JP2023127616A - Unloading device, control method of unloading device, control program of unloading device, control system - Google Patents

Abstract

To provide an unloading device or the like capable of efficiently conveying a cargo and safely evacuating from a wall of a shipyard even when a conveyance device approaches the wall of the shipyard.SOLUTION: A loading device includes: a target distance setting unit that sets a target distance D0 along a normal direction from a wall W of a shipyard 201; and a conveyance device control unit that drives a loading unit 9 along the normal direction of the wall W so that a distance D(t) between the loading unit 9 that unloads the cargo in the shipyard 201 and the wall W approaches the target distance D0. The conveyance device control unit maintains the loading unit 9 within a target distance maintenance section while driving the loading unit 9 in the normal direction of the wall W at a speed equal to or lower than a predetermined upper limit speed in the target distance maintenance section that sandwiches a position of the target distance D0 from both sides along the normal direction of the wall W. The conveyance device control unit provides a distance dependent speed section in which the larger an absolute value of a difference ΔD between the distance D(t) between the loading unit 9 and the wall W and the target distance D0, the greater the speed in the normal direction of the wall W of the loading unit 9.SELECTED DRAWING: Figure 6

Description

The present invention relates to an unloading device for unloading cargo from a ship.

2. Description of the Related Art As an unloading device for unloading cargo from a ship, a unloading device for unloading cargo loaded on a ship onto land is known. Among such unloading devices, those that handle bulk cargo or bulk materials such as coal or iron ore are also called unloaders. It is also called a continuous unloader or continuous ship unloader in the sense that it continuously handles bulk cargo loaded on a ship. In this specification, the abbreviation CSU may be used.

Patent Document 1 discloses a technology that safely evacuates a CSU from a ship wall when a large rocking motion of a ship is detected during automatic operation of a CSU.

Japanese Patent Application Publication No. 11-171348

In Patent Document 1, regardless of the position of the CSU (scraping unit) in the shipyard, when a large rocking motion of the ship is detected, a process for retracting the CSU from the ship wall is executed. Even when the CSU is far enough away that there is no risk of colliding with the ship wall, unnecessary evacuation processing is executed, which deteriorates the efficiency of carrying out cargo by the CSU.

The present invention was made in view of these circumstances, and its purpose is to efficiently carry out the cargo and safely evacuate it from the wall of the shipyard even when the carrying-out device approaches the wall of the shipyard. The object of the present invention is to provide an unloading device etc. that can achieve both of the following.

In order to solve the above problems, an unloading device according to an aspect of the present invention includes a target distance setting unit that sets a target distance along the normal direction from the wall of the shipyard, and a target distance setting unit that sets a target distance along the normal direction from the wall of the shipyard, and a device that unloads cargo in the shipyard. A carry-out device control unit that drives the carry-out device along the normal direction so as to bring the distance between the carry-out device and the wall closer to a target distance.

In this aspect, the unloading device is controlled so that the distance to the wall of the shipyard approaches the target distance. Therefore, the unloading device is prevented from coming closer to the wall of the shipyard than the target distance, and the cargo can be efficiently unloaded. Even if the unloading device gets closer to the wall of the shipyard than the target distance, it can be safely evacuated.

Another aspect of the present invention is a method of controlling an unloading device. This method consists of a target distance setting step of setting a target distance along the normal direction from the wall of the shipyard, and a step of setting the target distance along the normal direction from the wall of the shipyard. and an unloading device control step for driving the device along the normal direction.

Yet another aspect of the invention is a control system. This control system includes a target distance setting unit that sets a target distance along the normal direction from the wall of the shipyard, and a target distance setting unit that sets the target distance along the normal direction from the wall of the shipyard. An unloading device control unit that drives the unloading device along the normal direction.

Note that arbitrary combinations of the above-mentioned components and expressions of the present invention converted between methods, devices, systems, recording media, computer programs, etc. are also effective as aspects of the present invention.

According to the present invention, even if the carrying-out device approaches the wall of the shipyard, it is possible to efficiently carry out the cargo and safely evacuate the cargo from the wall of the shipyard.

FIG. 2 is a front view showing the overall configuration of the unloading device. FIG. 2 is a perspective view showing the overall configuration of the unloading device. FIG. 3 is a diagram showing a detailed configuration of the unloading section. FIG. 3 is a diagram showing the appearance of a distance measurement sensor. It is a top view which shows the example of arrangement|positioning of a distance measurement sensor. FIG. 3 is a top view schematically showing various distances and sections set in proximity control of the unloading section. The relationship between the position D(t) in the Y-axis direction and the speed _VY in the Y-axis direction in proximity control of the unloading section is schematically shown. FIG. 2 is a functional block diagram of a control system responsible for proximity control of the unloading section. FIG. 3 is a top view schematically showing proximity control of the unloading section. An example of the configuration of an unloading device control unit that can perform proximity control of the unloading unit is shown. FIG. 3 is a top view schematically showing an example of proximity control of the unloading section. FIG. 3 is a top view schematically showing an example of proximity control of the unloading section.

DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the drawings. In the description or drawings, the same or equivalent constituent elements, members, and processes are denoted by the same reference numerals, and overlapping explanations are omitted. The scales and shapes of the parts shown in the drawings are set for convenience to facilitate explanation, and are not to be construed as limiting unless otherwise mentioned. The embodiments are illustrative and do not limit the scope of the present invention. Not all features or combinations thereof described in the embodiments are necessarily essential to the invention.

FIG. 1 shows the overall configuration of a unloading device 1 as an unloading device according to an embodiment of the present invention. The unloading device 1 is a continuous unloader or a continuous unloader for ships that unloads the cargo loaded on the ship 200 or the bulk cargo M as ship cargo onto land. Hereinafter, the unloading device 1 will also be referred to as CSU1. The CSU 1 continuously transports bulk cargo M stored in a shipyard 201 of a ship 200 berthed to a quay 101 of a pier 102 of a port or the like to land. Examples of the bulk material M include coal, coke, ore, and the like. The CSU 1 is operated by an operator in a main operation room 16 provided in its main body. The operation room for operating the CSU 1 may be provided in another location in the CSU 1 or may be provided in any location on land outside the CSU 1 .

The wharf 102 on which the ship 200 berths constitutes the land where the bulk cargo M is unloaded, and is made of a high-strength material such as reinforced concrete. As shown in the perspective view of FIG. 2, the wharf 102 has a pair of parallel rail lines along the longitudinal direction (direction perpendicular to the plane of FIG. A rail 3 is provided. The rails 3 constitute a track on which a running section 2 as a moving section of the CSU 1 can move or run. The rails 3 allow the CSU 1 to move relative to the ship 200 at anchor. As shown in FIG. 2, it is preferable that the rail 3 be installed in the same direction as the longitudinal direction of the berthed ship 200 or the quay 101, but it may be in any other direction. Further, the rail 3 may include a curved portion or a bent portion. When unloading from the ship 200, the CSU 1 moves on the rails 3 to a position close to the opening 21 of the shipyard 201 to be unloaded. Thereafter, the traveling section 2, the swing frame 5 (swivel section), and the unloading section 9 (unloading section or unloading device) are driven to unload the bulk cargo M from the shipyard 201.

At the wharf 102, a belt conveyor 45 serving as a conveyor for conveying unloaded bulk cargo M in a fixed direction is provided between a pair of rails 3. As shown in FIG. 2, it is preferable that the installation direction of the belt conveyor 45, that is, the transportation direction, coincide with the installation direction of the rail 3, but it may be in any other direction. Further, the belt conveyor 45 may include a curved portion or a bent portion. The belt conveyor 45 needs to be provided between the pair of rails 3 at the location where the bulk cargo M unloaded from the CSU 1 is received, but may be provided outside the pair of rails 3 at other locations.

The CSU 1 includes a running section 2 as a moving section movable relative to the ship 200, a swing frame 5 constituting a turning section capable of turning relative to the running section 2, and a swing frame 5 provided on the tip side of the swing frame 5. A loading section 9 is provided as a loading section or loading device for loading the cargo M. The swing frame 5 is supported on the traveling section 2 so as to be able to swing around a pivot axis in the vertical direction (vertical direction in FIG. 1). The swing frame 5 is provided with a boom 7 extending in the transverse direction intersecting the swing axis, and a bucket elevator, which constitutes the main part of the unloading section 9, is supported at the tip end of the boom 7.

The unloading section 9 is operated by a parallel link mechanism composed of the revolving frame 5, the boom 7, and the parallel link 8, depending on the undulation angle of the boom 7 (the rotation angle around the undulation axis perpendicular to the plane of the paper in FIG. 1). Maintain a vertical posture. Further, a counterweight 13 is provided at the rear end of the swing frame 5 on the opposite side from the tip of the boom 7. The counterweight 13 is connected to the tip of the boom 7 via a balancing lever 12. Due to the action of the counterweight 13, the unloading section 9 is placed in a substantially unloaded state, and a stable load balance is realized. Note that the main components constituting the rotating section, such as the rotating frame 5, the boom 7, the balancing lever 12, and the counterweight 13, may be collectively referred to as the main body section below.

