amount of loaded stone in a gut ship is described, characterized in that the loaded stone volume is arithmetically processed from the triangular column or triangular pyramid from the surface of the loaded stone obtained to the reference surface.

JP 2005-114744 A JP 2001-289612 A Unexamined-Japanese-Patent No. 2001-304813 JP 2000-275083 A

  In the techniques described in Patent Literatures 1 and 3, since the quantity inspection is performed using an apparatus disposed on a work boat different from the material transport ship, a cost for arranging the work boat is generated. In the techniques described in Patent Documents 2 and 4, since the quantity inspection is performed using the equipment disposed on the temporary structure on the ground or on the water, it takes time to install and remove the temporary structure. A configuration is also conceivable in which the quantity inspection is carried out using equipment arranged in the ship's hold, but it is difficult to put it to practical use because it is thought that the equipment will be damaged when carrying in or out the material.

  By the way, in on-land construction, work-out management by aerial photogrammetry using unmanned aerial vehicles is carried out. In that case, since the object to be photographed does not move, the flight path is set based on the coordinates of the object measured in advance, and the unmanned aircraft is made to fly according to the flight path to take an aerial photograph. However, when measuring the shape of the load loaded on the material transport ship during navigation, the flight path can not be set in advance.

  In view of the above-described circumstances, the present invention provides a technology that enables quantity inspection of a load loaded in a ship's ship's hold of a navigation vessel to be performed using an image captured by an unmanned aerial vehicle.

  The present invention comprises a first positioning means for repeatedly measuring the position of a ship, an unmanned aerial vehicle, a second positioning means for repeatedly measuring the position of the unmanned aircraft, and a position of the ship measured by the first positioning means. A first guiding means for guiding the unmanned aerial vehicle above the vessel using the position of the unmanned aerial vehicle measured by the second positioning means, and the unmanned aerial vehicle provided with the unmanned aerial vehicle to photograph the container of the vessel Imaging means, shape calculation means for calculating a three-dimensional shape of the load loaded in the container by using a plurality of images taken by the imaging means, and the three-dimensional shape calculated by the shape calculation means According to a first aspect of the present invention, there is proposed as a first aspect a system for detecting the quantity of cargo loaded on a ship's container, comprising: quantity calculation means for calculating the quantity of the cargo from the shape.

  In the quantity inspection system according to the first aspect, the plurality of signs disposed in the storehouse, setting means for setting the flight path of the unmanned aircraft based on the plurality of signs, and the set flight path And second guiding means for guiding the unmanned aerial vehicle to fly along the road, and the photographing means adopts a configuration in which the dokura is photographed at a plurality of positions on the flight path as a second aspect It may be done.

  Further, the present invention repeatedly measures the position of the ship and the position of the unmanned aerial vehicle, and uses the measured position of the ship and the measured position of the unmanned aerial vehicle to fly the unmanned aerial vehicle above the ship Using the image pickup means provided on the unmanned aerial vehicle, and using a plurality of images taken by the image pickup means to According to a third aspect of the present invention, there is proposed a third aspect of the present invention, which is a method for detecting the quantity of cargo in a ship's hold of a ship, comprising the steps of: calculating a dimensional shape;

  In the quantitative inspection method according to the above-mentioned third aspect, the step of photographing the Dokura comprises the step of setting a flight path of the unmanned aerial vehicle based on a plurality of signs arranged in the Dokura, and the set flight A step of guiding the unmanned aerial vehicle so as to fly along a path and a step of photographing the Dokura at a plurality of positions on the flight path may be adopted as a fourth aspect.

  According to the present invention, it is possible to perform the quantity inspection of the load loaded in the container of the ship under navigation using the image taken by the unmanned aerial vehicle.

The figure which shows the outline | summary of the structure of embodiment. FIG. 2 is a plan view of a ship 2; The figure which shows the structure of the quantity inspection system. Flow chart of quantity acceptance processing. The figure which shows the example of setting of a flight path.

  An exemplary embodiment of the present invention will be described. Generally, materials such as stone, gravel and sand used in port construction are transported on land from the mining site to the loading port, loaded on ships such as earth transport vessels and gut vessels at the loading port and transported to the target water area for construction, It is thrown in. In the present embodiment, the number of materials loaded in the Dokura is measured using an image obtained by photographing a Dokura of a ship with an unmanned aerial vehicle during navigation from the loading port to the construction target water area or in the construction target water area. Quantity acceptance is carried out.

