JP2020172350A - Unloading device - Google Patents

Abstract

To estimate a shape of a boathouse.SOLUTION: An unloading device includes a distance measuring sensor for measuring a distance to a wall of a boathouse, a straight-line derivation unit for deriving straight lines L1, L2 based on a plurality of measurement points measured by the distance measuring sensor, and a model generation unit for generating a model of the boathouse by an aggregate of straight lines.SELECTED DRAWING: Figure 13

Description

The present disclosure relates to a unloading device.

The unloading device carries out the cargo loaded in the boathouse to the outside of the boathouse. An unloader is an example of a unloading device. In the unloader device, it is often difficult or impossible for the operator to directly visually check the state of the cargo, the distance to the wall surface of the boathouse, and the like. In the unloader device, a technique (for example, Patent Document 1) has been developed in which a sensor is attached to a scraping portion and a distance to a wall of a boathouse is measured.

Japanese Unexamined Patent Publication No. 8-012094

By the way, since the cargo is loaded in the boathouse, the wall surface of the boathouse may be covered with the cargo. In such a case, it is difficult to estimate the wall surface of the boathouse covered with the cargo by the technique described in Patent Document 1.

Furthermore, it is conceivable to estimate / extend the plane in order to estimate the shape of the wall surface covered with the cargo. However, boathouses often have a wavy uneven shape. Therefore, it is difficult to correctly estimate the shape by the commonly used plane estimation method.

In view of such problems, the present disclosure aims to provide a unloading device capable of estimating the shape of a boathouse.

In order to solve the above problems, the unloading device according to one aspect of the present disclosure derives a distance measuring sensor that measures the distance to the wall surface of the boathouse and a straight line based on a plurality of measurement points measured by the distance measuring sensor. A straight line derivation unit, a model generation unit that generates a boathouse model based on an aggregate of straight lines,
To be equipped.

The model generation unit may convert straight lines derived at different times into a coordinate system based on a specific part of the ship and accumulate them, and generate a model of the boathouse based on the accumulated straight lines.

The model generation unit may extract and accumulate a straight line that approaches the vertical transport mechanism in the upward direction and a straight line whose distance change from the vertical transport mechanism is within a predetermined range.

The unloading device may include a distance deriving unit that derives the distance between the boathouse and the vertical transport mechanism for unloading the cargo in the boathouse, based on the boathouse model.

The unloading device may include an approach determination unit that determines the approach between the boathouse and the vertical transport mechanism for unloading the cargo in the boathouse based on the distance derived by the distance derivation unit.

The straight line lead-out unit may derive a position corresponding to the lowest point of the vertical transport mechanism for unloading the cargo in the boathouse as the lower end point of the straight line.

The unloading device can estimate the shape of the boathouse.

It is a figure explaining the outline of the unloader device. It is a figure explaining the structure of the unloader device. It is a figure explaining the measurement range of a distance measuring sensor. It is a figure explaining the measurement range of a distance measuring sensor. It is a figure explaining the measurement range of a distance measuring sensor. It is a figure explaining the measurement range of a distance measuring sensor. It is a figure explaining the electrical structure of an unloader device. It is a flowchart which shows the flow of the process of making a model of a boathouse and making an approach judgment. It is a figure explaining the coordinate system of the unloader device. It is a figure explaining the coordinate system of the unloader device. It is a figure explaining the measurement point of a distance measurement sensor. It is a figure which shows the state of detecting an edge point. It is a figure explaining the state of deriving a straight line in a straight line derivation process. It is a figure explaining the typical point of an elevator and a scraping part.

An embodiment of the present disclosure will be described in detail below with reference to the accompanying drawings. The dimensions, materials, other specific numerical values, etc. shown in such an embodiment are merely examples for facilitating understanding, and do not limit the present disclosure unless otherwise specified. In the present specification and drawings, elements having substantially the same function and configuration are designated by the same reference numerals to omit duplicate description, and elements not directly related to the present disclosure are omitted from the illustration. To do.

FIG. 1 is a diagram illustrating an outline of the unloader device 100. As shown in FIG. 1, the unloader device 100 as an example of the unloading device can travel on a pair of rails 3 laid along the quay 2 in the extending direction of the rails 3. The unloader device 100 carries out the cargo 6 loaded in the yard 5 of the ship 4 anchored at the quay 2. The cargo 6 is assumed to be loosely loaded, and coal is an example.

FIG. 2 is a diagram illustrating the configuration of the unloader device 100. In FIG. 2, the quay 2 and the ship 4 are shown in cross section. As shown in FIG. 2, the unloader device 100 includes a traveling body 102, a swivel body 104, a boom 106, a top frame 108, an elevator 110, a scraping unit 112, and a boom conveyor 114. The top frame 108, the elevator 110, and the scraping section 112 function as a vertical transport mechanism section for carrying out the cargo 6 from the boathouse 5.

The traveling body 102 can travel on the rail 3 by being driven by an actuator (not shown). The traveling body 102 is provided with a position sensor 116. The position sensor 116 is, for example, a rotary encoder. The position sensor 116 measures the position of the traveling body 102 on the horizontal plane with respect to a predetermined origin position based on the number of rotations of the wheels of the traveling body 102.