A cylinder 15 is provided to adjust the tilting angle of the boom 7. When the cylinder 15 has the standard length, the undulation angle is 0°, that is, the boom 7 is parallel or horizontal to the ground (in the left-right direction in FIG. 1). When the cylinder 15 is extended beyond the standard length, the tip of the boom 7 rises, creating a positive undulating angle. When the cylinder 15 is shortened from the standard length, the tip of the boom 7 is lowered, creating a negative undulation angle. The unloading section 9 supported by the tip of the boom 7 rises while maintaining a vertical posture when the undulation angle of the boom 7 becomes large, and descends while maintaining a vertical posture when the undulation angle of the boom 7 becomes small.

A main operation room 16 for operating the CSU 1 is provided in the main body. Specifically, a main operation room 16 is provided on the unloading section 9 side of the revolving frame 5. An operator in the main operation room 16 can safely operate the CSU 1 while visually checking the unloading section 9. Parameters related to the position and posture of the CSU 1, such as the position of the traveling section 2, the rotation angle of the rotation frame 5, and the up-and-down angle of the boom 7, are controlled in accordance with the operation of the main operation room 16. Further, the unloading operation of the bulk cargo M by the unloading section 9 can also be operated from the main operation room 16.

The unloading section 9 includes a scraping section 11 that scrapes off the bulk material M, and a bucket elevator as an elevator section that transports the scraped bulk material M upward. The scraping section 11 is provided at the lower part of the unloading section 9, and continuously excavates the bulk cargo M in the shipyard 201 using a large number of buckets 27 (see FIG. 3) that are movably provided along the outer periphery of the scraping section 11. Scrape it off. The scraped bulk material M is transported upward together with the bucket 27 by the bucket elevator.

FIG. 3 shows a detailed configuration of the unloading section 9. The bucket elevator includes a cylindrical elevator body 14 that extends in the vertical direction, and a chain bucket 29 that moves around the elevator body 14. The chain bucket 29 includes a pair of roller chains 25, each of which is an endless chain, and a plurality of buckets 27 supported on both sides by the pair of roller chains 25. Specifically, a pair of roller chains 25 are arranged in parallel in a direction perpendicular to the paper surface of FIG. 3(B), and each bucket 27 is attached so as to be suspended between the pair of roller chains 25.

The bucket elevator includes a driving roller 31a that guides the roller chain 25, driven rollers 31b and 31c, and a turning roller 33. The drive roller 31a is provided at the top 9a of the bucket elevator, and is rotationally driven by a motor (not shown) or the like to rotate the chain bucket 29. The driven roller 31b is provided in front of the scraping section 11 (on the left in FIG. 3(B)), and the driven roller 31c is provided on the rear of the scraping section 11 (on the right in FIG. 3(B)). Guide the moving chain bucket 29. The turning roller 33 is a driven roller provided below the driving roller 31a, and guides the chain bucket 29 as it moves around, and changes the direction of its movement. An extendable cylinder 35 is provided between the driven roller 31b and the driven roller 31c. When this cylinder 35 expands and contracts, the distance between the axes of both driven rollers 31b and 31c changes, and the trajectory of the circular motion of the chain bucket 29 changes. The expansion and contraction control of the cylinder 35 may be performed by operating the main operation room 16, or may be performed automatically by a computer built into the CSU 1 according to a program. In addition, corresponding to the provision of two roller chains 25, two driving rollers 31a, two driven rollers 31b, 31c, and two turning rollers 33 are provided, and are arranged in a direction perpendicular to the paper surface of FIG. 3(B). will be established.

The chain bucket 29 rotates around the elevator body 14 by the rotation of the drive roller 31a. For example, the chain bucket 29 rotates counterclockwise along the arrow W shown in FIG. 3(B). At this time, the chain bucket 29 reciprocates between the scraping part 11 provided at the bottom of the bucket elevator and the drive roller 31a provided at the top 9a of the bucket elevator.

Each bucket 27 of the chain bucket 29 ascends within the elevator main body 14 while keeping its opening facing upward. When each bucket 27 passes the drive roller 31a at the top 9a of the bucket elevator, as the direction of movement changes from upward to downward, the opening of each bucket 27 also rotates from upward to downward. A discharge chute (not shown) is provided below the opening of each bucket 27 turned downward in this manner, and the bulk material M scraped by each bucket 27 is discharged. The discharge chute discharges the bulk material M onto a rotary feeder 37 (FIG. 1) provided on the outer periphery of the upper part of the unloading section 9.

The rotary feeder 37 rotates around a rotation axis in the extending direction, that is, the vertical direction, of the elevator main body 14, and transfers the bulk material M discharged from the discharge chute to the boom conveyor 39 of the boom 7. The boom conveyor 39 conveys the bulk material M within the boom 7 to the vicinity of the rotation axis of the rotation frame 5, and supplies it to a hopper (not shown) provided there. An in-machine conveyor 43 for receiving bulk materials M is provided in the running section 2 below the outlet of the hopper. The in-flight conveyor 43 transfers the bulk cargo M to the above-mentioned belt conveyor 45 provided at the wharf 102 as land.

Next, the basic unloading operation of the CSU 1 having the above configuration will be explained. In this unloading operation, the unloading unit 9 and/or the CSU 1 function as a transport device that transports the bulk cargo M (load) inside the shipyard 201 to outside the shipyard 201.

An operator of the CSU 1 operates the CSU 1 in the main operation room 16 . First, the running section 2 is run on the rail 3 and moved to a position close to the opening 21 of the shipyard 201 to be unloaded. Next, the swing frame 5 is rotated around the vertical swing axis provided at a position overlapping with the traveling section 2 in a top view (when viewed from above in FIG. 1), and the unloading section provided at the tip of the boom 7 is rotated. 9 is moved above the opening 21 of the shipyard 201 to be unloaded. Here, in order to prevent the unloading section 9 from colliding with the pier 102 or the ship 200, the boom 7 is raised and lowered in the forward direction (clockwise direction in FIG. 1), and the traveling and turning operations are performed with the unloading section 9 raised. is preferable. Subsequently, the boom 7 is undulated in the negative direction (counterclockwise in FIG. 1), and the scraping part 11 provided at the tip of the unloading part 9 is inserted into the shipyard 201 through the opening 21. Note that the movement of the traveling section 2, the rotation of the swing frame 5, and the raising and lowering of the boom 7 may be performed at the same time.

After the scraping section 11 is inserted into the shipyard 201, the roller chain 25 is rotated along the arrow W. The plurality of buckets 27 attached to the roller chain 25 excavate and scrape off the bulk cargo M stored in the shipyard 201 when the buckets 27 rotate integrally with the roller chain 25. The bulk material M scraped off by each bucket 27 is transported upward within the elevator main body 14 as the roller chain 25 rotates.

The scraping unit 11 appropriately changes its three-dimensional position within the shipyard 201 in order to efficiently scrape off the bulk cargo M at various locations within the shipyard 201. For example, when the surface position of the bulk material M becomes lower as the unloading operation progresses, the boom 7 is raised and lowered in the negative direction to lower the scraping section 11. Further, in order to scrape off the bulk material M near the wall of the shipyard 201, the position of the scraping unit 11 in the horizontal plane may be changed by operating the running unit 2 and/or the rotating frame 5. The scraping section 11 can change not only its three-dimensional position but also its posture and shape. For example, the scraping part 11 is rotatable around a rotation axis in the extending direction, that is, the vertical direction, of the elevator main body 14, and its direction can be changed arbitrarily. Further, as shown by the dashed line in FIG. 3(B), the scraping portion 11 can take an inclined shape or a horizontally elongated shape that contracts in the vertical direction and extends in the horizontal direction. Thereby, even in the shipyard 201 where the horizontal distance from the opening 21 to the wall is large, the scraping unit 11 can be moved closer to the wall and the bulk material M can be efficiently scraped off.

The CSU 1 autonomously changes the position, posture, and shape of the scraping unit 11 (unloading unit 9) in the shipyard 201 regarding the unloading operation of the CSU 1 as described above using a ranging sensor and a camera, which will be described later. (that is, the unloading section 9 and/or the CSU 1 may be operated automatically), or it may be performed manually by an operator in the main operation room 16 while communicating with workers in the shipyard 201. It's okay.

The bucket 27 that has scraped off the bulk cargo M in the shipyard 201 rises within the elevator main body 14, and turns from upward to downward when passing the drive roller 31a at the top 9a. The bulk material M that falls due to the rotation of the bucket 27 enters the discharge chute and is discharged onto the rotary feeder 37. Thereafter, the bulk cargo M is transferred via the boom conveyor 39 and the in-flight conveyor 43 to a belt conveyor 45 provided at the wharf 102 as land. By repeating the above-described unloading operation using the plurality of buckets 27, the bulk cargo M in the shipyard 201 is continuously unloaded.

Next, a distance measurement sensor provided in the CSU 1 to improve the safety and efficiency of unloading will be described.

