JP2022135158A - Unloading device and control device for unloading device - Google Patents

Abstract

To prevent contact to an object on a ship.SOLUTION: An unloading device 100 comprises: a conveyance part 40 having a scraping part 43 inserted into a ship-hold 5 and an elevator 42 extending upward from the scraping part 43 along a center axis A1; an operator cab 50 protruding from the conveyance part 40 when viewed in a direction of the center axis A1; a hatch sensor M5 provided at the conveyance part 40 and measuring a distance to an object in a measurement region lower than the hatch sensor M5; an obstacle sensor M6 provided at a bottom part of the operator cab 50 and measuring a distance to an object in a measurement region radially spreading from the operator cab 50 when viewed in the direction of the center axis A1; and a control device 200 detecting a hatch 7 of the ship-hold 5 based on data from the hatch sensor M5 and storing the distance to the object measured by the obstacle sensor M6 in association with a distance to the hatch 7.SELECTED DRAWING: Figure 3

Description

The present disclosure relates to a pick-up device and a controller for the pick-up device.

A cargo unloading device is known as a device for transporting cargo from the hold of a ship. In the unloading device, the positional relationship between the unloading device and the ship can be confirmed using a sensor, camera, or the like (see Patent Literature 1, for example).

Japanese Patent No. 6530202

In a cargo unloading device, an operator's cab may be provided above a transport section for transporting cargo from a hold. In this case, the cab may be provided so as to protrude horizontally (or substantially horizontally) from the transport section. In the unloading equipment, when the carrier is moved with respect to the ship, in order to prevent contact between the carrier and objects on the ship, a supervisor on the ship instructs the operator in the cab to wireless communication device. However, an observer, for example, may miss an object in a blind spot. Also, if there are no lifeguards available on board the vessel, the operator must move the carriage without assistance from the lifeguards. In these cases, the risk of contact between the cab and objects on the ship increases if the cab protrudes from the carriage.

In view of the above problems, an object of the present disclosure is to provide a loading device and a control device for the loading device that can prevent contact with an object on a ship.

A loading device according to an aspect of the present disclosure includes a conveying unit having a scraping unit inserted into a hold and an elevator extending upward from the scraping unit, and when viewed in the direction of the central axis of the elevator 2, a driver's cab projecting from the transport unit, a hatch sensor provided in the transport unit for measuring the distance to an object in the measurement area below the hatch sensor, and a hatch sensor provided at the bottom of the driver's cab When viewed in the direction of the central axis, an obstacle sensor that measures the distance from the operator's cab to an object in a radially expanding measurement area a controller that detects the hatch and stores the distance to the object measured by the obstacle sensor in association with the distance to the hatch.

The obstacle sensor may also have a measurement area below the driver's cab.

The obstacle sensor may have at least two distance sensors, the two distance sensors may be mounted on the bottom of the cab spaced apart from each other in a plane perpendicular to the central axis, and the two distance sensors may be Each of the sensors may have a predetermined angular range along the central axis and a measurement area radiating from the distance sensor when viewed in the direction of the central axis.

The carriage may be moved in a horizontal first direction and a horizontal second direction perpendicular to the first direction, the two distance sensors moving in the first direction and the second direction. Both may be spaced apart from each other.

The controller may determine whether the distance between the current position of the cab and the object stored in the storage device is less than or equal to a predetermined threshold.

According to the present disclosure, contact with objects on the vessel can be prevented.

1 is a schematic plan view of an unloader according to an embodiment; FIG. 2 is a schematic perspective view of the unloader of FIG. 1; FIG. 3 is a schematic side view of the unloader of FIG. 1; FIG. FIG. 4 is a sectional view taken along line IV--IV in FIG. FIG. 5 is a schematic perspective view showing an example of a distance sensor. 6(A), 6(B), and 6(C) are schematic plan views showing the measurement areas of the hatch sensor. FIG. 7 is a schematic side view showing the measurement area of the obstacle sensor. FIG. 8 is a schematic block diagram showing the control device according to the embodiment. 9 is a schematic plan view showing a coordinate system used in the control system of FIG. 8; FIG. 10 is a schematic side view showing the coordinate system used in the control system of FIG. 8; FIG. 11 is a schematic diagram showing a working area used in the control system of FIG. 8; FIG. 12 is a flow chart showing an example of the operation of the control device of FIG. 8. FIG. FIG. 13 is a schematic side view showing an example of calculating the distance between the cab and the object. 14 is a schematic plan view of FIG. 13. FIG.

Embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. Specific dimensions, materials, numerical values, and the like shown in the embodiments are merely examples for facilitating understanding, and do not limit the present disclosure unless otherwise specified. In this specification and the drawings, elements having substantially the same functions and configurations are denoted by the same reference numerals, thereby omitting redundant description. Illustrations of elements that are not directly related to the present disclosure are omitted.

FIG. 1 is a schematic plan view of an unloader 100 according to an embodiment. The unloader 100 transports the cargo 6 in the hold 5 of the ship 4 anchored at the wharf 2 . The cargo 6 is, for example, bulk cargo (eg coal). The ship 4 has multiple holds 5 .