The swivel body 104 is provided on the upper portion of the traveling body 102 so as to be swivelable around a vertical axis. The swivel body 104 can swivel with respect to the traveling body 102 by being driven by an actuator (not shown).

The boom 106 is provided on the upper part of the swivel body 104 so that the inclination angle can be changed. The boom 106 can be tilted with respect to the swivel body 104 by being driven by an actuator (not shown).

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

The top frame 108 is provided at the tip of the boom 106. The top frame 108 is provided with an actuator that swivels the elevator 110.

The elevator 110 is formed in a substantially cylindrical shape. The elevator 110 is supported by the top frame 108 so as to be rotatable around a central axis. The top frame 108 is provided with a turning angle sensor 122. The swivel angle sensor 122 is, for example, a rotary encoder. The swivel angle sensor 122 measures the swivel angle of the elevator 110 with respect to the top frame 108.

The scraping portion 112 is provided at the lower end of the elevator 110. The scraping unit 112 turns integrally with the elevator 110 as the elevator 110 turns.

The scraping section 112 is provided with a plurality of buckets 112a and chains 112b. The plurality of buckets 112a are continuously arranged on the chain 112b. The chain 112b is bridged inside the scraping section 112 and the elevator 110.

The scraping unit 112 is provided with a link mechanism (not shown). The link mechanism is movable to change the length of the bottom portion of the scraping portion 112. As a result, the scraping unit 112 changes the number of buckets 112a in contact with the cargo 6 in the boathouse 5. By rotating the chain 112b, the scraping unit 112 scrapes the cargo 6 in the boathouse 5 by the bucket 112a at the bottom. Then, the bucket 112a from which the load 6 has been scraped moves to the upper part of the elevator 110 as the chain 112b rotates.

The boom conveyor 114 is provided below the boom 106. The boom conveyor 114 causes the load 6 moved to the upper part of the elevator 110 by the bucket 112a to be carried out.

The unloader device 100 having such a configuration moves in the extending direction of the rail 3 by the traveling body 102, and adjusts the relative positional relationship with the ship 4 in the longitudinal direction. Further, the unloader device 100 swivels the boom 106, the top frame 108, the elevator 110, and the scraping portion 112 by the swivel body 104, and adjusts the relative positional relationship with the ship 4 in the lateral direction. Further, the unloader device 100 moves the top frame 108, the elevator 110, and the scraping portion 112 in the vertical direction by the boom 106, and adjusts the relative positional relationship in the vertical direction with the ship 4. Further, the unloader device 100 swivels the elevator 110 and the scraping unit 112 by the top frame 108. As a result, the unloader device 100 can move the scraping unit 112 to an arbitrary position and angle.

Here, the ship 4 is provided with a plurality of boathouses 5. The boathouse 5 is provided with a hatch combing 7 at the top. The hatch combing 7 has a wall surface having a predetermined height in the vertical direction. Further, the hatch combing 7 has a smaller opening area than the horizontal cross section near the center of the boathouse 5. That is, the boathouse 5 has a shape in which the opening is narrowed by the hatch combing 7. A hatch cover 8 for opening and closing the hatch combing 7 is provided above the hatch combing 7.

The unloader device 100 is provided with distance measuring sensors 130 to 136. The range-finding sensors 130 to 136 are, for example, laser sensors capable of measuring a range, and VLP-16 and VLP-32 manufactured by Velodyne, M8 manufactured by Quanergy, and the like are applied. The distance measuring sensors 130 to 136 are provided with 16 laser irradiation portions separated along the axial direction, for example, on the side surface of the cylindrical main body portion. The laser irradiation unit is provided on the main body so as to be rotatable 360 degrees. The laser irradiation units are arranged so that the difference in the firing angle of the laser in the axial direction from the laser irradiation units arranged adjacent to each other is 1 to 2.5 degrees. That is, the distance measuring sensors 130 to 136 can irradiate the laser in a range of 360 degrees in the circumferential direction of the main body. Further, the distance measuring sensors 130 to 136 can emit a laser within a range of ± 15 degrees with respect to a plane orthogonal to the axial direction of the main body. Further, the distance measuring sensors 130 to 136 are provided with a receiving unit for receiving the laser in the main body.

The distance measuring sensors 130 to 136 irradiate the laser at predetermined angles while rotating the laser irradiation unit. The ranging sensors 130 to 136 receive the lasers irradiated (projected) from the plurality of laser irradiation units and reflected by the object (measurement point) at the receiving units. Then, the distance measuring sensors 130 to 136 derive the distance to the object based on the time from the irradiation of the laser to the reception. That is, the distance measuring sensors 130 to 136 measure the distances to a plurality of measurement points on one measurement line by one laser irradiation unit. Further, the distance measuring sensors 130 to 136 measure distances to a plurality of measurement points on a plurality of measurement lines by a plurality of laser irradiation units.

3 and 4 are views for explaining the measurement range of the distance measuring sensors 130 to 132. FIG. 3 is a diagram for explaining the measurement range of the distance measuring sensors 130 to 132 when the unloader device 100 is viewed from above. FIG. 4 is a diagram for explaining the measurement range of the distance measuring sensors 130 to 132 when the unloader device 100 is viewed from the side. In FIGS. 3 and 4, the measurement range of the distance measuring sensors 130 to 132 is indicated by a chain line.