As shown in FIG. 1, a plurality of distance measuring sensors 19 are provided at the top of the unloading section 9 to measure distances to objects to be measured located below and to the sides. At the time of unloading shown in the figure, the edge of the opening 21, the ceiling/wall/bottom of the shipyard 201, the bulk cargo M and other objects, people/structures inside the shipyard 201, the bulldozer for bottom sweeping, the scraping section 11, Other parts of the CSU 1 such as the ship 200, boom 7/swivel frame 5/traveling section 2/main operation room 16, quay 101, wharf 102, rail 3, belt conveyor 45, etc. are objects to be measured by the distance sensor 19. . The plurality of distance measuring sensors 19 may be arranged, for example, at the top of the cylindrical elevator main body 14 so as to surround the outer periphery of the elevator main body 14 . Alternatively, the plurality of distance sensors 19 may be provided in a flange portion 91 that rotatably supports the upper part of the elevator body 14 so as to surround the outer periphery of the elevator body 14. It is preferable that the plurality of distance measurement sensors 19 be provided below the connection portion between the unloading section 9 and the boom 7 so that the boom 7 does not enter the measurement range below and on the sides of the plurality of distance measurement sensors 19. On the other hand, when a plurality of distance measurement sensors 19 are provided above the connecting portion between the unloading section 9 and the boom 7, each distance measurement sensor 19 is placed at a position that does not overlap the boom 7 when viewed from above (when viewed from above in FIG. 1). It is sufficient to set it in An example of the arrangement of the plurality of distance measuring sensors 19 when viewed from above will be described later. Note that the number of distance measuring sensors 19 is arbitrary. For example, an arbitrary number of distance measuring sensors 19 that measure distances mainly below the unloading section 9 and distance measuring sensors 19 that measure distances mainly on the sides of the unloading section 9 may be provided.

A plurality of distance measuring sensors 18 are provided in the scraping section 11 at the lower part of the unloading section 9 to measure distances to objects to be measured located above, on the sides, and below. At the time of unloading shown in the figure, the edge of the opening 21, the ceiling/wall/bottom of the shipyard 201, bulk cargo M and other objects, people/structures in the shipyard 201, a bulldozer for sweeping the bottom, the CSU 1 such as the boom 7, etc. The other portions become the object to be measured by the distance measuring sensor 18. The distance measuring sensor 18 is provided at the front part (the left part in FIG. 1) and the rear part (the right part in FIG. 1) of the scraping part 11, respectively. In order to avoid deterioration of measurement accuracy due to dust etc. of the bulk material M scraped by the bucket 27 of the scraping section 11, the plurality of distance measuring sensors 18 are installed at the location where the bucket 27 excavates the bulk material M (the lower part of the scraping section 11). ) (at the top of the scraping section 11). Note that the number of distance measuring sensors 18 is arbitrary. For example, an arbitrary number of distance measuring sensors 18 that measure distance mainly on the sides of the scraping part 11 and distance measuring sensors 18 that measure distance mainly below the scraping part 11 may be provided.

FIG. 4 shows the external appearance of the distance measuring sensors 18 and 19. The distance measuring sensors 18 and 19 are laser sensors capable of measuring distance, and include a laser emitting section (not shown) as a wave transmitting section that sends laser light to the object to be measured, and a receiver that receives the laser beam reflected by the object to be measured. It includes a laser light receiving section (not shown) as a wave section, and constitutes a distance measuring section that measures the distance to the object to be measured. A light transmitting portion 171 through which laser light can pass is formed in an endless band shape over the entire circumference of the side surface of the cylindrical housing 17 of the distance measuring sensors 18 and 19.

A plurality of laser emitting sections are provided in the housing 17 at positions facing the transparent section 171, and emit linear laser beams to the outside of the housing 17 via the transparent section 171. Each laser emitting section is arranged at a predetermined interval along the direction of axis A of the housing 17 (vertical direction in FIG. 4), but FIG. 4 simply shows that the laser beam is emitted from one point. . Further, as schematically illustrated, the emission angles of the respective laser emitting parts are set to have a difference of about 0.1° to 3° from each other. With such a configuration, the distance measuring sensors 18 and 19 can be used within a predetermined angular range above and below the reference plane S (in the range θ- to θ+ in the figure), with the plane perpendicular to the axis A of the housing 17 as the reference plane S. ) can be irradiated with laser light. Although θ- and θ+ can be designed arbitrarily, it is assumed below that -θ-=θ+=15°. At this time, the distance measuring sensors 18 and 19 irradiate laser light within a range of ±15° centered on the reference plane S. Further, these plurality of laser emitting units are integrally provided so as to be rotatable by 360° around the axis A of the housing 17. With such a configuration, the distance measurement sensors 18 and 19 can irradiate all measurement objects around (on the sides) of the housing 17 with laser light. Note that it is preferable to use laser light of non-visible wavelengths such as near-infrared rays so as not to disturb people inside or around the CSU 1 or the ship 200.

The distance measuring sensors 18 and 19 emit pulsed laser light at every predetermined rotation angle while rotating the plurality of laser emitting parts integrally. The pulsed laser light emitted by each laser emitting section is reflected or scattered by the object to be measured, returns to the distance measurement sensors 18 and 19, and is received by a laser receiving section provided in the housing 17 together with each laser emitting section. . The calculation units (not shown) of the distance measurement sensors 18 and 19 determine the measurement target based on the time from when the laser emitting unit emits a pulse of laser light to when the laser receiving unit receives the reflected pulse of laser light. Calculate the distance from This technology is also called LIDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging).

Although a laser sensor is mentioned above as an example of the distance measurement sensors 18 and 19, the distance measurement sensors 18 and 19 may be sensors using other electromagnetic waves. For example, a millimeter wave sensor using so-called millimeter waves having a wavelength of approximately 1 mm to 10 mm may be used as the distance measuring sensors 18 and 19. Millimeter waves have a high frequency of about 30 GHz to 300 GHz, so they have high straightness and can be treated in the same way as lasers. The millimeter-wave sensor can be configured in the same way as the laser sensor shown in Figure 4, with a millimeter-wave transmitter that sends millimeter waves to the object to be measured instead of the laser emitting section, and a millimeter-wave transmitter that sends the millimeter waves reflected by the object to be measured instead of the laser receiver. What is necessary is to provide a millimeter wave receiving section to receive the waves. Further, an optical sensor using light other than laser light, such as a Time of Flight (ToF) type image sensor, may be used as the distance measuring sensors 18 and 19. Furthermore, the distance measuring sensors 18 and 19 may not include a wave transmitting section that sends electromagnetic waves to the object to be measured. For example, a stereo camera or the like that can measure the distance by simultaneously photographing the object to be measured from different directions may be used as the distance measurement sensors 18 and 19.

The distance measuring sensors 18 and 19 shown in FIG. 4 are attached to the CSU 1 shown in FIG. 1 in any orientation depending on the purpose of measurement. For example, the distance measuring sensor 18 of the scraping unit 11 is attached so that the axis A in FIG. 4 is vertical and the reference plane S is a horizontal plane. At this time, the distance measurement sensor 18 can measure the distance inside the shipyard 201 centering on the side of the scraping part 11. Moreover, the distance measuring sensor 18 may be attached so that the axis A in FIG. 4 is a horizontal direction and the reference plane S is a vertical plane. At this time, the distance measuring sensor 18 can measure the distance of the opening 21 above the scraping part 11 and the bulk material M below the scraping part 11. Note that the direction of the axis A of the distance measurement sensor 18 is not limited to the vertical direction or the horizontal direction, and may be any direction.

The distance measuring sensor 19 on the upper part of the unloading section 9 is attached so that the axis A in FIG. 4 is horizontal and the reference plane S is a vertical plane. At this time, the distance measurement sensor 19 can measure the distance to the edge of the opening 21 of the shipyard 201 located below, the bulk cargo M inside the shipyard 201, and the like. Note that this distance measurement sensor 19 can also emit a laser beam upward, but since there is no object to be measured above, distance measurement above can be disabled by covering the upper side of the distance measurement sensor 19 with a light-blocking cover, etc. be converted into Moreover, the distance measuring sensor 19 may be attached so that the axis A in FIG. 4 is vertical and the reference plane S is parallel to the horizontal plane. At this time, the distance measurement sensor 19 can efficiently measure the distance to the object to be measured outside the shipyard 201 on the side. Although the direction of the axis A of the distance measuring sensor 19 is not limited to the horizontal or vertical direction, it may be in any direction; however, the horizontal direction will be explained in detail below.

By providing the distance measuring sensors 18 and 19 as described above in the unloading section 9, it is possible to detect the edge of the opening 21, the ceiling/wall/bottom of the shipyard 201, bulk cargo M and other objects, and people/structures inside the shipyard 201. The position of various objects to be measured, such as objects, a bulldozer for bottom sweeping, the scraping part 11, etc., can be accurately grasped. Therefore, the unloading section 9 can be prevented from colliding with other objects during unloading, and the bulk cargo M can be unloaded efficiently.