FIG. 2 is a schematic perspective view of unloader 100 of FIG. In addition, in FIG. 2, a part of the quay 2 and the ship 4 is shown in a cross section. A hatch 7 is provided in the upper part of the hold 5 . A hatch cover 8 for opening and closing the hatch 7 is provided above the hatch 7 .

The unloader 100 includes a traveling body 10 , a rotating body 20 , a boom 30 , a transfer section 40 , an operator's cab 50 and a boom conveyor 60 .

The traveling body 10 moves along a pair of rails 3 laid along the wharf 2 . The traveling body 10 is provided with a position sensor M1. Position sensor M1 is, for example, a rotary encoder. The position sensor M1 measures the position of the running body 10 with respect to a predetermined origin position based on the number of rotations of the wheels of the running body 10 .

In the present disclosure, the moving direction of the running body 10 may be referred to as a "running direction" (first direction). Of the horizontal directions, the direction perpendicular to the direction of travel may be referred to as the "traverse direction" (second direction).

The rotating body 20 is provided on the upper portion of the traveling body 10 . The rotating body 20 is rotatable about a vertical axis with respect to the traveling body 10 . The rotating body 20 is provided with a rotation angle sensor M2. The rotation angle sensor M2 is, for example, a rotary encoder. A rotation angle sensor M2 measures the rotation angle of the rotating body 20 with respect to the traveling body 10 .

The boom 30 is provided above the rotating body 20 . The boom 30 can swing around the horizontal axis with respect to the rotating body 20 . Boom 30 extends from rotating body 20 . The rotating body 20 is provided with a swing angle sensor M3. The swing angle sensor M3 is, for example, a rotary encoder. A swing angle sensor M3 measures the swing angle of the boom 30 with respect to the rotating body 20 .

In the present disclosure, with respect to the orientation of the boom 30 and the components supported on the boom 30, the direction in which the boom 30 moves away from the rotating body 20 may be referred to as "forward," and the opposite direction (when the boom 30 approaches the rotating body 20). direction) may be referred to as "after". Horizontal directions perpendicular to "front" and "back" may be referred to as "left" and "right."

The transport section 40 is provided at the front end of the boom 30 . The transport section 40 has a top frame 41 , an elevator 42 and a scraping section 43 .

A top frame 41 is attached to the front end of the boom 30 . The top frame 41 is attached to the boom 30 so as to be swingable about a horizontal axis via a pivot mechanism 31 such as a hinge. The pivot mechanism 31 maintains the center axis A1 of the elevator 42, which will be described later, vertically (or substantially vertically). The top frame 41 is provided with an actuator (not shown) for rotating the elevator 42 .

Elevator 42 is supported by top frame 41 . Elevator 42 has a substantially cylindrical shape. The elevator 42 extends vertically (or substantially vertically) downward from the top frame 41 along the central axis A1. From another point of view, the elevator 42 extends vertically (or substantially vertically) upward from the scraper 43 along the central axis A1. Elevator 42 is rotatable about center axis A1 with respect to top frame 41 . The top frame 41 is provided with a rotation angle sensor M4. The rotation angle sensor M4 is, for example, a rotary encoder. A rotation angle sensor M4 measures the rotation angle of the elevator 42 with respect to the top frame 41 .

The scraping portion 43 is provided at the lower end of the elevator 42 . The scraping part 43 rotates integrally with the elevator 42 as the elevator 42 rotates. The scraping unit 43 includes a plurality of buckets 43a and chains 43b. A plurality of buckets 43a are arranged continuously on the chain 43b. The chain 43 b spans the interior of the elevator 42 and the scraping section 43 .

The scraping portion 43 is provided with a link mechanism (not shown). The length of the bottom portion of the scraping portion 43 is variable by the link mechanism. As a result, the scraping section 43 can change the number of buckets 43 a in contact with the cargo 6 in the hold 5 . The scraping part 43 scrapes the cargo 6 in the hold 5 with the bucket 43a at the bottom by rotating the chain 43b. The bucket 43a containing the cargo 6 moves to the upper part of the elevator 42 as the chain 43b rotates.

The driver's cab 50 is provided above the transfer section 40 . For example, the driver's cab 50 is provided in the top frame 41 . In other embodiments, the driver's cab 50 may be provided at a location other than the top frame 41 . The driver's cab 50 protrudes from the top frame 41 when viewed in the direction of the central axis A1. From another point of view, the operator's cab 50 projects horizontally (or generally horizontally) (forward in this embodiment) from the top frame 41 . In other embodiments, cab 50 may protrude left or right from top frame 41 . In still other embodiments, cab 50 may project rearward from top frame 41 (eg, below boom conveyor 60) as long as it does not interfere with boom 30 and boom conveyor 60. In this embodiment, the operator's cab 50 has a generally rectangular or cubic shape. However, the shape of the cab 50 is not limited to this, and may have other shapes. A control device 200 for controlling the operation of the unloader 100 may be provided in the cab 50 (see FIG. 3). In other embodiments, controller 200 may be provided elsewhere on unloader 100 .