The distance measuring sensors 130 to 132 are mainly used when detecting the hatch combing 7. The distance measuring sensors 130 to 132 are attached to the side surface of the top frame 108 as shown in FIGS. 3 and 4. Specifically, the distance measuring sensors 130 to 132 are arranged 120 degrees apart from each other in the circumferential direction with respect to the central axis of the elevator 110. Further, the distance measuring sensors 130 to 132 are arranged so that the central axis of the main body is along the radial direction of the elevator 110. The upper half of the distance measuring sensors 130 to 132 in the vertical direction is covered with a cover (not shown).

Therefore, as shown in FIGS. 3 and 4, the distance measuring sensors 130 to 132 are present in the measurement direction below the horizontal plane and within a range of ± 15 degrees with respect to the tangent line in contact with the side surface of the top frame 108. It is possible to measure the distance to the object to be used.

5 and 6 are views for explaining the measurement range of the distance measuring sensors 133 to 136. FIG. 5 is a diagram for explaining the measurement range of the distance measuring sensors 133 to 136 when the scraping unit 112 is viewed from above. Note that FIG. 5 shows only the scraping unit 112 of the unloader device 100. Further, FIG. 5 shows a horizontal cross section of the ship 4 at the same position in the vertical direction as the scraping portion 112. FIG. 6 is a diagram for explaining the measurement range of the distance measuring sensors 133 to 136 when the unloader device 100 is viewed from the side. In FIGS. 5 and 6, the measurement range of the distance measuring sensors 133 and 134 is indicated by a chain line. Further, in FIGS. 5 and 6, the measurement range of the distance measuring sensors 135 and 136 is shown by a two-dot chain line.

The distance measuring sensors 133 to 136 are mainly used when detecting the cargo 6 in the boathouse 5 and the wall surface (side wall and bottom surface) of the boathouse 5. The distance measuring sensor 133 is attached to the side surface 112c of the scraping portion 112 as shown in FIGS. 5 and 6. The distance measuring sensor 133 is arranged so that the central axis of the main body portion is orthogonal to the side surface 112c of the scraping portion 112. The distance measuring sensor 134 is attached to the side surface 112d of the scraping portion 112. The distance measuring sensor 134 is arranged so that the central axis of the main body portion is orthogonal to the side surface 112d of the scraping portion 112. A part of the distance measuring sensors 133 and 134 in the vertical direction is covered with a cover (not shown).

Therefore, the distance measuring sensors 133 and 134 are a part of the upper side and the lower side of the side surface 112c and the side surface 112d of the scraping portion 112 and parallel to the side surface 112c and the side surface 112d of the scraping portion 112 in the measurement direction. It is possible to measure the distance of an object existing in the range of ± 15 degrees with respect to the position. The distance measuring sensors 133 and 134 of the present embodiment are arranged so that at least a range equal to or larger than the maximum length of the bottom portion of the scraping portion 112 can be measured on the plane on which the bottom portion of the scraping portion 112 is located.

The distance measuring sensor 135 is attached to the side surface 112c of the scraping portion 112. The distance measuring sensor 135 is arranged so that the central axis of the main body portion is orthogonal to the bottom surface of the scraping portion 112. The distance measuring sensor 136 is attached to the side surface 112d of the scraping portion 112. The distance measuring sensor 136 is arranged so that the central axis of the main body portion is orthogonal to the bottom surface of the scraping portion 112.

Therefore, the distance measuring sensors 135 and 136 are measured in a horizontal plane (or orthogonal to the central axis of the main body) that is outside the scraping portion 112 and is orthogonal to the side surface 112c and the side surface 112d of the scraping portion 112. It is possible to measure the distance of an object existing in the range of ± 15 degrees with respect to the plane).

When the distance measuring sensors 130 to 136 measure the distance to the object, they transmit measurement data indicating the distance to the object to the unloader control unit 140 (see FIG. 7).

FIG. 7 is a diagram illustrating an electrical configuration of the unloader device 100. As shown in FIG. 7, the unloader device 100 is provided with an unloader control unit 140, a storage unit 142, and a display unit 144.

The unloader control unit 140 is connected to the position sensor 116, the turning angle sensor 118, the tilt angle sensor 120, the turning angle sensor 122, the distance measuring sensors 130 to 136, the storage unit 142, and the display unit 144. The unloader control unit 140 is composed of a semiconductor integrated circuit including a CPU (Central Processing Unit). The unloader control unit 140 reads a program, parameters, and the like for operating the CPU itself from the ROM. Then, the unloader control unit 140 manages and controls the entire unloader device 100 in cooperation with the RAM as a work area and other electronic circuits.

Further, the unloader control unit 140 includes a drive control unit 150, a region generation unit 152, an edge detection unit 154, a measurement data acquisition unit 156, a coordinate conversion derivation unit 158, a straight line derivation unit 160, a model generation unit 162, and a distance derivation unit 164. It functions as an approach determination unit 166. The drive control unit 150 controls the drive of the unloader device 100. The details of the other functional units of the unloader control unit 140 will be described later.

The storage unit 142 is a storage medium such as a hard disk or a non-volatile memory. The storage unit 142 stores the model of the boathouse 5, which will be described in detail later.