  FIG. 1 is a diagram showing an outline of the configuration of the present embodiment. The ship 2 is a soil transport ship, a gut ship, etc., and loads materials such as stone, gravel, sand and the like in the hold of a ship and transports it to the water area A to be constructed. The unmanned aerial vehicle 3 (UAV, Uninhabited Aerial Vehicle) is an aircraft that flies unmanned by remote control. In the present embodiment, it is desirable that the unmanned aerial vehicle 3 be provided with a rotary wing and have a hovering function. Furthermore, it is further desirable that the unmanned aerial vehicle 3 be a multicopter (drone) provided with a plurality of rotors. The information processing apparatus 10 is, for example, a desktop type, notebook type, tablet type computer disposed in an office B or the like on land.

  FIG. 2 is a plan view of the ship 2. The markers 21a, 21b, 21c, and 21d are anti-aircraft markers that are identified by analyzing an image captured from above the ship. When the signs 21a, 21b, 21c, and 21d are not distinguished, they are collectively referred to as the signs 21. The markers 21 are arranged at a plurality of positions around the Dokura 24. In the illustrated example, the planar shape of the hold 24 is rectangular, and the marker 21 is disposed at a position close to each of the four apexes of the rectangle. The place which arrange | positions the label | marker 21 selects the place which does not become a blind spot at the time of the imaging | photography by the unmanned aerial vehicle 3 from the sky. For example, the sign 21 may be disposed at the upper end of the rim of the Dokura 24 or the like.

  FIG. 3 is a diagram showing the configuration of a quantity inspection system. The ship 2 includes a first positioning unit 22 and a first communication unit 23. The first positioning means 22 receives navigation signals transmitted from a plurality of navigation satellites included in the Global Navigation Satellite System (GNSS), and uses the received navigation signals to determine the position of the ship 2 Calculate the three-dimensional coordinates to be represented. The first positioning means 22 is disposed, for example, on the upper part of the bridge 25 of the ship 2. The first communication unit 23 transmits and receives data by wireless communication with the third communication unit 15 connected to the information processing apparatus 10. Position data representing the position calculated by the first positioning means 22 is transmitted via the first communication means 23 and received by the third communication means 15.

  The unmanned aerial vehicle 3 includes an imaging unit 31, a second positioning unit 32, and a second communication unit 33. The photographing unit 31 is, for example, a digital camera, and photographs the Dokura 24 of the ship 2 and generates image data representing the photographed image. The second positioning means 32 calculates three-dimensional coordinates representing the position of the unmanned aerial vehicle 3 using navigation signals received from a plurality of navigation satellites. The second communication unit 33 transmits and receives data to and from the third communication unit 15 connected to the information processing apparatus 10 by wireless communication. The image data generated by the imaging unit 31 and the position data representing the position calculated by the second positioning unit 32 are transmitted via the second communication unit 33 and received by the third communication unit 15.

  The information processing apparatus 10 includes an operation unit 11, a storage unit 12, an input / output I / F (Interface) unit 13, and a UI (User Interface) unit 14. The storage unit 12 includes a storage device such as a hard disk drive, for example, and stores programs and data. The arithmetic unit 11 includes a processor and a memory used as a work area in data processing, and executes various data processing in accordance with a program stored in the storage unit 12.

  The third communication unit 15 is connected to the input / output I / F unit 13. The third communication unit 15 transmits and receives data by wireless communication with the first communication unit 23 disposed in the ship 2 and the second communication unit 33 disposed in the unmanned aerial vehicle 3.

  The UI unit 14 includes a display unit and an operation unit. The display unit displays various information, and the operation unit receives an operation by the user. The display unit is, for example, a liquid crystal display. The operation unit is, for example, a keyboard and a pointing device. The UI unit 14 may be configured as an apparatus separated from the main body of the information processing apparatus 10, and the UI unit 14 may be connected to the input / output I / F unit 13.

  The storage unit 12 stores a program describing the procedure of the quantity inspection process according to the embodiment, and the calculation unit 11 executes the quantity inspection process according to the program.

  FIG. 4 is a flowchart of the quantity verification process. The ship 2 is traveling toward the construction object water area A, and the unmanned aircraft 3 starts flight from, for example, the office B.

  In step S01, the first positioning means 22 repeatedly measures the position of the ship 2, and the second positioning means 32 repeatedly measures the position of the unmanned aerial vehicle 3. The timing of repetition of the measurement by the first positioning means 22 and the second positioning means 32 may be synchronized, may be equal in frequency without synchronization, or may be different in frequency.