FIG. 5 shows an example of the arrangement of the distance measuring sensor 19 in a top view. Three distance measurement sensors 191 , 192 , and 193 are arranged as the distance measurement sensors 19 so as to surround the flange portion 91 or the outer periphery of the elevator main body 14 . The distance measuring sensor 191 is arranged so that the axis A in FIG. 4 is in the left-right direction in FIG. 5, and the reference surface S1 corresponding to the reference surface S in FIG. 4 is in the vertical direction in FIG. The distance measurement sensor 191 measures distance by irradiating a laser beam within a range of ±15° centered on the reference plane S1. The distance measuring sensors 192 and 193 are arranged so that the axis A in FIG. 4 is in the vertical direction in FIG. 5, and the reference planes S2 and S3 corresponding to the reference plane S in FIG. 4 are in the horizontal direction in FIG. The distance measurement sensors 192 and 193 measure distance by irradiating laser light within a range of ±15° centered on the reference planes S2 and S3. The reference planes S2 and S3 of the distance measurement sensors 192 and 193 are different planes parallel to each other, and are perpendicular to the reference plane S1 of the distance measurement sensor 191.

The CSU 1 carries out the bulk cargo M from the shipyard 201 with the attitude shown in FIG. 5 as the basic attitude at the time of unloading. In this basic position, the traveling section 2 is at a position offset from the front position of the shipyard 201, and the swing frame 5 and the boom 7 are at a turning position making an acute angle with respect to the rail 3 that constitutes the track of the traveling section 2. At this time, the unloading part 9 is located above the shipyard 201 of the ship 200, and the scraping part 11 at the lower part thereof is inserted into the shipyard 201 through the opening 21.

The opening 21 of the shipyard 201 often has a rectangular shape that is elongated in the traveling direction of the ship 200 (the left-right direction in FIG. 5). In this case, the upper edge E11 and the lower edge E12 of the opening 21 can be detected by the distance measuring sensor 191 that irradiates the laser beam parallel to the short side (vertical side in FIG. 5) of the opening 21. Note that the point shown at the center of the edges E11 and E12 represents the position where the laser beam on the reference surface S1 of the ranging sensor 191 hits the edge of the opening 21, and the rectangle surrounding it is ±15° centered on the reference surface S1. The range in which the irradiated laser light hits the edge of the opening 21 is schematically represented. Hereinafter, the same notation will be used for the distance measuring sensors 192 and 193.

Similarly, according to the distance measuring sensors 192 and 193 that emit laser light in parallel to the long sides of the opening 21 (the sides in the left and right direction in FIG. 5), the left edges E21 and E31 and the right edge of the opening 21 are detected. E22 and E32 can be detected. By using the two distance measurement sensors 192 and 193, distance measurement can be performed with high accuracy even in the long direction, which is more difficult to measure than in the short direction. In this manner, the arrangement of the distance measuring sensors 191, 192, and 193 in FIG. 5 is suitable for detecting the edge of the opening 21 having a shape elongated in one direction, such as a rectangle.

Note that even if the CSU 1 is not in the basic posture shown in FIG. , E31, and E32 on the edge of the opening 21 can be obtained, and the position of the opening 21 can be accurately grasped.

Furthermore, the basic posture of the CSU 1 during unloading is not limited to that shown in FIG. It can also be used as a basic posture. In this case, since the extending direction of the boom 7 coincides with the short side direction of the opening 21, the reference plane S1 of the ranging sensor 191 becomes parallel to the extending direction of the boom 7, and the reference plane S2 of the ranging sensors 192, 193 , S3 are perpendicular to the extending direction of the boom 7. Here, if the distance measurement sensors 191, 192, and 193 are made integrally rotatable around the axis of the cylindrical elevator main body 14, the above-mentioned elongated shape The distance measuring sensors 191, 192, 193 can be easily arranged in a suitable manner for the opening 21.

The number and arrangement of the distance measuring sensors 19 described above are merely examples, and any number and arrangement can be adopted. The number of distance measuring sensors 19 is preferably at least two in order to efficiently measure the shape of the opening 21 surrounding the unloading section 9 when viewed from above. More preferably, the number is three or more. The plurality of distance measuring sensors 19 may be arranged at equal intervals along the outer circumference of the flange portion 91 or the elevator main body 14. Although the installation posture of each distance measurement sensor 19 in this case is arbitrary, for example, each distance measurement sensor 19 is installed so that the reference surface S of each distance measurement sensor 19 is in contact with the flange portion 91 or the outer periphery of the elevator main body 14. With such a symmetrical arrangement, the shape of the opening 21 can be stably measured regardless of the posture of the CSU 1 during unloading.

Each movable part of the CSU 1, that is, the movable traveling part 2, the movable rotating frame 5, depending on the distance to the object to be measured inside and outside the shipyard 201 measured by the distance measuring sensors 18 and 19 as described above. By controlling the boom 7 that can be raised and lowered, the scraping part 11 that can be rotated and deformed, etc., it is possible to prevent the unloading part 9 from colliding with other objects inside and outside the shipyard 201 during unloading, and to prevent the bulk cargo M from colliding with other objects inside and outside the shipyard 201. Can be unloaded efficiently. Note that in addition to or in place of the distance measuring sensors 18 and 19, objects inside and outside the shipyard 201 may be detected by an image sensor or a camera that photographs the object to be measured.

FIG. 6 shows a case where the distance D(t) between the unloading section 9 as an unloading device and the wall W of the shipyard 201 (corresponding to wall W4 in FIG. 9, which will be described later) becomes small (that is, the unloading section 9 and the wall W approach each other). For example, when bulk cargo M near the wall W is carried out by the unloading unit 9 under the judgment or operation of the operator of the CSU 1 or under the control of the automatic control program of the unloading unit 9, FIG. 3 is a top view schematically showing various distances and sections that are set in proximity control, which will be described later, that is started when D(t) becomes less than or equal to a predetermined proximity control start distance _DC . The various distances shown here are positions in the Y-axis direction (normal direction to the wall W) with the wall W of the shipyard 201 as the origin, and are detected by the aforementioned distance sensors 18 and 19 and image sensors. . The distance D(t) between the unloading part 9 and the wall W is the distance between the part of the unloading part 9 closest to the wall W (for example, the tip or rear end of the scraping part 11) and the wall W in the Y-axis direction, Hereinafter, for convenience, this will also be referred to as the distance D(t) or the position D(t) of the unloading section 9 (note that "t" represents time). The above-mentioned distance sensors 18, 19 and image sensors determine the magnitude relationship between the distance D(t) of the unloading section 9 and various other distances, and in which section the position D(t) of the unloading section 9 is located. can be understood.

In the following explanation, based on FIG. 6, it is assumed that the proximity control is started when the distance D(t) between the unloading section 9 and the wall W becomes less than or equal to the proximity control start distance _D.sub.C , but the proximity control is not necessarily Therefore, it is not necessary to set the proximity control start distance _DC . For example, as described above, when proximity control is started under the judgment or operation of the operator of CSU 1, there is no need to set the proximity control start distance _DC . When applying the following explanation to such a case, the distance D(t) between the unloading section 9 and the wall W at the time when the operator of the CSU 1 starts proximity control is taken as the proximity control start distance D _C for convenience. Alternatively, it may be considered that when the operator of CSU 1 starts proximity control, a substantially infinite proximity control start distance D _C is set (in other words, when the operator of CSU 1 starts proximity control, Until the end of the process, the proximity control is effective regardless of the distance D(t) between the unloading section 9 and the wall W). The same applies when the proximity control is started under the control of the automatic control program of the unloading section 9.

The unloading unit 9 moves along a trajectory within the shipyard 201 that is generated under the operation of the operator of the CSU 1 and the control of the automatic control program of the unloading unit 9. Scrape off the bulk material M from each part. The moving speed of the unloading section 9 is controlled, for example, so as to keep the amount of bulk cargo M carried out per hour substantially constant. Although details will be described later, when unloading part 9 is unloading bulk cargo M in a state close to wall W of shipyard 201 as shown in FIG. 6, unloading part 9 is moved along wall W to Cargo handling control to drive in the left and right direction is executed. On the other hand, in the normal direction of the wall W, which is the vertical direction in FIG. 6, proximity control is performed to drive the unloading section 9 so that the distance D(t) from the wall W approaches a target distance _D0 , which will be described later. .

D _C is a proximity control start distance at which proximity control of the unloading section 9 is started. When the distance D(t) of the unloading section 9 is larger than the proximity control start distance _DC , such as when scraping the bulk cargo M in the center of the shipyard 201, it is not necessary to perform the proximity control. _D0 is a target distance (for example, a distance of about 0.4 m from the wall W) set in the proximity control of the unloading section 9. The target distance D ₀ is smaller than the proximity control start distance D _C (that is, D ₀ < D _C ), and the position of the target distance D ₀ (hereinafter also referred to as the target position D ₀ for convenience) is the proximity control start distance D _C It is located between the position (hereinafter also referred to as the proximity control start position _DC for convenience) and the wall W. In the proximity control described below, the distance D(t) of the unloading unit 9 is brought closer to the target distance D ₀ (that is, D(t)→D ₀ or D(t)−D ₀ →0). 9 is driven along the normal direction of the wall W (Y-axis direction). Note that the target distance _D0 may be variable depending on the situation. For example, if the wind is strong and the ship 200 is rocking a lot, the target distance _D0 may be set relatively large to prevent the unloading unit 9 from colliding with the wall W, or the distance measurement may be performed immediately after the unloading unit 9 starts cargo handling. Since the unloading operation may be performed while making fine adjustments to the sensors 18, 19, etc., the target distance _D0 may be set relatively large to ensure safety.