The display unit 144 is an LED display, an organic EL display, or the like. An image in which the three-dimensional model of the unloader device 100 is arranged with respect to the three-dimensional model of the boathouse 5 is displayed on the display unit 144.

FIG. 8 is a flowchart showing a flow of processing for creating a model of the boathouse 5 and performing an approach determination. It is assumed that the process of creating the model of the boathouse 5 and performing the approach determination is performed on the boathouse 5 that scrapes the cargo 6 for the first time by the unloader device 100.

As shown in FIG. 8, when the process of creating the model of the boathouse 5 and performing the approach determination is started, the measurement data acquisition unit 156 first obtains the measurement data of the measurement points measured by the distance measurement sensors 130 to 136. Acquire at any time (S100). In the measurement data acquisition unit 156, each measurement is performed from the time when the scraping unit 112 starts the scraping work of the cargo 6 in the boathouse 5 until the scraping of all the cargo 6 is completed (for example, 10 hours). Measurement data is periodically acquired from the distance sensors 130 to 136 at a frequency of 1 to 5 times per second.

9 and 10 are diagrams for explaining the coordinate system of the unloader device 100. FIG. 9 is a view of the unloader device 100 as viewed from above. FIG. 10 is a side view of the unloader device 100. Here, the unloader device 100 has three coordinate systems, that is, a horizontal coordinate system 300, a top frame coordinate system 310, and a hatch combing coordinate system 320.

As shown in FIGS. 9 and 10, the horizontal coordinate system 300 has the origin at the initial position of the preset unloader device 100. In the horizontal coordinate system 300, the Xa axis direction is a direction orthogonal to the extending direction and the vertical direction of the rail 3. In the horizontal coordinate system 300, the extending direction of the rail 3 is the Ya axis direction. In the horizontal coordinate system 300, the vertical direction is the Za axis direction.

The top frame coordinate system 310 is on the central axis of the elevator 110 and has the lower end of the top frame 108 in the vertical direction as the origin. The top frame coordinate system 310 is the extending direction of the lower surface of the boom 106, and the direction along the boom 106 is the Xb axis direction. The top frame coordinate system 310 is the extending direction of the lower surface of the boom 106, and the direction orthogonal to the boom 106 is the Yb axis direction. In the top frame coordinate system 310, the extending direction of the elevator 110 is the Zb axis direction.

The hatch combing coordinate system 320 is the center position of the wall surface on the stern side of the hatch combing 7 of the ship 4, and the upper end of the hatch combing 7 is the origin (specific part of the ship 4). In the hatch combing coordinate system 320, the longitudinal direction of the ship 4, that is, the extending direction of the hatch combing 7 along the ship 4 is set as the Xc axis direction. In the hatch combing coordinate system 320, the lateral direction (width direction) of the ship 4 is the Yc axis direction. In the hatch combing coordinate system 320, the upward direction orthogonal to the upper end surface of the hatch combing 7 is the Zc axis direction.

Then, each time the measurement data acquisition unit 156 acquires measurement data from the distance measuring sensors 130 to 136, the coordinate conversion derivation unit 158 sets a conversion parameter for converting the top frame coordinate system 310 into the hatch combing coordinate system 320. The coordinate conversion process for deriving is performed (S102).

Here, the horizontal coordinate system 300 and the top frame coordinate system 310 can be converted based on the shape of the unloader device 100 and the movement of the unloader device 100.

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

Further, since the distance measuring sensors 130 to 132 are attached to the top frame 108, the position of the top frame coordinate system 310 is known in advance.

Here, the relative positional relationship between the top frame coordinate system 310 and the hatch combing coordinate system 320 changes as the unloader device 100 and the ship 4 move. For example, the top frame coordinate system 310 and the hatch combing coordinate system 320 are relative to each other because the ship 4 sways, the ship 4 moves in the vertical direction due to the ebb and flow of the tide and the load capacity of the cargo 6. The positional relationship changes.

Therefore, the edge detection unit 154 detects the upper edge of the hatch combing 7 based on the measurement data of the measurement points measured by the distance measuring sensors 130 to 132. Then, the coordinate conversion derivation unit 158 derives a conversion parameter for converting the top frame coordinate system 310 into the hatch combing coordinate system 320 based on the detected edge of the upper end of the hatch combing 7.

First, the edge detection unit 154 is a three-dimensional position of the measurement point in the top frame coordinate system 310 based on the positions of the distance measurement sensors 130 to 132 and the distance to the measurement point measured by the distance measurement sensors 130 to 132. Is derived.

FIG. 11 is a diagram illustrating measurement points of the distance measuring sensors 130 to 132. In FIG. 11, the measurement range of the distance measuring sensors 130 to 132 on the hatch combing 7 is shown by a thick line. As shown in FIG. 11, the distance measuring sensors 130 to 132 are below the horizontal plane and extend from the distance measuring sensors 130 to 132 to an object existing in the range of ± 15 degrees with respect to the plane in contact with the top frame 108. Measure the distance.

Therefore, in the distance measuring sensors 130 to 132, the measurement range is the edge of the hatch combing 7 that differs between the front side and the rear side with reference to the vertically downward side (rotation center of the elevator 110) of the distance measuring sensors 130 to 132. The front side refers to the measurement range measured in the first half of one measurement. Further, the rear side means a measurement range measured in the latter half of one measurement.