  In step S 02, the first guiding means 101 uses the position of the ship 2 measured by the first positioning means 22 and the position of the unmanned aircraft 3 measured by the second positioning means 32 to operate the unmanned aerial vehicle 3. Guide the ship 2 over the air. For example, from the position of the ship 2 and the position of the unmanned aerial vehicle 3, the first guiding means 101 calculates the direction of the ship 2 relative to the unmanned aerial vehicle 3. Further, the first guidance means 101 calculates the flight direction of the unmanned aerial vehicle 3 from the history of the position of the unmanned aerial vehicle 3. The first guiding means 101 performs the flight of the unmanned aircraft 3 so that the flight orientation of the unmanned aircraft 3 matches the orientation of the ship 2 when the error in the flight orientation of the unmanned aircraft 3 is equal to or greater than the threshold. A control signal for correcting the direction is transmitted to the unmanned aerial vehicle 3 via the third communication means 15. The unmanned aerial vehicle 3 receives the control signal via the second communication means 33, and drives the plurality of rotors according to the received control signal.

  In step S03, the first guiding means 101 calculates the horizontal distance between the ship 2 and the unmanned aerial vehicle 3 from the position of the ship 2 and the position of the unmanned aerial vehicle 3, and determines whether the horizontal distance is equal to or less than a threshold. judge. When the horizontal distance is equal to or less than the threshold value, the unmanned aerial vehicle 3 is positioned above the ship 2 so that all the signs 21 fall within the angle of view of the photographing means 31. If the horizontal distance is equal to or less than the threshold (YES in step S03), the process proceeds to step S04. If the horizontal distance is not equal to or less than the threshold (NO in step S03), the process returns to step S01.

  In step S04, the setting means 105 sets the flight path of the unmanned aerial vehicle 3 based on the plurality of signs 21. Specifically, the setting unit 105 analyzes the image of the Dokura 24 photographed by the photographing unit 31 to recognize the plurality of markers 21, and one of the plurality of markers 21 (for example, the distance to the unmanned aerial vehicle 3 is The position of the predetermined altitude immediately above the shortest marker 21) is selected as the start point of the flight path, and the flight path is set back to the start point via all over the markers 21 while maintaining the altitude.

  FIG. 5 is a diagram showing an example of setting a flight path. As described above, in the present embodiment, the planar shape of the container 24 is rectangular, and the marker 21 is disposed at a position close to each of the four vertexes of the rectangle. The setting means 105 selects, as a start point, a position of a predetermined height immediately above the sign 21 of the four signs 21 which is the shortest distance to the unmanned aerial vehicle 3 and on the side of a rectangle having the four signs 21 as vertices. Set a flight path to fly in a predetermined direction while maintaining a predetermined altitude immediately above. In this example, the circling direction is set in the counterclockwise direction so that the unmanned aerial vehicle 3 orbits immediately above the markers 21b, 21c, 21d, and 21a in this order starting from the position immediately above the marker 21a. The winding direction is set.

  In step S05, the second guiding means 102 guides the unmanned aerial vehicle 3 along the flight path, and the photographing means 31 photographs the Dokura 24 at a plurality of positions. First, the second guiding means 102 guides the unmanned aerial vehicle 3 to a predetermined altitude, and guides the unmanned aerial vehicle 3 directly above the sign 21a at the start point. Next, while maintaining the altitude, the unmanned aerial vehicle 3 is guided to fly toward the sign 21b on a straight line L1 connecting the mark 21a and the mark 21b. If the unmanned aerial vehicle 3 arrives directly above the sign 21b, the unmanned aerial vehicle 3 is guided to fly directly above the sign 21c on a straight line L2 connecting the immediately upper end of the sign 21b and the directly above the sign 21c. If the unmanned aerial vehicle 3 reaches directly above the sign 21c, the unmanned aerial vehicle 3 is guided to fly directly above the sign 21d on a straight line L3 connecting the immediately above of the sign 21c and directly above the sign 21d. If the unmanned aerial vehicle 3 arrives immediately above the sign 21d, the unmanned aerial vehicle 3 is guided to fly directly above the sign 21a on a straight line L4 connecting the immediately above the sign 21d and the immediately above the sign 21a. During the execution of step S05, the position of the flight path set in step S04 is continuously corrected with reference to the markers 21a to 21d moving along with the navigation of the ship 2.

  While flying from directly above the sign 21a to immediately above the signs 21b, 21c, and 21d and heading directly above the sign 21a, the photographing unit 31 photographs at a plurality of positions, and processes the image data representing the photographed image Send to 10 When the unmanned aerial vehicle 3 reaches directly above the sign 21 a, the photographing means 31 ends the photographing, and the first guiding means 101 guides the unmanned aerial vehicle 3 to return to the office B.