Referring to FIG. 2 , boom conveyor 60 is provided below boom 30 . The boom conveyor 60 conveys the load 6 moved to the upper part of the elevator 42 by the bucket 43a to the outside.

In the unloader 100 as described above, the traveling body 10 moves along the rails 3, thereby adjusting the position between the unloader 100 and the ship 4 in the traveling direction. In the unloader 100, the rotating body 20 rotates the boom 30, the top frame 41, the elevator 42, and the scraping section 43, thereby adjusting the position between the unloader 100 and the ship 4 in the running direction and the transverse direction. be done. Also, in the unloader 100, the boom 30 moves the top frame 41, the elevator 42, and the scraper 43 along the vertical direction, thereby changing the lateral and vertical positions between the unloader 100 and the ship 4. adjusted. Also, in the unloader 100 , the top frame 41 rotates the elevator 42 and the scraping section 43 . By the above operation, the unloader 100 can move the scraping portion 43 to a desired position and angle.

Next, sensors used to detect the positional relationship between the unloader 100 and the ship 4 will be described.

The unloader 100 has a hatch sensor M5. The hatch sensor M5 is used, for example, to detect the hatch 7 when the scraper 43 is inserted into the hold 5 . A hatch sensor M5 is provided in the transport section 40 . For example, the hatch sensor M5 is provided on the top frame 41 . The hatch sensor M5 includes a plurality (three in this embodiment) of distance sensors M51, M52, M53. The number of distance sensors of the hatch sensor M5 is not limited to this, and may be two or four or more. The distance sensors M51, M52, M53 are attached to the top frame 41 so as to be spaced apart from each other (for example, at intervals of 120 degrees) in the circumferential direction around the center axis A1. The distance sensors M51, M52, M53 are arranged at the same height in the direction of the center axis A1 (height direction). The hatch sensor M5 measures the distance to an object positioned within the measurement area below the hatch sensor M5 (the measurement area of the hatch sensor M5 will be described in detail later).

FIG. 3 is a schematic side view of unloader 100 of FIG. The unloader 100 has an obstacle sensor M6. The obstacle sensor M6 is used, for example, to detect an obstacle approaching the cab 50 when the scraper 43 is inserted into the hold 5 . Obstacles may include, for example, railings on deck, drums, warehouses and other equipment, etc. (not shown). The obstacle sensor M6 is provided in the driver's cab 50 . For example, the obstacle sensor M6 is provided at the bottom of the cab 50 . The obstacle sensor M6 includes at least two (two in this embodiment) distance sensors M61 and M62. The number of distance sensors of the obstacle sensor M6 is not limited to this, and may be three or more.

The distance sensors M61 and M62 are attached to the bottom of the operator's cab 50 so as to be spaced apart from each other within a plane perpendicular to the center axis A1. Specifically, as shown in FIG. 3, the distance sensors M61 and M62 are spaced apart in the transverse direction of the unloader 100 (horizontal direction in FIG. 3). For example, one distance sensor M61 is attached to the front end of the cab 50 . The other distance sensor M62 is attached at a position spaced rearward from the front end of the driver's cab 50 . This arrangement prevents the obstacle sensor M6 from missing a thin object approaching the cab 50 from the direction of travel (the direction perpendicular to the plane of the drawing in FIG. 3).

FIG. 4 is a cross-sectional view taken along line IV-IV in FIG. It should be noted that some components (eg, hatch sensor M5, etc.) are not shown in FIG. 4 for better understanding. The distance sensors M61 and M62 are spaced apart in the running direction of the unloader 100 (horizontal direction in FIG. 4). For example, one distance sensor M61 is attached to one end (left end) of the cab 50 in the running direction. The other distance sensor M62 is attached to the other end (right end) of the cab 50 in the running direction. Such an arrangement prevents the obstacle sensor M6 from missing a thin object approaching the cab 50 from the transverse direction (vertical direction in FIG. 4).

The obstacle sensor M6 measures the distance from the driver's cab 50 to an object positioned within a measurement area radially extending in the direction perpendicular to the center axis A1. Further, the obstacle sensor M6 measures the distance to an object positioned within the measurement area below the driver's cab 50 (the measurement area of the obstacle sensor M6 will be described in detail later).

The unloader 100 may further include a distance sensor (not shown) for measuring the distance to the wall surface of the hold 5 and the cargo 6 inside the hold 5, for example, at a location such as the scraping section 43. .

FIG. 5 is a schematic perspective view showing examples of the distance sensors M51, M52, M53, M61 and M62. A laser sensor M as shown in FIG. 5 may be used as the distance sensors M51, M52, M53, M61 and M62.