Therefore, the measurement points measured by the distance measuring sensors 130 to 132 are divided into two, a front side and a rear side, with reference to the vertically downward side of the distance measuring sensors 130 to 132.

FIG. 12 is a diagram showing how an edge point is detected. In FIG. 12, the measurement points are indicated by black circles. FIG. 13 illustrates the measurement points measured by the laser irradiated to one laser irradiation unit of the distance measurement sensors 130 to 132.

The edge detection unit 154 performs the following processing for each measurement point group (front side, rear side) of one measurement line that is irradiated and measured by one laser irradiation unit. The edge detection unit 154 derives a vector (direction) of each measurement point irradiated and measured by one laser irradiation unit. As for the vector of measurement points, the direction (vector) of the measurement point to be measured next with respect to one measurement point among the continuously measured measurement points is derived as the vector of one measurement point.

Then, the edge detection unit 154 extracts the measurement points whose vector of the measurement points is in the vertical direction. This is because the wall surface (side surface) of the hatch combing 7 measured by the distance measuring sensors 130 to 132 extends in the vertical direction, so that if there is a measurement point on the wall surface of the hatch combing 7, the vector of the measurement point is This is because it is in the vertical direction.

Then, when there are a plurality of continuously extracted measurement points among the extracted measurement points, the edge detection unit 154 extracts the uppermost point in the vertical direction. This is because the uppermost edge of the hatch combing 7 is detected, so that the uppermost point in the continuously measured measurement point group may be the upper end edge of the hatch combing 7.

Subsequently, the edge detection unit 154 extracts the measurement points closest to the origin in the Xb axis direction and the Yb axis direction in the top frame coordinate system 310 from the extracted measurement points. That is, the edge detection unit 154 extracts the measurement point closest to the central axis of the elevator 110. This is because the hatch combing 7 is located closest to the elevator 110 among the structures of the ship 4.

Then, the edge detection unit 154 re-extracts the measurement points existing in the predetermined ranges (for example, a range of several tens of cm) in the Xb axis direction and the Yb axis direction in the top frame coordinate system 310 with respect to the extracted measurement points. To do. Here, the measurement points on the hatch combing 7 are extracted.

Then, the edge detection unit 154 extracts the re-extracted measurement points, that is, the uppermost measurement points in the vertical direction among the measurement points on the hatch combing 7, as the edge points of the hatch combing 7.

The edge detection unit 154 extracts the front side and rear side edge points for each measurement point group measured by being irradiated by one laser irradiation unit of the distance measuring sensors 130 to 132.

Then, when all the edge points are extracted, the edge detection unit 154 detects the straight line of the edge of the hatch combing 7. Specifically, the edge detection unit 154 groups the edge points extracted on the front side of the distance measuring sensor 130 into one group. Similarly, the edge detection unit 154 sets the edge points extracted on the rear side of the distance measuring sensor 130 into one group. Further, the edge detection unit 154 groups the edge points extracted on the front side and the rear side of the distance measuring sensors 131 and 132, respectively.

Here, as shown in FIG. 11, there are two straight lines at the upper end edge of the hatch combing 7 measured on the front side and the rear side of the distance measuring sensors 130 to 132, respectively, when the corner of the hatch combing 7 is included. It will be measured.

Therefore, the edge detection unit 154 derives, for each group, the line segment between the extracted edge points having the most similar line segments as a candidate vector. Then, the edge detection unit 154 extracts edge points existing within a range preset for the candidate vector. Then, the edge detection unit 154 recalculates the straight line using the extracted edge points.

Next, the edge detection unit 154 repeats the above-described processing using the edge points that have not been extracted. However, if the number of extracted edge points is less than a preset threshold value, a straight line is not derived. Thereby, even when the corner of the hatch combing 7 is included, the straight lines of the two edges can be derived.

The edge detection unit 154 derives a straight line of the edge by repeating the above-mentioned processing for each group.

In this way, since a maximum of two edge straight lines are detected at one location, a maximum of 12 straight lines are detected.

Then, the edge detection unit 154 derives the angle formed between the detected straight lines. Then, when the angle formed is equal to or less than a predetermined threshold value, the edge detection unit 154 integrates them as if they are the same straight line. Specifically, the straight line is redistributed by the least squares approximation using the edge points forming the straight line whose angle is equal to or less than a predetermined threshold value.

Subsequently, the edge detection unit 154 obtains edge side information including the three-dimensional direction vector of each side, the three-dimensional center of gravity coordinates of each side, the length of each side, and the coordinates of the end points of each side from the straight line of the detected edge. Derived. In this way, by using the distance measuring sensors 130 to 132 provided above the ship 4 to derive the edge side information of the hatch combing 7 provided in the upper part of the garage 5, the position of the garage 5 ( The posture) can be derived accurately and easily.