On both sides (upper and lower sides in FIG. ₆ ) along the normal direction (Y-axis direction) of the wall W of the target position D0, there are target distance maintenance systems for maintaining the unloading section 9 in the vicinity of the target position _D0 . Sections are provided across the target position _D0 . The end (distance) D _Z+ of the target distance maintenance section on the far side from the wall W is between the proximity control start distance D _C and the target position D ₀ (that is, D ₀ <D _Z+ <D _C ), and the target distance is maintained. The end (distance) D _Z- of the section closer to the wall W is between the target position D ₀ and the wall W (ie, 0<D _Z- <D ₀ ). Within the target distance maintenance interval, D _ZS+ between D _Z+ and D ₀ (i.e., D ₀ < D _ZS+ < D _Z+ ) and D _ZS- between D _Z- and D ₀ (i.e., D _Z- < A proximity control stop section having both ends as D _ZS- <D ₀ ) may be provided. Since the position D(t) of the unloading section 9 within the proximity control stop zone (that is, D _ZS- < D(t) < D _ZS+ ) is sufficiently close to the target position D ₀ , the proximity control described below is temporarily suspended. You may stop.

_DIL is a prohibited distance (for example, a distance of about 0.2 m from the wall W) that defines a stop/emergency evacuation zone in which entry of the unloading section 9 is prohibited in principle. The prohibited distance D _IL is smaller than the target distance D ₀ and further smaller than the distance D _Z- of the end of the target distance maintenance section near the wall W (ie, 0<D _IL <D _Z- <D ₀ ). As described later, when the unloading section 9 enters the stop/emergency evacuation zone (i.e., 0<D(t)<D _IL ), the unloading operation of the unloading section 9 is stopped to ensure safety. , and/or the unloading section 9 is urgently evacuated at high speed in a direction away from the wall W.

_DAL is an alarm distance (for example, a distance of about 0.25 m from the wall W) for issuing a warning that the unloading section 9 is too close to the wall W. The alarm distance D _AL is smaller than the target distance D ₀ and the distance D _Z- at the end of the target distance maintenance section near the wall W, and is greater than or equal to the prohibition distance D _IL (that is, D _IL ≦D _AL <D _Z- <D ₀ ). As will be described later, when the unloading section 9 approaches the wall W by the alarm distance D _AL (that is, 0<D(t)<D _AL ), an alarm to that effect is issued.

On the side farther from the wall W than the target position _D0 , the section between the proximity control start position _DC and the end _DZ+ of the target distance maintenance section is the difference between the distance D(t) of the unloading section 9 and the target distance _D0 . This is a distance-dependent speed section in which the speed of the unloading section 9 in the -Y-axis direction (hereinafter also referred to as the approach direction) is controlled according to the absolute value ΔD (=D(t)-D ₀ >0). In this distance-dependent speed section, the unloading section 9 is driven in the approach direction at a speed according to ΔD.

On the side closer to the wall W than the target position _D0 , the section between the position of the prohibited distance _DIL (hereinafter also referred to as the prohibited position _DIL for convenience) and the end _DZ- of the target distance maintenance section is the unloading section 9. The speed of the unloading section 9 in the +Y-axis direction (hereinafter also referred to as the evacuation direction) is determined according to the absolute value of the difference between the distance D(t) and the target distance D0 (= _{D0 -} D(t)>0). This is a distance-dependent speed section where the speed is controlled. In this distance-dependent speed section, the unloading section 9 is driven in the retreat direction at a speed corresponding to -ΔD.

As described above, the first distance-dependent speed section in which the unloading section 9 is driven in the -Y-axis direction so as to approach the wall W is provided between the target position _D0 and the proximity control start position _DC , and the unloading section A second distance-dependent speed section is provided between the target position _D0 and the wall W, in which the second distance-dependent speed section is driven in the +Y-axis direction so that the second distance-dependent speed section 9 is retracted from the wall W. That is, the first distance-dependent speed section and the second distance-dependent speed section are provided so as to sandwich the target position D ₀ and the target distance maintenance section (D _Z- to D _Z+ ) from both sides along the normal direction of the wall W. It will be done.

FIG. 7 schematically shows the relationship between the position D(t) in the Y-axis direction and the velocity _VY in the Y-axis direction in the proximity control of the unloading section 9. In the following description, the speed _VY of the unloading section 9 in the Y-axis direction refers to a speed command given to the unloading section 9. Therefore, it is not intended that the actual speed of the unloading section 9 in the Y-axis direction be accurately reproduced as shown in _VY in FIG. When the unloading section 9 approaches the wall W and the distance D(t) becomes less than or equal to the proximity control start distance _DC , proximity control of the unloading section 9 is started.

The unloading section 9 is driven in the −Y-axis direction so as to approach the wall W in the first distance-dependent speed section A1 from D _C to D _Z+ . The magnitude (absolute value or speed) of the speed _VY of the unloading section 9 in the Y-axis direction in the first distance-dependent speed section A1 is the absolute value of the difference between the distance D(t) of the unloading section 9 and the target distance _D0 . The larger ΔD (=D(t)−D ₀ >0) becomes (that is, the farther the position D(t) of the unloading section 9 is from the target position D ₀ ). In the illustrated example, in the small section on the left in the first distance-dependent speed section A1 where the distance D(t) of the unloading section 9 is relatively large, the speed _VY of the unloading section 9 in the Y-axis direction is locally maximum. In the small section on the right where the negative speed V _max- having an absolute value is constant and the distance D(t) of the unloading section 9 is relatively small in the first distance-dependent speed section A1, the distance D(t) of the unloading section 9 in the Y-axis direction is constant. The speed _VY is controlled to a negative speed having an absolute value proportional to ΔD.

Thus, in the first distance-dependent speed section A1, the unloading section 9 is driven in the approach direction at a negative speed _VY that is uniquely or one-to-one determined depending on the distance D(t) of the unloading section 9. The larger ΔD is, the faster the unloading section 9 is driven in the approaching direction, so it can move quickly to the target position _D0 or the target distance maintenance section A2 to A4. _{Note that} the functional relationship between D(t) and V _Y in the first distance-dependent speed section A1 is not limited to the one shown in the diagram. It is not necessary to provide it, or _VY may change nonlinearly with respect to D(t).

The unloading section 9, which has entered the target distance maintenance section A2 from D _Z+ to D _ZS+ , is driven in the Y-axis direction toward the target position _D0 at a negative speed that is less than the absolute value of the predetermined upper limit speed V _min- . The vehicle is controlled to remain within the distance maintenance sections A2 to A4 (preferably within the proximity control stop section A3). The magnitude of the speed _VY of the unloading section 9 in the Y-axis direction in the target distance maintenance section A2 is uniquely determined according to the distance D(t) of the unloading section 9, as in the first distance dependent speed section A1. It is not necessary, and an appropriate value (however, less than the absolute value of V _min- ) may be calculated to keep the unloading section 9 within the target distance maintenance section A2 to A4.

Since the unloading section 9 that has entered the proximity control stop section A3 from D _ZS+ to D _ZS- is sufficiently close to the target position D ₀ , driving in the Y-axis direction may be temporarily stopped.

The unloading section 9 that has entered the target distance maintenance section A4 from D _ZS- to D _Z- is driven in the Y-axis direction toward the target position _D0 at a positive speed that is less than or equal to the absolute value of the predetermined upper limit speed V _min+ , The vehicle is controlled to remain within the target distance maintenance section A2 to A4 (preferably within the proximity control stop section A3). The magnitude of the speed _VY of the unloading section 9 in the Y-axis direction in the target distance maintenance section A4 is uniquely determined according to the distance D(t) of the unloading section 9, as in the second distance-dependent speed section A5 described below. It does not have to be fixed, and an appropriate value (however, less than the absolute value of V _min+ ) may be calculated to keep the unloading section 9 within the target distance maintenance section A2 to A4.

The unloading section 9 is driven in the +Y-axis direction so as to retreat from the wall W (Y=0) in the second distance-dependent speed section A5 from D _Z- to D _IL . The magnitude (absolute value or speed) of the speed _VY of the unloading section 9 in the Y-axis direction in the second distance-dependent speed section A5 is the absolute value of the difference between the distance D(t) of the unloading section 9 and the target distance _D0 . The larger -ΔD (=D ₀ -D(t)>0) becomes larger (that is, the farther the position D(t) of the unloading section 9 is from the target position D ₀ ). In the illustrated example, in the second distance-dependent speed section A5, in the small section on the left where the distance D(t) of the unloading section 9 is relatively large, the speed V _Y of the unloading section 9 in the Y-axis direction is an absolute value proportional to -ΔD. In the right-hand small section where the distance D(t) of the unloading section 9 is relatively small in the second distance-dependent speed section A5, the speed V _Y of the unloading section 9 in the Y-axis direction is It is constant at a positive velocity V _max+ which has the maximum absolute value on earth.