The laser sensor M has a cylindrical body portion Ma. The laser sensor M has a plurality of laser irradiation portions along the central axis A2 on the side surface of the body portion Ma (not shown). Each of the plurality of laser irradiation units can rotate 360 degrees around the central axis A2. Therefore, the laser sensor M can irradiate a laser in a range R1 of 360 degrees around the central axis A2.

In addition, in the direction of the central axis A2, the plurality of laser irradiation parts have a difference in irradiation angle between two adjacent laser irradiation parts of 1 to 2.5 degrees (1.875 degrees in the present embodiment). are arranged so that Therefore, the laser sensor M as a whole can irradiate a laser within a range R2 within a ±predetermined angle (for example, ±15 degrees) from a direction perpendicular to the center axis A2.

From the above description, the laser sensor M has a measurement area formed by rotating the range R2 by 360 degrees around the central axis A2. The measurement distance (distance from the central axis A2) is, for example, about 100 m. The laser sensor M has a receiver that receives the reflected laser. The laser sensor M measures the distance to an object based on the time from when the laser is irradiated until when the laser reflected by the object is received. As such a laser sensor M, for example, VLP-16, VLP-32 manufactured by Velodyne or M8 manufactured by Quanergy can be used.

Next, the measurement area of the hatch sensor M5 will be explained.

6A, 6B, and 6C are schematic plan views showing the measurement area of the hatch sensor M5, and the measurement area of the hatch sensor M5 when viewed in the direction of the central axis A1. indicates the range of In each figure, the measurement area is the area between the two dashed lines. Of the hatch sensor M5, FIG. 6A shows the measurement area of the distance sensor M51, FIG. 6B shows the measurement area of the distance sensor M52, and FIG. 6C shows the measurement area of the distance sensor M53. . Each of the distance sensors M51, M52, M53 is attached to the side surface of the top frame 41 so that the center axis A2 is perpendicular to the center axis A1 of the elevator 42. As shown in FIG. Therefore, each of the distance sensors M51, M52, and M53, in a plan view (viewed in the direction of the central axis A1), is positioned at a ±predetermined angle (for example, ±15 degrees).

For example, in FIG. 6A, four line segments (indicated by thick lines) included in the upper edge of hatch 7 are detected by distance sensor M51. In FIG. 6B, two line segments included in the upper edge of the hatch 7 are detected by the distance sensor M52. In FIG. 6C, four line segments included in the upper edge of the hatch 7 are detected by the distance sensor M53. The hatch 7 of the hold 5 of the ship 4 generally has a square or rectangular shape in plan view. Therefore, control device 200 can detect hatch 7 by extending the line segments detected by distance sensors M51, M52, and M53.

Referring to FIG. 3, in a side view (viewed in a direction perpendicular to central axis A1), the measurement area of distance sensor M51 is the area between the two dashed lines. In FIG. 3, the measurement area of only one distance sensor M51 is shown for better understanding. However, the distance sensors M52 and M53 also have similar measurement areas. An upper half of each of the distance sensors M51, M52, M53 is covered with a cover (not shown). Therefore, as shown in FIG. 3, the distance sensor M51 has a measurement area of a predetermined angle below each distance sensor and around an axis perpendicular to the central axis A1 in a side view. Therefore, the hatch sensor M5 as a whole has a measurement area below the hatch sensor M5.

Next, the measurement area of the obstacle sensor M6 will be described.

Referring to FIG. 4, the angular range of each measurement area of distance sensors M61 and M62 is indicated by a circular arrow (that is, the measurement area of distance sensors M61 and M62 is 360 degrees in bottom view). Each of the distance sensors M61 and M62 is attached to the bottom of the cab 50 so that its center axis A2 (not shown in FIG. 4) is parallel to the center axis A1 of the elevator 42 (see also FIG. 7). Therefore, with reference to FIG. 4, each of the distance sensors M61 and M62 has a measurement area radially expanding from each distance sensor in plan view (seen in the direction of the center axis A1). In FIG. 4, the range of the measurement area is indicated by an angle. Since the distance sensors M61 and M62 have a measurement distance of, for example, about 100 m, the distance sensors M61 and M62 have a circular shape indicated by an arrow in FIG. It has a measurement area larger than its diameter. Therefore, the obstacle sensor M6 as a whole has a measurement area that extends radially from the cab 50 when viewed in the direction of the center axis A1. With such a configuration, the obstacle sensor M6 can detect obstacles approaching the cab 50 from the sides (front, left, right). As can be easily understood by those skilled in the art, the obstacle sensor M6 cannot detect an obstacle in the portion where the measurement area overlaps the operator's cab 50 and the top frame 41, because This is because the cab 50 and the top frame 41 already exist there. Therefore, these parts are not regarded as the measurement area of the obstacle sensor M6.