Next, the coordinate conversion derivation unit 158 top frame based on the three-dimensional model information of the hatch combing 7 stored in the storage unit 142 and the edge edge information (detection result) represented by the top frame coordinate system 310. A coordinate conversion process for deriving a conversion parameter between the coordinate system 310 and the hatch combing coordinate system 320 is performed (S102 in FIG. 8). The three-dimensional model information of the hatch combing 7 indicates a three-dimensional model of the hatch combing 7 represented by the hatch combing coordinate system 320. The three-dimensional model information of the hatch combing 7 may be created by using the measurement data of the measurement points measured by the distance measuring sensors 130 to 132. Further, the three-dimensional model information of the hatch combing 7 may be created by using the measurement data measured by another measuring instrument. Further, the three-dimensional model information of the hatch combing 7 may be created based on the drawing of the hatch combing 7.

The coordinate conversion derivation unit 158 makes a rough correction by rotating the direction of the straight line of the edge of the detected hatch combing 7 by the turning angle of the boom 106. Further, the coordinate transformation derivation unit 158 associates the detected straight line of the edge of the hatch combing 7 with the upper end side of the hatch combing 7 in the three-dimensional shape information with the straight line having the closest edge direction. As a result, since the correct association is made, the conversion parameters of the solution that is stable and close to the correct answer can be obtained. In the association, the straight line of the detected edge of the hatch combing 7 is represented by a three-dimensional point cloud, and the average value of the shortest distance between the three-dimensional point cloud and the upper end side of the hatch combing 7 in the three-dimensional model information. You may associate things that are close to each other. Further, the association may be made in consideration of both the direction of the edge and the average value of the shortest distance.

Then, the coordinate conversion derivation unit 158 sets the conversion parameters, the rotation angles α, β, γ around the Xb axis, the Yb axis, and the Zb axis, and the traveling vector t = (tx, ty, tz) by, for example, the LM method. Ask. In the LM method, for example, the sum of squares of the difference in distance between the edge points forming the straight line of the edge and the upper edge of the hatch combing 7 based on the three-dimensional shape information is used as the evaluation function, and the conversion parameter that minimizes the evaluation function. Ask for. Specifically, the total distance between the edge points forming the straight line of the edge and the upper edge of the hatch combing 7 based on the three-dimensional shape information, or the straight line of the edge and the upper end of the hatch combing 7 based on the three-dimensional shape information. Find the conversion parameters so that the area of the curved surface formed by the sides of is minimized. The method for obtaining the conversion parameters is not limited to the LM method, and may be other methods such as the steepest descent method and Newton's method.

In this way, the coordinate conversion derivation unit 158 derives the conversion parameters for converting the top frame coordinate system 310 into the hatch combing coordinate system 320.

As a result, the unloader device 100 can express the three-dimensional position of the measurement point measured by the distance measuring sensors 133 to 136 provided in the scraping unit 112 in the hatch combing coordinate system 320. Therefore, it can be said that the distance measuring sensors 133 to 136 measure the measurement data regarding the three-dimensional position (position information) of the hatch combing coordinate system 320 at the measurement point of the boathouse 5. Further, by expressing by the hatch combing coordinate system 320, it is possible to reduce the influence of the shaking of the ship 4 and the change in the position on the unloader device 100.

The straight line derivation unit 160 performs a straight line derivation process for deriving a straight line based on the three-dimensional positions of the measurement points measured by the distance measuring sensors 133 and 134 (S104 in FIG. 8).

FIG. 13 is a diagram for explaining how to derive a straight line in the straight line derivation process. In FIG. 13, the derived straight line is shown by a thick line. Further, the measurement range of the distance measuring sensor 133 is indicated by a chain line. The measurement points are indicated by black circles.

When the linear derivation unit 160 acquires the measurement data of the measurement points by the distance measuring sensor 133, the linear derivation unit 160 derives a straight line for each measurement line. That is, it can be said that FIG. 13 is a diagram showing a cross section of the boathouse 5 cut out based on one measurement trajectory by a specific laser irradiation unit. As described above, since the distance measuring sensor 133 is provided with 16 laser irradiation units, it is possible to measure the distance to the measurement points on the 16 measurement lines in one measurement. When the linear derivation unit 160 acquires the measurement data of the measurement points by the distance measuring sensor 134, the linear derivation unit 160 similarly derives a straight line for each measurement line.

The straight line derivation unit 160 derives a straight line for each measurement point on one measurement line. Specifically, the linear derivation unit 160 derives the three-dimensional position of the top frame coordinate system 310 of the measurement point on one measurement line among the measurement points measured by the distance measuring sensors 133 and 134.

Subsequently, the linear derivation unit 160 derives the vector (direction) of the measurement point on the measurement line of 1. In addition, the linear derivation unit 160 measures 1 in the direction (vector) of the next measurement point (in the time series of the measurement) with respect to 1 measurement point among the measurement points continuously measured. Derived as a vector of points.

Then, the linear derivation unit 160 extracts the measurement points whose measurement point vector is the wall surface of the boathouse 5. Here, for example, it is set that the vector of the measurement points is in the vertical direction or is within a predetermined range with respect to the vertical direction. That is, the linear derivation unit 160 selects a measurement point whose vector is close to the vertical direction. This is because the wall surface (side wall and upper wall) of the boathouse 5 measured by the distance measuring sensor 133 extends within a predetermined range with respect to the vertical direction and the vertical direction.

The linear derivation unit 160 clusters the extracted measurement points. Here, the linear derivation unit 160 classifies the measurement points within the range in which the vectors of the extracted measurement points are regarded as the same into the same cluster. In the example of FIG. 13, the measurement points corresponding to the side wall 5a and the measurement points corresponding to the upper wall 5b are classified into different clusters.