In this way, in the second distance-dependent speed section A5, the unloading section 9 is driven in the retreat direction at a positive speed _VY that is uniquely or one-to-one determined depending on the distance D(t) of the unloading section 9. The larger -ΔD is, the faster the unloading section 9 is driven in the retreating direction, so it can quickly retreat from the wall W and move to the target position _D0 or the target distance maintenance sections A2 to A4. Note that the functional relationship between D(t) and V _Y in the second distance-dependent speed section A5 is not limited to that shown in the figure, and for example, a section may be provided in which V _Y is constant (V _max+ ) with respect to D(t). Alternatively, V _Y may change non-linearly with respect to D(t), or it may be asymmetrical to the functional relationship between D(t) and V _Y in the first distance-dependent speed section A1.

The unloading unit 9 that has entered the stop/emergency evacuation zone A6 of D _IL ~0 stops the unloading operation and/or makes an emergency evacuation in the direction away from the wall W at high speed to ensure safety. The speed _VY of the unloading section 9 in the Y-axis direction during emergency evacuation is the drive speed when the distance D(t) of the unloading section 9 is greater than or equal to the prohibited distance _DIL (for example, the maximum speed in the second distance-dependent speed section A5). It is preferable to set the driving speed to a positive speed larger than the driving speed V _max+ ).

FIG. 8 is a functional block diagram of a control system 300 responsible for proximity control of the unloading section 9. As shown in FIG. The control system 300 includes a shipyard detection section 301, an unloading device position detection section 302, a proximity control application section 303, a distance comparison section 304, a proximity control setting section 305, a trajectory generation section 306, and an unloading device control section. 307, an alarm section 308, and an unloading stop section 309. These functional blocks are realized through the collaboration of hardware resources such as the computer's central processing unit, memory, input devices, output devices, and peripheral devices connected to the computer, and the software that is executed using them. . Regardless of the type of computer or installation location, each of the above functional blocks may be realized using the hardware resources of a single computer, or may be realized by combining hardware resources distributed across multiple computers. . Particularly in this embodiment, some or all of the functional blocks of the control system 300 may be realized by a computer in the CSU 1, or may be realized by a computer installed outside the CSU 1 and capable of communicating with the CSU 1.

The shipyard detection unit 301 and the unloading device position detection unit 302 are one or more sensors provided in the CSU 1 (including the unloading unit 9) as the unloading device. Each sensor may be a distance sensor installed in the CSU 1 to measure the distance to the object to be measured, an image sensor installed in the CSU 1 to take a picture of the object to be measured, or a sensor installed in the CSU 1 to take a picture of the object to be measured. Any other sensor capable of detection may also be used. As explained below, the main objects to be measured in the illustrated example are the shipyard 201 (opening 21 etc.), the unloading section 9 or the scraping section 11 (unloading device), but the bulk cargo M (loading ) may be measured by a sensor.

The shipyard detection unit 301 detects the opening 21, wall W, etc. of the shipyard 201 as a cargo hold of the ship 200 using one or more sensors. As the shipyard detection section 301, the above-mentioned distance measuring sensors 18 and 19 provided in the unloading section 9, an image sensor, etc. can be used. For example, the shipyard detection unit 301 may acquire the position of the wall W by combining the detection result of the opening 21 and known three-dimensional shape data of the ship 200. The unloading device position detection unit 302 detects the position of the unloading unit 9 as the unloading unit in the shipyard 201, specifically the position of the tip, rear end, etc. of the scraping unit 11 that scrapes the bulk cargo M in the unloading unit 9. Detect. As the unloading device position detection section 302, the above-mentioned distance measuring sensors 18 and 19 provided in the unloading section 9 itself, an image sensor, etc. can be used. Note that if the unloading device control section 307 that controls the unloading section 9 can recognize the position of the unloading section 9 from the running position of the traveling section 2, the turning angle of the swing frame 5, etc., the unloading device position detecting section 302 It does not need to be provided.

The proximity control application unit 303 determines the distance D between the unloading unit 9 and the wall W of the shipyard 201, which is recognized from the relative positions of the shipyard 201 and the unloading unit 9 detected by the shipyard detection unit 301 and the unloading device position detection unit 302. Based on (t), it is determined whether proximity control is necessary. The proximity control application unit 303 may apply proximity control in response to a proximity control start operation by the operator of the CSU 1 and/or a proximity control start command by the automatic control program of the unloading unit 9. Further, when the distance D(t) between the unloading unit 9 and the wall W becomes less than or equal to the proximity control start distance _DC , the proximity control application unit 303 starts proximity control of the unloading unit 9 with respect to the wall W. Good too. In FIG. 9 below, an example will be described in which the same proximity control start distance D _C is set for all walls W1 to W4 of the shipyard 201.

As schematically shown in FIG. 9, the shipyard 201, which is rectangular in top view, has four walls W1 to W4. The proximity control application unit 303 determines whether the unloading unit 9 has entered each of the proximity control areas B1 to B4 divided by the proximity control start distance D _C set for each wall W1 to W4, and determines whether the unloading unit 9 Proximity control of the unloading section 9 is started for each of the walls W1 to W4 corresponding to each of the entered proximity control areas B1 to B4.

The unloading section 9 that has entered the proximity control area B12, which is an overlapping area of the proximity control areas B1 and B2, has proximity control in the X-axis direction for the wall W1 whose normal direction is the X-axis direction, and Proximity control in the Y-axis direction for the wall W2 whose normal direction is the (orthogonal) Y-axis direction is simultaneously executed. The unloading section 9 that has entered the proximity control area B23, which is an overlapping area of the proximity control areas B2 and B3, has proximity control in the Y-axis direction for the wall W2 whose normal direction is the Y-axis direction, and proximity control in the X-axis direction. Proximity control in the X-axis direction for the wall W3, which is the linear direction, is simultaneously executed. The unloading section 9 that has entered the proximity control area B34, which is an overlapping area of the proximity control areas B3 and B4, has proximity control in the X-axis direction for the wall W3 whose normal is in the X-axis direction, and Proximity control in the Y-axis direction for the wall W4, which is the linear direction, is simultaneously executed. The unloading section 9 that has entered the proximity control area B41, which is an overlapping area of the proximity control areas B4 and B1, has proximity control in the Y-axis direction for the wall W4 whose normal direction is the Y-axis direction, and proximity control in the X-axis direction. Proximity control in the X-axis direction for the wall W1, which is the linear direction, is simultaneously executed.

Since the unloading section 9 shown by the solid line in FIG. 9 does not enter any of the proximity control areas B1 to B4, proximity control is not performed on any of the walls W1 to W4. In this case, the unloading device control section 307 that controls the unloading section 9 performs general cargo handling control to keep the amount of bulk cargo M unloaded per hour approximately constant, for example, according to the trajectory generated by the trajectory generation section 306. . At the broken line position P1 in FIG. 9, the unloading section 9 is in the third proximity control area B3, so proximity control in the X-axis direction is executed for the wall W3. At the broken line position P2 in FIG. 9, the unloading section 9 is in the third proximity control area B3 and the fourth proximity control area B4, so the proximity control in the X-axis direction for the wall W3 and the Y-axis direction for the wall W4 are controlled. Proximity control is performed simultaneously. At the broken line position P3 in FIG. 9, the unloading section 9 is in the fourth proximity control area B4, so proximity control in the Y-axis direction is executed for the wall W4.

In addition to or in place of the above, the proximity control application unit 303 may select, together with the distance comparison unit 304, one or more walls W1 to W4 on which to start proximity control of the unloading unit 9. The distance comparing section 304 compares the distances between the unloading section 9 and each of the walls W1 to W4. For example, regarding the unloading section 9 shown by a solid line in FIG. 9, the distance (first distance) between the closer wall W3 of walls W1 and W3 whose normal direction is the The distance (second distance) between the wall W2, which is closer to the wall W2 whose normal direction is the normal direction, and the unloading section 9 is compared. Then, the proximity control application unit 303 starts proximity control of the unloading unit 9 for the wall corresponding to the smaller of the first distance and the second distance, which is the wall W2 in the example of FIG. 9 . For example, if proximity control is executed _in which the current position of _the unloading section 9 in the Y-axis direction in FIG. It can be moved.