FIG. 7 is a schematic side view showing the measurement area of the obstacle sensor M6. The measurement area of the distance sensor M61 is the area between the two dashed lines. The measurement area of the distance sensor M62 is the area between the two dashed-dotted lines. Each of the distance sensors M61 and M62 has a measurement area with a ±predetermined angle (for example, ±15 degrees) with respect to the direction perpendicular to the central axis A1 when viewed from the side (when viewed in a direction perpendicular to the central axis A1). have As shown in FIG. 7, the area immediately below the distance sensor M61 cannot be detected by the distance sensor M61. However, this area can be detected by the other distance sensor M62. Similarly, the area immediately below the distance sensor M62 cannot be detected by the distance sensor M62. However, this area can be detected by the other distance sensor M61. Therefore, the obstacle sensor M6 also has a measurement area below the driver's cab 50 as a whole. This measurement area covers the entire bottom of the cab 50 when viewed in the direction of the central axis A1. With such a configuration, the obstacle sensor M6 can detect an obstacle approaching the cab 50 from below.

As shown in FIG. 7, there is a blind spot DA of the obstacle sensor M6 in horizontally adjacent areas (for example, front, left, and right) of the driver's cab 50 excluding the lower part. Generally, however, when the scraper 43 is inserted into the hold 5, the carrier 40 and cab 50 move downward. Therefore, the blind spot as shown in FIG. 7 can be included in the measurement area of the obstacle sensor M6 at least once when the cab 50 moves downward. Moreover, there is a blind spot of the obstacle sensor M6 above the driver's cab 50 as well. However, such a blind spot may also be included in the measurement area of the obstacle sensor M6 at least once when the driver's cab 50 moves downward.

Next, the control device 200 will be explained.

FIG. 8 is a schematic block diagram showing the control device 200 according to the embodiment.

Control device 200 is communicably connected to position sensor M1, rotation angle sensor M2, swing angle sensor M3, rotation angle sensor M4, and distance sensors M51, M52, M53, M61, M62 by wire or wirelessly. These sensors transmit measured data to controller 200 . The control device 200 includes, for example, a processor 201 such as a CPU (Central Processing Unit), a storage device 202 such as a ROM (Read Only Memory), a RAM (Random Access Memory) and an HDD (Hard Disk Drive), a liquid crystal display, an organic It has components such as a display device 203 such as an EL display or a touch panel. The control device 200 may further have other components (for example, input devices such as buttons, a touch panel, and a keyboard). For example, the operations of controller 200 described below may be performed by processor 201 according to a program stored in storage device 202 .

The storage device 202 stores data of the three-dimensional model of the unloader 100 . For example, the storage device 202 stores at least three-dimensional model data (for example, voxel data) of the top frame 41 , the elevator 42 , the scraping unit 43 and the cab 50 . These three-dimensional model data are represented by a top frame coordinate system 310, which will be described later.

The storage device 202 also stores data of the three-dimensional model of each vessel 4 . For example, the storage device 202 stores at least three-dimensional model data (eg, voxel data) of the hatch 7 . The data of the three-dimensional model of the hatch 7 are represented by a hatch coaming coordinate system 320, which will be described later. The data of the three-dimensional model of the hatch 7 may be created using data measured by the distance sensors M51, M52, M53 when the scraper 43 is inserted into the hold 5 for the first time, for example. Also, the data of the three-dimensional model of the hatch 7 may be created using data measured by another measuring instrument. Also, the data of the three-dimensional model of the hatch 7 may be created based on the drawing of the hatch 7 . The three-dimensional model data may be polygon data, contours (straight lines), point groups, or other data capable of representing a three-dimensional shape, such as a combination thereof. The storage device 202 may store three-dimensional model data for each of the plurality of hatches 7 for each vessel 4 .

9 and 10 are schematic plan and side views, respectively, of coordinate systems 300, 310, 320 used in controller 200 of FIG. Controller 200 has ground coordinate system 300 , top frame coordinate system 310 and hatch coaming coordinate system 320 .

9 and 10 , ground coordinate system 300 has an origin corresponding to a preset initial position of unloader 100 . The ground coordinate system 300 has a Ya-axis direction corresponding to the extending direction of the rail 3 . Of the horizontal directions, the direction perpendicular to the Ya-axis direction is the Xa-axis direction. The vertical direction is the Za-axis direction.

The top frame coordinate system 310 has an origin located on the central axis A<b>1 of the elevator 42 and located at the lower end of the top frame 41 . The top frame coordinate system 310 has an Xb-axis direction along the extending direction of the boom 30 . The top frame coordinate system 310 has an Xb axis direction and a Yb axis direction perpendicular to the central axis A1. The top frame coordinate system 310 has a Zb-axis direction parallel to the central axis A1.

The hatch coaming coordinate system 320 has an origin located at the center of the aft upper edge of the hatch 7 of the vessel 4 . The hatch coaming coordinate system 320 has an Xc axis direction parallel to the longitudinal direction of the vessel 4 . The hatch coaming coordinate system 320 has a Yc-axis direction parallel to the width direction of the ship 4 . A hatch coaming coordinate system 320 has a Zc-axis direction perpendicular to the upper end surface of the hatch 7 .