Then, the linear derivation unit 160 derives the linear L using the measurement points classified into the same cluster. Here, the straight line derivation unit 160 derives the straight line L by obtaining an approximate straight line by applying, for example, the least squares method to the three-dimensional positions of the measurement points classified into the same cluster. In the example of FIG. 13, two straight lines L1 and L2 are derived. The straight line L is derived as a straight line representing the wall surface (side wall 5a and upper wall 5b) of the boathouse 5.

Subsequently, the straight line derivation unit 160 derives the upper end point TP and the lower end point BP of the derived straight line L. The upper end point TP is a position in which the coordinates in the Zb axis direction of the measurement point having the largest value in the Zb axis direction among the measurement points belonging to the cluster from which the straight line L is derived are substituted into the straight line L. The lower end point BP is a position where the coordinates of the bottom surface of the scraping portion 112 in the Zb axis direction are substituted for the straight line L. In the example of FIG. 13, the upper end point TP1 and the lower end point BP1 are derived for the straight line L1, and the upper end point TP2 and the lower end point BP2 (not shown) are derived for the straight line L2. That is, the straight line L is a straight line from the upper end point TP to the lower end point BP.

In this way, the straight line L is extended to the lower end point BP corresponding to the coordinates (the lowest point in the vertical transport mechanism) in the Zc axis direction of the bottom surface of the scraping portion 112. As a result, the straight line L is extracted by presuming that the wall surface of the boathouse 5 exists up to the portion covered by the cargo 6.

Further, the straight line derivation unit 160 derives the center of gravity position of the measurement point belonging to the cluster from which the straight line L is derived as the center of gravity position of the straight line L. Further, the straight line derivation unit 160 derives a vector (direction) of the straight line L.

Subsequently, the linear lead-out unit 160 moves toward the origin, that is, the elevator 110 and the scraping unit 112 (vertical transport mechanism) toward the positive direction (upward direction) of the Zb-axis direction of the derived straight line L. The approaching straight line L is extracted. Here, the straight line L corresponding to the upper wall 5b is extracted.

Further, in the linear lead-out unit 160, the change in the distance between the elevator 110 and the scraping portion 112 (vertical transport mechanism) of the derived straight line L is within a predetermined range (relatively small) in the Xb axis direction. The straight line L is extracted. Here, the straight line L corresponding to the side wall 5a is extracted. The straight line derivation unit 160 may extract all the straight lines L.

The straight line derivation unit 160 derives and extracts the straight line L for each measurement line, and derives the upper end point TP, the lower end point BP, the center of gravity position, and the vector of the straight line L.

Further, the linear lead-out unit 160 is based on the measurement data measured by the distance measuring sensors 133 and 134 each time the scraping unit 112 rotates by a predetermined angle (for example, 1 to 5 degrees) or moves by a predetermined distance. The straight line L is derived and extracted, and the upper end point TP, the lower end point BP, the position of the center of gravity, and the vector of the straight line L are derived.

The model generation unit 162 converts the straight line L extracted by the straight line derivation unit 160 into a three-dimensional position of the hatch combing coordinate system 320 using conversion parameters and accumulates the straight line L. Then, the model generation unit 162 generates a model of the boathouse 5, which is an aggregate of the accumulated straight lines L (accumulated at different times) (S106 in FIG. 8). Therefore, the model of the boathouse 5 is a model represented by a large number of straight lines L that serve as information forming the boathouse 5. That is, the model of the boathouse 5 is a model of the wall surface portion of the boathouse 5. Further, since the model of the boathouse 5 is a collection of straight lines L that differ in time series, even if the distance measuring sensors 133 and 134 with a limited field of view are used, the straight lines L can be accumulated to accumulate the ship. It is possible to create a wall surface around the entire circumference of the warehouse 5. Furthermore, by modeling the model of the boathouse 5 by a set of straight lines L that generally go in the vertical direction, it is possible to accurately estimate the corrugated wall surface of the boathouse 5 and the shape of the ribs. Become.

The distance derivation unit 164 derives the distance between the model of the boathouse 5 and the elevator 110 and the scraping unit 112.

FIG. 14 is a diagram illustrating representative points of the elevator 110 and the scraping section 112. In FIG. 14, the representative points of the elevator 110 and the scraping section 112 are indicated by black circles. As shown in FIG. 14, representative points are set in advance in the elevator 110 and the scraping section 112. The representative points are set at positions (surfaces) that may approach the boathouse 5 when the unloader device 100 is driven, and a plurality of representative points are set with respect to the extending direction of the elevator 110 and the scraping section 112. ing.

The distance derivation unit 164 derives the distance between the straight line L included in the model of the boathouse 5 and the representative points of the elevator 110 and the scraping unit 112 on the same XcYc plane by changing the positions in the Zc axis direction. (S108 in FIG. 8). The distance derivation unit 164 derives the distance between the representative points of the elevator 110 and the scraping unit 112 and the straight line L whose center of gravity is included within a certain range with respect to the position of the representative points in the Xc axis direction. May be good.