The proximity control setting unit 305 sets the various distances and sections described with reference to FIG. 6 for the walls W1 to W4 for which proximity control has been started by the proximity control application unit 303. Specifically, the proximity control setting section 305 includes a target distance setting section 311 that sets a target distance _D0 smaller than the proximity control start distance _DC , a prohibition distance setting section 312 that sets a prohibition distance _DIL , and a warning distance. It includes an alarm distance setting section 313 that sets _DAL , and a target distance maintenance section setting section 314 that sets target distance maintenance sections A2 to A4 (FIG. 7) including the proximity control stop section A3. Here, when proximity control is executed simultaneously for two walls, the first wall W3 and the second wall W4, with respect to the unloading section 9 located at the broken line position P2 in FIG. 9, the target distance setting section 311 A first target distance along the first normal direction (X-axis direction) and a second target distance along the second normal direction (Y-axis direction) from the second wall W4 are set. The proximity control setting unit 305 configures the shipyard 201 of the unloading unit 9 generated by the trajectory generating unit 306 based on the relative positions of the shipyard 201 and the unloading unit 9 detected by the shipyard detecting unit 301 and the unloading device position detecting unit 302. By also referring to the trajectory within, it is possible to appropriately set parameters for proximity control that can realize the trajectory.

The unloading device control unit 307 calculates the relative positions of the unloading unit 9 and the shipyard 201 detected by the shipyard detection unit 301 and the unloading unit position detection unit 302, and the position of the unloading unit 9 in the shipyard 201 generated by the trajectory generating unit 306. The unloading section 9 is automatically operated based on the proximity control parameters set by the trajectory and proximity control setting section 305.

When proximity control is applied to the unloading unit 9 by the proximity control application unit 303, the unloading unit 9 is driven by the unloading device control unit 307 as explained in FIG. 6 and/or FIG. be done. For example, when the unloading unit 9 moves along the wall W, the unloading unit 9 moves the unloading unit 9 along the wall W so that the distance D(t) of the unloading unit 9 approaches the target distance _D0 . Drive along the line direction. At this time, in the distance-dependent speed sections A1 and A5, the larger the absolute value of the difference between the distance D(t) of the unloading section 9 and the target distance _D0 , the greater the speed in the normal direction of the wall W of the unloading section 9. It's okay.

Here, when proximity control is executed simultaneously for two walls, the first wall W3 and the second wall W4, with respect to the unloading section 9 located at the broken line position P2 in FIG. When driving the unloading section 9 along the first normal direction (X-axis direction) of the first wall W3 so as to bring the first distance of the first wall W3 closer to the first target distance, the first distance dependent speed section Then, the greater the absolute value of the difference between the first distance and the first target distance, the greater the speed of the unloading section 9 in the first normal direction, and the second distance between the unloading section 9 and the second wall W4 is set to the second target distance. When driving the unloading section 9 along the second normal direction (Y-axis direction) of the second wall W4 so as to approach the target distance, the difference between the second distance and the second target distance is The larger the absolute value, the greater the speed of the unloading section 9 in the second normal direction.

Further, in the target distance maintenance section A2 to A4, the unloading device control unit 307 drives the unloading unit 9 in the normal direction of the wall W at a speed equal to or lower than the predetermined upper limit speed (V _min− , V _min+ ) while reaching the target distance. Maintain within the distance maintenance section A2 to A4. Further, if the distance D(t) of the unloading unit 9 is smaller than the prohibited distance _DIL , the unloading device control unit 307 unloads the cargo at a speed higher than the drive speed when the distance D(t) is equal to or greater than the prohibited distance _DIL . The portion 9 may be retracted from the wall W.

Note that when the proximity control application unit 303 does not apply proximity control to the unloading unit 9, the unloading device control unit 307 controls the shipyard 201 and the unloading unit detected by the shipyard detection unit 301 and the unloading device position detection unit 302. Based on the relative position of the unloading unit 9 and the trajectory within the shipyard 201 of the unloading unit 9 generated by the trajectory generating unit 306, for example, a general Perform cargo handling control.

The alarm section 308 issues an alarm when the distance D(t) of the unloading section 9 detected by the shipyard detection section 301 and the unloading device position detection section 302 is smaller than the alarm distance _DAL set by the alarm distance setting section 313. emanate. When the distance D(t) of the unloading section 9 detected by the shipyard detection section 301 and the unloading device position detection section 302 is smaller than the prohibited distance _DIL set by the prohibited distance setting section 312, the unloading stop section 309 stops the unloading. Control of the unloading section 9 by the device control section 307 is stopped.

FIG. 10 shows a configuration example of the unloading device control unit 307 that can perform proximity control along the X-axis direction and/or the Y-axis direction in FIG. 9. In this figure, the X-axis direction is also referred to as a first direction, and the Y-axis direction is also referred to as a second direction. The first direction is the normal direction of the first wall as the object of the first proximity control (for example, the wall W3 at P2 in FIG. 9), and the second direction is the normal direction of the second wall as the object of the second proximity control (for example, the wall W3 in FIG. 9 is the normal direction of the wall W4) at P2. Although a case will be described below in which the first direction and the second direction are orthogonal to each other according to the example of FIG. 9, the present embodiment can also be applied to a case where the first direction and the second direction intersect at an arbitrary angle. In the example of this figure, the first direction (X-axis direction) is the traveling direction of the traveling section 2 (left-right direction in FIG. 5), and the second direction (Y-axis direction) is perpendicular to the traveling direction from the ship 200 to the quay. 101 (vertical direction in FIG. 5). The unloading section 9 in this case is driven in the first direction (X-axis direction) only by the traveling section 2, and is driven in the second direction (Y-axis direction) by the combination of the traveling section 2 and the turning frame 5.

The unloading device control section 307 includes a first direction speed calculation section 316 that calculates the speed of the unloading section 9 in the first direction, and a second direction speed calculation section 317 that calculates the speed of the unloading section 9 in the second direction. When the proximity control application unit 303 does not apply proximity control to each corresponding direction, each speed calculation unit 316, 317 calculates, based on the trajectory within the shipyard 201 of the unloading unit 9 generated by the trajectory generation unit 306 The speed in each direction is calculated in order to keep the amount of bulk material M carried out per hour by the unloading section 9 substantially constant. Note that the trajectory generating section 306 generates a trajectory of the unloading section 9 in accordance with the amount of bulk cargo M carried out by the unloading section 9 detected by the discharging amount detecting section 315 such that the amount is kept substantially constant. The unloading amount detection unit 315 may detect a change in the shape of the bulk cargo M in the shipyard 201 using the distance sensors 18 and 19 or an image sensor, or may detect the load or load on the unloading unit 9 and perform unloading. It may also be one that calculates quantities.

When the proximity control application unit 303 applies proximity control to each corresponding direction, each speed calculation unit 316, 317 calculates the speed in each direction by also considering the proximity control parameters set by the proximity control setting unit 305. calculate. By using the velocity in each direction calculated here, it is possible to not only keep the amount of discharge by the unloading section 9 substantially constant based on the trajectory generated by the trajectory generation section 306 together with the amount of discharge detection section 315, but also to keep the amount of discharge by the unloading section 9 substantially constant. The proximity control described in can also be realized.

The unloading device control section 307 includes a traveling speed calculating section 318, a turning speed calculating section 319, a traveling speed commanding section 320, and a turning speed commanding section 321 at a stage subsequent to each speed calculating section 316, 317. The traveling speed calculating section 318 and the turning speed calculating section 319 calculate the speed in the second direction (Y-axis direction) calculated by the second direction speed calculating section 317, and calculate the traveling speed of the traveling section 2 and the turning frame 5 that realize it. Each is broken down into turning speed. Note that the speed in the first direction (X-axis direction) calculated by the first direction speed calculating section 316 is realized only by the traveling section 2, and thus becomes the traveling speed as it is. The traveling speed command section 320 outputs the traveling speed calculated by the first direction speed calculating section 316 and/or the traveling speed calculating section 318 as a traveling speed command to the traveling section 2. The swing speed command section 321 outputs the swing speed calculated by the swing speed calculation section 319 as a swing speed command for the swing frame 5.

Although proximity control in the X-axis direction (first direction) and Y-axis direction (second direction) in the horizontal plane has been described above, the same technical concept can be applied to the vertical direction or any other arbitrary direction. For example, in vertical proximity control, the unloading section 9 is driven vertically by the ups and downs of the boom 7, targeting the ceiling and bottom (which can be said to be "walls" in a broad sense) of the shipyard 201.

11 and 12 are top views schematically showing an example of proximity control of the unloading section 9. FIG. FIG. 11 shows that the unloading unit 9 with the scraping unit 11 facing the wall W4 is driven approximately left and right along the wall W4 from one lower left corner to the other lower right corner in the vicinity of the wall W4. The operation of scraping off bulk material M is schematically shown. Continuing from FIG. 11, FIG. 12 shows that the unloading section 9 with the scraping section 11 facing the wall W3 is driven approximately vertically along the wall W3 from one lower right corner to the other upper right corner. The operation of scraping off the bulk material M near the wall W3 is schematically shown.