FIG. 11 is a schematic diagram showing a working area 400 used in the controller 200 of FIG. In FIG. 11, hatch 7 is indicated by a dashed line. The control device 200 generates a work area 400 by arranging a plurality of voxels 402 in the hatch coaming coordinate system 320 described above. A work area 400 includes a plurality of voxels 402 arranged along the Xc-axis direction, the Yc-axis direction, and the Zc-axis direction. For example, the voxels 402 are arranged to cover the hatch 7 in the Xc-axis direction and the Yc-axis direction, and are arranged only in the positive direction in the Zc-axis direction. The arrangement of voxels 402 is not limited to this. For example, the voxel 402 is a rectangular parallelepiped with a side length of 0.2 to 1 m.

For example, working area 400 is larger than hatch 7 in the Xc and Yc directions. Also, for example, the work area 400 is higher than the entire conveying section 40 including the top frame 41 , the elevator 42 and the scraping section 43 in the Zc-axis direction. In other embodiments, the working area 400 may have a cylindrical shape centered on the Zc-axis direction. In that case, the cross section of the voxel 402 on the XY plane may be fan-shaped. The controller 200 accumulates points measured by the distance sensors M61 and M62 of the obstacle sensor M6 in each voxel 402 (details will be described later).

Next, the operation of control device 200 will be described.

FIG. 12 is a flow chart showing an example of the operation of the control device 200 of FIG. The operation shown in FIG. 12 is started, for example, when the scraping portion 43 is inserted into the hold 5 when the unloader 100 transports the cargo 6 .

The control device 200 generates a work area 400 in the hatch coaming coordinate system 320 (step S100). As noted above, working area 400 includes a plurality of voxels 402 .

Subsequently, the control device 200 reads the three-dimensional model of the hatch 7 from the storage device 202 (step S102). The control device 200 adds the three-dimensional model of the hatch 7 to the working area 400 .

Subsequently, the control device 200 acquires data measured by the distance sensors M51, M52, M53, M61 and M62 (step S104).

Subsequently, the control device 200 calculates coordinate transformation parameters for transforming the top frame coordinate system 310 into the hatch coaming coordinate system 320 (step S106).

Specifically, since the distance sensors M51, M52, M53, M61, M62 are attached to the top frame 41 and the cab 50, the positions of these sensors and the positions of the points measured by these sensors are It is known in coordinate system 310 . However, the positional relationship between the top frame coordinate system 310 and the hatch coaming coordinate system 320 changes as the unloader 100 and vessel 4 move (e.g., rocking of vessel 4, ebb and flow of the tide, or movement of the ship 4 in the vertical direction due to changes in the load, etc.). Therefore, the positions of the sensors and the positions of the points measured by the sensors are not directly applicable to the hatch coaming coordinate system 320 . Therefore, the control device 200 calculates coordinate transformation parameters for transforming the top frame coordinate system 310 into the hatch coaming coordinate system 320 .

Specifically, control device 200 detects the upper edge of hatch 7 in top frame coordinate system 310 based on data measured by hatch sensor M5 (distance sensors M51, M52, M53). Subsequently, the control device 200 compares the three-dimensional model of the hatch 7 (hatch coaming coordinate system 320) read in step S102 with the top edge of the hatch 7 (top frame coordinate system 310) detected by the hatch sensor M5. , the coordinate transformation parameters for transforming the top frame coordinate system 310 into the hatch coaming coordinate system 320 are calculated.

Subsequently, the control device 200 accumulates data (measurement points) measured by the obstacle sensor M6 (distance sensors M61 and M62) in the voxels 402 of the work area 400 generated in step S100 (step S108). Specifically, the positions of the points (top frame coordinate system 310) measured by the distance sensors M61 and M62 are transformed into the hatch combing coordinate system 320 using the coordinate transformation parameters calculated in step S106, and the corresponding voxel 402. As noted above, the hatch coaming coordinate system 320 has an origin located at the center of the aft upper edge of the hatch 7 . Therefore, the distances to the objects measured by the distance sensors M61, M62 are stored in association with the distances to the hatch 7 by transforming them into the hatch coaming coordinate system 320. FIG. A work area 400 containing voxels 402 with accumulated measurement points is stored in the storage device 202 . Thereby, the objects around the cab 50 are stored in the storage device 202 .

For example, in step S108, if there is a voxel 402 for which measurement points were accumulated in the previous step S108, but no point is measured by the obstacle sensor M6 in this step S108, this measurement point is a moving body (for example, a monitor member). Therefore, if such a voxel 402 exists, the control device 200 may erase measurement points from this voxel 402 . Therefore, the control device 200 may, for example, store only measurement points accumulated in the voxels 402 longer than a predetermined period as objects (obstacles).

Subsequently, the control device 200 determines whether or not the distance between the driver's cab 50 and the object stored in the storage device 202 is equal to or less than a predetermined first threshold value (for example, 1 m) (step S110 ).