Then, the distance derivation unit 164 extracts the distance closest to the straight line L included in the model of the boathouse 5 and the representative points of the elevator 110 and the scraping unit 112 on the same XcYc plane as the minimum distance. That is, the distance deriving unit 164 derives the minimum distances at different positions in the Zc axis direction. As a result, on the same XcYc plane, the position and distance where the boathouse 5 is closest to the elevator 110 and the scraping portion 112 can be grasped.

The approach determination unit 166 determines the approach between the boathouse 5 and the elevator 110 and the scraping unit 112 based on the minimum distance extracted by the distance derivation unit 164 (S110 in FIG. 8). Here, the approach determination unit 166 determines that the garage 5 may collide with the elevator 110 and the scraping unit 112 when the minimum distance is equal to or less than a preset threshold value. Then, the approach determination unit 166 warns the operator that the boathouse 5 may collide with the elevator 110 and the scraping unit 112 when the minimum distance is equal to or less than a preset threshold value. As a result, it is possible to prevent the elevator 110 and the scraping unit 112 from colliding with the boathouse 5.

As described above, the unloader device 100 derived the straight lines L of the plurality of measurement points measured by the distance measuring sensors 133 and 134, and generated a model of the boathouse 5 which is an aggregate of the derived straight lines L. As a result, the unloader device 100 can grasp the positional relationship between the boathouse 5 and the elevator 110 and the scraping unit 112.

Further, in the unloader device 100, the straight line L is extended to a position (lower end point BP) corresponding to the bottom surface of the scraping portion 112. As a result, in the unloader device 100, the position of the wall surface of the boathouse 5 in the portion covered by the cargo 6 can be estimated by the straight line L.

Although the embodiments have been described above with reference to the accompanying drawings, it goes without saying that the present disclosure is not limited to such embodiments. It is clear that a person skilled in the art can come up with various modifications or modifications within the scope of the claims, and it is understood that they also naturally belong to the technical scope.

For example, in the above embodiment, the edge detection method by the edge detection unit 154 is only an example. The edge detection unit 154 may extract the edge of the hatch combing 7 by another method.

Further, in the above embodiment, the distance measuring sensors 133 and 134 are moved with the movement of the unloader device 100, but the orientation of the distance measuring sensors 133 and 134 may be changed. As a result, the measurement range of the distance measuring sensors 133 and 134 can be widened, and the model (straight line L) of the boathouse 5 can be derived at an early stage.

Further, in the above embodiment, the straight line deriving unit 160 derives the straight line L based on the measurement data measured by the distance measuring sensors 133 and 134 each time the scraping unit 112 rotates by a predetermined angle. However, the model generation unit 162 may delete the old straight line L from the model of the boathouse 5 at regular intervals. As a result, the data capacity can be reduced and the processing load can be reduced.

Further, in the above embodiment, the straight line derivation unit 160 derives the straight line L for all the measurement lines measured by the distance measuring sensors 133 and 134. However, the straight line derivation unit 160 does not have to extract the straight line L for each measurement line. That is, the straight line deriving unit 160 may thin out the straight line L to be derived.

Further, in the above embodiment, the straight line lead-out unit 160 leads out the straight line L corresponding to the wall surface of the boathouse 5. However, the straight line deriving unit 160 may derive the straight line L corresponding to the surface of the load 6.

Further, in the above embodiment, the coordinate conversion process is performed every time. However, even if the SLAM method is used to match the measurement points measured in the past with the measurement points measured this time, the three-dimensional position of the hatch combing coordinate system 320 of the measurement points can be estimated. Good.

Further, in the above embodiment, the unloader device 100 has been described as an example of the unloading device. However, the unloading device may be a continuous unloader (bucket type, belt type, vertical screw conveyor type, etc.), a pneumatic unloader, or the like.

The present disclosure can be used for unloading devices.

100 Unloader device (unloading device)
133 Distance measurement sensor 134 Distance measurement sensor 160 Straight line derivation unit 162 Model generation unit 164 Distance derivation unit 166 Approach judgment unit

Claims (6)

A distance measuring sensor that measures the distance to the wall of the boathouse,
A straight line derivation unit that derives a straight line based on a plurality of measurement points measured by the distance measuring sensor,
A model generator that generates a model of the boathouse by the aggregate of the straight lines,
Unloading device equipped with. The model generator
The unloading device according to claim 1, wherein the straight lines derived at different times are converted into a coordinate system based on a specific part of the ship and accumulated, and a model of the garage is generated by the accumulated straight lines. The model generator
The unloading device according to claim 1 or 2, wherein the straight line approaching the vertical transport mechanism in the upward direction and the straight line whose distance change from the vertical transport mechanism is within a predetermined range are extracted and accumulated. The invention according to any one of claims 1 to 3, further comprising a distance deriving unit for deriving the distance between the garage and the vertical transport mechanism for unloading the cargo in the garage based on the model of the garage. Unloading device. The unloading device according to claim 4, further comprising an approach determination unit that determines the approach between the garage and the vertical transport mechanism for unloading the cargo in the garage based on the distance derived by the distance derivation unit. .. The linear derivation unit
The unloading device according to any one of claims 1 to 5, wherein a position corresponding to the lowest point of the vertical transport mechanism for unloading the cargo in the boathouse is derived as the lower end point of the straight line.

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