In FIG. 11, when the cargo handling control for scraping off the bulk material M near the wall W4 is started by the operator of the CSU 1 or by the control of the automatic control program of the unloading section 9, the proximity control application section 303 Start proximity control in the Y-axis direction. Therefore, cargo handling control in the X-axis direction is performed while maintaining the distance in the Y-axis direction between the unloading section 9 and/or the scraping section 11 and the wall W4 to around the target distance _D0 . In the example of FIG. 11, since the unloading section 9 approaches the wall W3 as it moves from left to right, the proximity control application section 303 may also perform proximity control in the X-axis direction on the wall W3. In this X-axis direction proximity control, a target distance D ₀ in the vicinity of the wall W3 is set. Further, the timing to start the proximity control in the X-axis direction may be the time when the unloading section 9 starts rightward cargo handling control at the lower left corner of the shipyard 201, or the timing when the unloading section 9 starts the rightward cargo handling control at the lower left corner of the shipyard 201, or It may be the time when the distance in the axial direction becomes less than or equal to a predetermined distance. When the unloading section 9 reaches the target position _D0 of the proximity control in the X-axis direction at the lower right corner of the shipyard 201, the scraping section 11 is rotated 90 degrees counterclockwise in FIG. Aim at the wall W3 to be scraped. In order to prevent the rotated scraping part 11 from colliding with the wall W3, the target distance _D0 in the proximity control in the X-axis direction for the wall W3 is determined by taking into account the dimension of the scraping part 11 in the X-axis direction after rotation. Set.

In FIG. 12, when the cargo handling control for scraping off the bulk material M near the wall W3 is started by the operator of the CSU 1 or by the control of the automatic control program of the unloading section 9, the proximity control application section 303 Start proximity control in the X-axis direction. Therefore, cargo handling control in the Y-axis direction is performed while maintaining the distance in the X-axis direction between the unloading section 9 and/or the scraping section 11 and the wall W3 to near the target distance _D0 . In the example of FIG. 12, the unloading unit 9 approaches the wall W2 as it moves from the bottom to the top, so the proximity control application unit 303 may also perform proximity control in the Y-axis direction on the wall W2. In this Y-axis direction proximity control, a target distance D ₀ near the wall W2 is set. Further, the timing to start the proximity control in the Y-axis direction may be the time when the unloading section 9 starts upward cargo handling control at the lower right corner of the shipyard 201, or the timing when the unloading section 9 starts the upward cargo handling control at the lower right corner of the shipyard 201, or the timing when the unloading section 9 starts the upward cargo handling control at the lower right corner of the shipyard 201, or It may be the time when the distance in the axial direction becomes less than or equal to a predetermined distance. When the unloading section 9 reaches the target position _D0 of the proximity control in the Y-axis direction at the upper right corner of the shipyard 201, the scraping section 11 is rotated 90 degrees counterclockwise in FIG. Aim at the target wall W2. In order to prevent the rotated scraping part 11 from colliding with the wall W2, the target distance _D0 in the proximity control in the Y-axis direction for the wall W2 is determined by taking into account the dimension of the scraping part 11 in the Y-axis direction after rotation. Set.

The present invention has been described above based on the embodiments. It will be understood by those skilled in the art that the embodiments are merely illustrative, and that various modifications can be made to the combinations of their constituent elements and processing processes, and that such modifications are also within the scope of the present invention.

The present invention is applicable not only to the bucket elevator type continuous unloader described in the embodiment, but also to a spiral type continuous unloader and a continuous unloader equipped with an air conveyance mechanism.

Note that the functional configuration of each device described in the embodiments can be realized by hardware resources, software resources, or cooperation between hardware resources and software resources. A processor, ROM, RAM, and other LSIs can be used as hardware resources. Programs such as operating systems and applications can be used as software resources.

1 Cargo unloading unit (CSU), 9 Cargo unloading unit, 11 Scraping unit, 18 Distance sensor, 19 Distance sensor, 201 Shipyard, 300 Control system, 301 Shipyard detection unit, 302 Unloading device position detection unit, 303 Proximity control Application section, 304 Distance comparison section, 305 Proximity control setting section, 306 Trajectory generation section, 307 Carrying out device control section, 308 Alarm section, 309 Carrying out stop section, 311 Target distance setting section, 312 Prohibited distance setting section, 313 Alarm distance setting section, 314 target distance maintenance section setting section, 315 carry-out amount detection section, 316 first direction speed calculation section, 317 second direction speed calculation section, 318 traveling speed calculation section, 319 turning speed calculation section, 320 traveling speed command section, 321 Turning speed command unit.

Claims (18)

a target distance setting unit that sets a target distance along the normal direction from the wall of the shipyard;
an unloading device control unit that drives the unloading device along the normal direction so that the distance between the unloading device that unloads the cargo in the shipyard and the wall approaches the target distance;
An unloading device equipped with. In a target distance maintenance section sandwiching the position of the target distance from both sides along the normal direction, the carry-out device control unit may drive the carry-out device in the normal direction at a speed equal to or lower than a predetermined upper limit speed while The unloading device according to claim 1, wherein the unloading device maintains within a target distance maintenance section. 1 . The carry-out device control unit provides a distance-dependent speed section in which the speed of the carry-out device in the normal direction increases as the absolute value of the difference between the distance between the carry-out device and the wall and the target distance increases. Or the unloading device according to 2. The unloading device according to claim 3, wherein the distance-dependent speed section is provided between the target distance position and the wall. The target distance setting unit sets the target distance smaller than the proximity control start distance when the distance between the carry-out device and the wall becomes equal to or less than a predetermined proximity control start distance,
The distance-dependent speed section is provided between the target distance position and the proximity control start distance position,
The unloading device according to claim 3 or 4. In a target distance maintenance section sandwiching the position of the target distance from both sides along the normal direction, the carry-out device control unit may drive the carry-out device in the normal direction at a speed equal to or lower than a predetermined upper limit speed while Maintain within the target distance maintenance section,
The distance-dependent speed section is provided so as to sandwich the target distance maintenance section from both sides along the normal direction.
The unloading device according to any one of claims 3 to 5. a prohibited distance setting unit that sets a prohibited distance smaller than the target distance from the wall along the normal direction;
an unloading stop section that stops control of the unloading device by the unloading device control section when the distance between the unloading device and the wall is smaller than the prohibited distance;
The unloading device according to any one of claims 1 to 6, further comprising: further comprising a prohibited distance setting unit that sets a prohibited distance smaller than the target distance from the wall along the normal direction,
When the distance between the carrying out device and the wall is smaller than the prohibited distance, the carrying out device control unit causes the carrying out device to be evacuated from the wall at a speed higher than the driving speed when the distance is greater than or equal to the prohibited distance.
The unloading device according to any one of claims 1 to 6. an alarm distance setting unit that sets an alarm distance smaller than the target distance along the normal direction from the wall and greater than or equal to the prohibited distance;
an alarm unit that issues an alarm when the distance between the carrying out device and the wall is smaller than the alarm distance;
The unloading device according to claim 7 or 8, further comprising: A sensor for detecting a distance between the carrying out device and the wall is provided in the carrying out device,
The carrying out device control unit controls the carrying out device according to the distance detected by the sensor.
An unloading device according to any one of claims 1 to 9. The unloading device according to claim 10, wherein the sensor includes a distance measurement sensor that measures a distance to the object to be measured. The unloading device according to claim 10 or 11, wherein the sensor includes an image sensor that photographs the object to be measured. 1 . The carry-out device control unit, when driving the carry-out device along the wall, drives the carry-out device so that the distance from the wall approaches the target distance in the normal direction. 13. The unloading device according to any one of 12 to 12. The shipyard includes a first wall having a first normal direction, and a second wall having a second normal direction intersecting the first normal direction,
The target distance setting unit sets a first target distance from the first wall along the first normal direction and a second target distance from the second wall along the second normal direction. ,
The carry-out device control unit drives the carry-out device along the first normal direction so that a first distance between the carry-out device and the first wall approaches the first target distance, and driving the carrying out device along the second normal direction so as to bring a second distance of the second wall closer to the second target distance;
An unloading device according to any one of claims 1 to 13. further comprising a distance comparison unit that compares the first distance and the second distance,
When the first distance is smaller than the second distance, the target distance setting unit sets the first target distance, and the carrying out device control unit controls the carrying out so that the first distance approaches the first target distance. driving the device along the first normal direction;
When the second distance is smaller than the first distance, the target distance setting unit sets the second target distance, and the carrying out device control unit controls the carrying out so that the second distance approaches the second target distance. driving the device along the second normal direction;
The unloading device according to claim 14. a target distance setting step of setting a target distance along the normal direction from the wall of the shipyard;
an unloading device control step of driving the unloading device along the normal direction so that the distance between the unloading device that unloads the cargo in the shipyard and the wall approaches the target distance;
A method for controlling an unloading device comprising: a target distance setting step of setting a target distance along the normal direction from the wall of the shipyard;
an unloading device control step of driving the unloading device along the normal direction so that the distance between the unloading device that unloads the cargo in the shipyard and the wall approaches the target distance;
A control program for the unloading device that causes the computer to execute the following. a target distance setting unit that sets a target distance along the normal direction from the wall of the shipyard;
an unloading device control unit that drives the unloading device along the normal direction so that the distance between the unloading device that unloads the cargo in the shipyard and the wall approaches the target distance;
A control system equipped with

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