FIG. 13 is a schematic side view showing an example of calculation of the distances D1 and D2 between the cab 50 and the objects 70 and 71. FIG. In FIG. 13, the measurement points are indicated by black circles. For example, the control device 200 projects the measurement points (objects) stored in the storage device 202 onto the plane IS including the bottom of the cab 50 . Among the objects 70 and 71 projected onto the plane IS, the object 70 positioned inside the cab 50 is considered to exist directly below or above the cab 50 . In this case, in the Zc-axis direction, the control device 200 uses each measurement point of the object 70 stored in the storage device 202 and the above coordinate conversion parameters obtained based on the data of the hatch sensor M5 to calculate hatch combing coordinates. Calculate the distance between the bottom (or top) of the cab 50 currently positioned in the system 320 . The shortest distance among the calculated distances is determined as the distance D1 between the object 70 and the driver's cab 50 . Control device 200 determines whether or not distance D1 is equal to or less than first threshold value T1. If the object 70 is positioned directly below the driver's cab 50, the object 70 may directly use the data measured by the obstacle sensor M6. In this case, since there is no time lag associated with data accumulation, processing can be executed quickly.

14 is a schematic plan view of FIG. 13. FIG. Of the objects 70 and 71 projected onto the plane IS, for the object 71 positioned outside the operator's cab 50, the control device 200 adjusts the distance between the object 71 and the wall surface of the operator's cab 50 in the Xc-axis direction or the Yc-axis direction. Calculate the distance D2 between As shown in FIG. 14, for an object 71 facing the wall surface of the cab 50 in the Yc-axis direction, each measurement point of the object 71 stored in the storage device 202 and the coordinate transformation parameters is used to calculate the distance between the walls of the current cab 50 located in the hatch coaming coordinate system 320 . Although not shown, an object facing the wall surface of the cab 50 in the Xc-axis direction is hatched using each measurement point of the object stored in the storage device 202 and the above-described coordinate transformation parameters. The distance between the current wall surface of the cab 50 positioned in the combing coordinate system 320 is calculated. The shortest distance among the calculated distances is determined as the distance D2 between the object 71 and the driver's cab 50 . Control device 200 determines whether or not distance D2 is equal to or less than first threshold value T1.

According to the above calculations, by using at least two distance sensors M61 and M62 provided at the bottom of the cab 50, an obstacle approaching the cab 50 can be detected. In this case, for example, the number of distance sensors can be reduced compared to a configuration in which a large number of distance sensors are provided in the height direction of the cab 50 . Therefore, the cost of the distance sensor and the maintenance cost of the distance sensor can be saved.

Referring to FIG. 12, when it is determined in step S110 that the distance between operator's cab 50 and the object is equal to or less than the first threshold value (YES), controller 200 instructs the operator to is approaching an obstacle (step S112). For example, a warning may be shown on display 203 . Alternatively or additionally, for example, the warning may be indicated audibly. Alternatively or additionally, controller 200 may limit the speed of movement of carriage 40 . Such a configuration can reduce the risk of the cab 50 colliding with an obstacle.

Subsequently, the control device 200 determines whether or not the distance between the driver's cab 50 and the object stored in the storage device 202 is equal to or less than a predetermined second threshold value (for example, 0.5 m) ( step S114). Step S114 may be implemented, for example, in the same manner as step S110 described above.

If it is determined in step S114 that the distance between the driver's cab 50 and the object is equal to or less than the second threshold (YES), the control device 200 stops movement of the transport unit 40 (step S116), and starts the operation. finish. Such a configuration can prevent the driver's cab 50 from colliding with an obstacle.

If it is determined in step S110 that the distance between the cab 50 and the object is not equal to or less than the first threshold (NO), and in step S114 the distance between the cab 50 and the object exceeds the second threshold If it is determined that it is not below (NO), the control device 200 determines whether or not an instruction to end the data accumulation work has been input (step S118). For example, when all the cargo 6 has been transported and the scraper 43 has been completely removed from the hold 5, the operator may input an instruction to end the data accumulation operation.

If it is determined in step S118 that an instruction to end the data accumulation work has been input (YES), the operation ends. If it is determined in step S118 that an instruction to end the data accumulation work has not been input (NO), the control device 200 repeats steps S104 to S116 at predetermined intervals (for example, 10 to several tens of milliseconds, 100-several hundred milliseconds, 1-several seconds, or 10-several tens of seconds).

The unloader 100 as described above includes a conveying section 40 having a scraping section 43 inserted into the hold 5, an elevator 42 extending upward from the scraping section 43, and a direction of the central axis A1 of the elevator 42. When viewed from above, the driver's cab 50 projecting from the transport unit 40 and the hatch sensor M5 provided in the transport unit 40, which measures the distance to an object in the measurement area below the hatch sensor M5. A sensor M5 and an obstacle sensor M6 provided at the bottom of the driver's cab 50 for measuring the distance from the driver's cab 50 to an object in the radially expanding measurement area when viewed in the direction of the central axis A1. a control device 200 that detects the hatch 7 of the hold 5 based on the data from the object sensor M6 and the hatch sensor M5, associates the distance to the object measured by the obstacle sensor M6 with the distance to the hatch 7, and accumulates them; , provided. With such a configuration, the obstacle sensor M6 can directly detect an object approaching the operator's cab 50 from the side at the height of the bottom of the operator's cab 50 . Also, after the transport unit 40 moves downward and the obstacle sensor M6 passes through the object, the controller 200 controls the current driving position based on the object accumulated in the storage device 202 and the data of the hatch sensor M5. Based on the position of the cabin 50, an object approaching the cab 50 from the side can be recognized. Further, when the transport unit 40 returns upward, the control device 200 controls the current position of the cab 50 based on the objects stored in the storage device 202 and the data of the hatch sensor M5. , objects approaching the cab 50 from the side or from above can be recognized. Therefore, contact with objects on the ship 4 can be prevented.