  In step S06, the shape calculation unit 103 calculates the three-dimensional shape of the load loaded in the Dokura 24 using the plurality of images captured by the imaging unit 31. For example, the shape calculation unit 103 creates a three-dimensional point group representing the three-dimensional shape of the load from a plurality of images using SfM (Structure from motion) software.

  In step S07, the quantity calculation unit 104 calculates the quantity of the load from the three-dimensional shape calculated by the shape calculation unit 103. Specifically, the quantity calculation unit 104 calculates the volume of the load from the three-dimensional point group calculated using the SfM software. In addition, the quantity calculating unit 104 calculates the weight of the load from the calculated volume and the specific gravity obtained by the specific gravity test performed during the navigation.

  Aerial photogrammetry using unmanned aerial vehicles is used for finishing management in land works, but it is not assumed that the object of photography moves. In this embodiment, the position of the ship and the position of the unmanned aerial vehicle are repeatedly measured, and the unmanned aerial vehicle is guided above the ship using the measured position of the ship and the measured unmanned aerial vehicle position. Being configured, the unmanned aerial vehicle can be guided to the ship under navigation. Therefore, according to the present embodiment, it is possible to perform the quantity inspection of the load loaded in the container of the ship under navigation using the image captured by the unmanned aerial vehicle.

  Further, in the present embodiment, the flight path of the unmanned aerial vehicle is set based on a plurality of signs placed in the storehouse, and the unmanned aerial vehicle is guided to fly along the set flight path. Since the Dokura is taken at the position of, the Dokura can be taken at a plurality of positions above the ship under navigation.

[Modification]
The above-described embodiment is a specific example of the present invention, and can be variously modified within the scope of the technical idea of the present invention. The following shows examples of such modifications.

(1) The SfM software is an example of a method for calculating the three-dimensional shape of a load, and stereo photogrammetry may be used as a method for calculating the three-dimensional shape of the load, for example. May be

(2) In the above-mentioned embodiment, although the 1st guidance means 101, the 2nd guidance means 102, and the setting means 105 showed the example which is a function of information processor 10, these functions are equipped with unmanned aerial vehicle 3 It is also good. In that case, communication is performed between the first communication means 23 and the second communication means 33, and position data representing the position of the ship measured by the first positioning means 22 is transmitted to the unmanned aerial vehicle 3 It should be done.

2 ... ship, 3 ... unmanned aerial vehicle, 10 ... information processing device, 11 ... operation unit, 12 ... storage unit, 13 ... input / output I / F unit, 14 ... UI unit, 15 ... third communication means, 21 ... sign, 22: first positioning means, 23: first communication means, 24: Tokura, 25: Funabashi, 31: photographing means, 32: second positioning means, 33: second communication means, 101: first guiding means, 102: Second guidance means, 103 ... shape calculation means, 104 ... quantity calculation means, 105 ... setting means

Claims (4)

First positioning means for repeatedly measuring the position of the ship;
With unmanned aerial vehicles,
Second positioning means for repeatedly measuring the position of the unmanned aerial vehicle;
First guiding means for guiding the unmanned aerial vehicle above the ship using the position of the ship measured by the first positioning means and the position of the unmanned aircraft measured by the second positioning means; ,
An imaging unit provided in the unmanned aerial vehicle for imaging a Tsuchikura of the ship;
Shape calculating means for calculating a three-dimensional shape of the load loaded in the Dokura using the plurality of images captured by the capturing means;
And a quantity detection system of the load storage of the ship's hold of the ship, comprising: quantity calculation means for calculating the quantity of the load from the three-dimensional shape calculated by the shape calculation means. A plurality of signs placed in the Dokura;
Setting means for setting a flight path of the unmanned aircraft based on the plurality of signs;
Second guidance means for guiding the unmanned aircraft to fly along the set flight path;
The quantity inspection system according to claim 1, wherein the photographing means photographs the Dokura at a plurality of positions on the flight path. Measuring the position of the ship and the position of the unmanned aircraft repeatedly and guiding the unmanned aerial vehicle above the ship using the measured position of the ship and the measured position of the unmanned aircraft;
Imaging the Dokura of the vessel by an imaging means provided on the unmanned aerial vehicle;
Calculating a three-dimensional shape of the load loaded in the Dokura using the plurality of images captured by the capturing unit;
And calculating the quantity of the load from the calculated three-dimensional shape. In the process of photographing the Dokura,
Setting a flight path of the unmanned aircraft based on a plurality of signs placed in the Dokura;
Guiding the unmanned aircraft to fly along the set flight path;
The method according to claim 3, further comprising the steps of: imaging the Dokura at a plurality of positions on the flight path.

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