Further, in the unloader 100, the obstacle sensor M6 also has a measurement area below the operator's cab 50. As shown in FIG. Therefore, the obstacle sensor M6 can directly detect an object approaching the cab 50 from below.

Further, in the unloader 100, the obstacle sensor M6 has at least two distance sensors M61 and M62, and the two distance sensors M61 and M62 are separated from each other in a plane perpendicular to the center axis A1. each of the two distance sensors M61, M62 has a predetermined angular range along the central axis A1, and when viewed in the direction of the central axis A1, the distance sensors M61, M62 has a measurement area that extends radially from According to such a configuration, the two distance sensors M61 and M62 can obtain a measurement area extending radially from the operator's cab 50 and a measurement area below the operator's cab 50 . Therefore, the number of distance sensors can be reduced. Therefore, the cost of the distance sensor and the maintenance cost of the distance sensor can be saved.

Further, in the unloader 100, the conveying unit 40 is moved in a horizontal traveling direction and a horizontal traversing direction perpendicular to the traveling direction, and the two distance sensors M61 and M62 move in both the traveling direction and the traversing direction. separate from each other. According to such a configuration, either of the two distance sensors M61 and M62 can detect the thin object when the transport unit 40 moves along the traveling direction or the transverse direction toward the thin object. . Therefore, it is possible to prevent a thin object approaching the cab 50 along the running direction or the transverse direction from being overlooked.

In the unloader 100, the control device 200 determines whether or not the distance between the current position of the cab 50 and the object stored in the storage device 202 is equal to or less than predetermined first and second thresholds. judge. According to such a configuration, it is possible to automatically detect the approach of an object to the cab 50 using a small number of sensors.

Although the embodiments have been described above with reference to the accompanying drawings, the present disclosure is not limited to the above embodiments. It is obvious that a person skilled in the art can conceive various changes or modifications within the scope described in the claims, and they are also understood to belong to the technical scope of the present disclosure. Also, the steps of the methods of the above embodiments do not have to be performed in the above order, and may be performed in a different order as long as there is no technical contradiction.

For example, in the above embodiment, the controller 200 uses both the first threshold and the second threshold to detect an object approaching the cab 50 . However, in other embodiments, only either the first threshold or the second threshold may be used. In this case, either steps S110, S112 or steps S114, 116 may not be performed. For example, the first threshold is an arbitrary criterion by which the cab 50 may approach an object in normal operation, and the second threshold is an arbitrary criterion according to wave amplitude.

5 Hull 7 Hatch 40 Transfer Section 42 Elevator 43 Scraping Section 50 Operator's Cabin 70 Object 71 Object 100 Unloader (unloading device)
200 control device 202 storage device A1 central axis of elevator M5 hatch sensor M6 obstacle sensor M61 distance sensor M62 distance sensor T1 first threshold (predetermined threshold)

Claims (5)

a conveying section having a scraping section inserted into a hold and an elevator extending upwardly from the scraping section;
a cab protruding from the conveying unit when viewed in the direction of the central axis of the elevator;
a hatch sensor provided in the transport unit, the hatch sensor measuring a distance to an object in a measurement area below the hatch sensor;
an obstacle sensor provided at the bottom of the driver's cab that measures the distance from the driver's cab to an object in a radially expanding measurement area when viewed in the direction of the central axis;
a control device that detects a hatch in the hold based on data from the hatch sensor, and accumulates a distance to an object measured by the obstacle sensor in association with the distance to the hatch;
An unloading device. The cargo unloading device according to claim 1, wherein said obstacle sensor has a measurement area also below said driver's cab. the obstacle sensor has at least two distance sensors,
The two distance sensors are mounted on the bottom of the cab spaced apart from each other in a plane perpendicular to the central axis,
3. Each of said two distance sensors has a predetermined angular range along said central axis and has a measurement area radiating from said distance sensor when viewed in the direction of said central axis. 2. The unloading device according to 2. the transport unit is moved in a horizontal first direction and a horizontal second direction perpendicular to the first direction;
4. The lifting device of claim 3, wherein the two distance sensors are spaced apart from each other in both the first direction and the second direction. The controller determines whether or not the distance between the current position of the driver's cab and the object stored in the storage device is equal to or less than a predetermined threshold. The unloading device described in .

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