JP7011480B2 - Unloading device - Google Patents

Description

The present disclosure relates to a unloading device.

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

Japanese Unexamined Patent Publication No. 8-012094

With the technique described in Patent Document 1, as described above, the distance between the scraping portion and the wall of the boathouse can be grasped. However, it has been difficult to derive the relative position between the unloader device and the ship, such as the positional relationship between the elevator of the unloader device and the hatch combing of the ship.

In view of such problems, it is an object of the present disclosure to provide an unloader device capable of deriving a relative position between an unloader device and a ship.

In order to solve the above problems, one aspect of the present disclosure is a unloading device provided on the quay and carrying out the cargo loaded in the garage of the ship to the outside, and is provided on the upper part of the garage in the ship. The edge detection unit that detects the upper edge of the hatch combing and the edge side information about each side of the edge based on the edge detected by the edge detection unit are derived, and the unloading device is based on the derived edge side information. A coordinate conversion derivation unit that derives conversion parameters between the coordinate system and the coordinate system of the garage, and a storage unit that stores at least a part of the 3D model of the unloading device and at least a part of the 3D model of the ship. Therefore, at least a part of the 3D model of the unloading device is represented by the coordinate system of the unloading device, and at least a part of the 3D model of the ship is represented by the coordinate system of the garage. Based on the detection result of the unit, the model arrangement unit includes a model arrangement unit for arranging at least a part of the 3D model of the unloading device and at least a part of the 3D model of the ship, and the model arrangement unit is a coordinate conversion derivation unit. Using the conversion parameters derived from, at least a part of the 3D model of the unloading device stored in the storage and expressed in the coordinate system of the unloading device, together with at least a part of the 3D model of the ship, in the garage. Place it on the coordinate system .

As the model arrangement unit, a three-dimensional model of the vertical transport mechanism unit that holds the scraping unit for scraping the cargo in the boathouse and a three-dimensional model of hatch combing may be arranged.

As the model placement unit, a three-dimensional model of the scraping unit for scraping the cargo in the boathouse and a three-dimensional model of the boathouse may be arranged.

A condition monitoring unit that derives the minimum distance between at least a part of the 3D model of the unloading device and at least a part of the 3D model of the ship and the direction of the minimum distance, and the minimum distance is less than or equal to the threshold value. In some cases, it may be provided with a collision prevention unit that limits the operation of the unloading device.

A state monitoring unit that derives the minimum distance between at least a part of the 3D model of the unloading device and at least a part of the 3D model of the ship and the direction of the minimum distance, and the minimum distance is less than or equal to the threshold value. In some cases, it may be provided with a collision prevention unit that limits the operation of the unloading device in the direction of the minimum distance.

It may be provided with a vertical transport mechanism portion arranged by the model arrangement portion, a cross section of a three-dimensional model of the hatch combing, and a display unit for displaying the distance between the vertical transport mechanism portion and the hatch combing.

It is equipped with a distance measuring sensor that measures the distance to multiple measurement points projected on the ship, and the edge detection unit derives the direction between the multiple measurement points using the multiple measurement points measured by the distance measurement sensor. , The measurement points whose direction between the measurement points is the vertical direction may be extracted, and the uppermost point in the vertical direction may be extracted as the edge point of hatch combing.

The edge detection unit may divide a plurality of measurement points into two groups with the vertical lower side as a reference, and extract the edge points of hatch combing from the measurement points included in the group for each group.

The coordinate conversion derivation unit associates the straight line of the edge of the hatch combing in the edge edge information with the upper edge side of the three-dimensional model of the hatch combing based on the posture of the unloading device, and then associates the straight line of the associated edge. The conversion parameter may be derived based on the positional relationship of the upper end sides.

The coordinate transformation derivation unit represents the straight line of the edge of the hatch combing based on the edge edge information as a three-dimensional point group, and minimizes the total distance between the three-dimensional point group and the upper end side in the hatch combing three-dimensional model. The conversion parameter may be derived by this.

The coordinate transformation derivation unit may correct the direction of the straight line of the hatch combing edge in the edge edge information based on the information acquired from the sensor that detects the attitude of the unloading device.

The range-finding sensor includes a range-finding sensor capable of measuring the distance from the upper part to the lower side of the vertical transport mechanism unit and a range-finding sensor capable of measuring the distance toward the side and the lower side of the scraping unit. May be good.

The coordinate conversion derivation unit derives the conversion parameters between the coordinate system of the unloading device and the coordinate system of the garage based on the measurement results of the distance measuring sensor that can measure the distance from the upper part to the lower side of the vertical transport mechanism unit. The unloading device may convert the measurement result of the distance sensor capable of measuring the distance toward the side and the lower side of the scraping section from the coordinate system of the garage using the conversion parameter, and may convert the measurement result of the scraping section into the coordinate system of the garage. It may be provided with a display unit that displays the measurement result of the distance sensor that can measure the distance toward the side and the lower side in the coordinate system of the garage.

It is possible to derive the relative position with the ship.

It is a figure explaining the unloader system. It is a figure explaining the structure of an unloader device. It is a figure explaining the measurement range of a distance measuring sensor. It is a figure explaining the measurement range of a distance measuring sensor. It is a figure explaining the measurement range of a distance measuring sensor. It is a figure explaining the measurement range of a distance measuring sensor. It is a figure explaining the electrical structure of an unloader system. It is a figure explaining the coordinate system of an unloader apparatus. It is a figure explaining the measurement point of a distance measuring sensor. It is a figure which shows the state of detecting an edge point. It is a figure explaining the arrangement of a 3D model. It is a figure explaining the upper viewpoint image. It is a figure explaining the image around the scraping part. It is a figure explaining the automatic route.

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

FIG. 1 is a diagram illustrating an unloader system 1. As shown in FIG. 1, the unloader system 1 includes an unloader device 100 as an example of a unloading device and a control device 200. Although an example in which four unloader devices 100 are provided will be described, the number of unloader devices 100 may be any number.

The unloader device 100 can travel on a pair of rails 3 laid along the quay 2 in the extending direction of the rails 3. Although the plurality of unloader devices 100 are arranged on the same rail 3 in FIG. 1, they may be arranged on different rails 3.

The unloader device 100 is communicably connected to the control device 200. The communication method between the unloader device 100 and the control device 200 may be wired or wireless.

The unloader device 100 carries out the load 6 loaded in the yard 5 of the ship 4 anchored at the quay 2. The cargo 6 is assumed to be in bulk, and coal is an example.

FIG. 2 is a diagram illustrating the configuration of the unloader device 100. In FIG. 2, the quay 2 and the ship 4 are shown in cross section. As shown in FIG. 2, the unloader device 100 includes a traveling body 102, a swivel body 104, a boom 106, a top frame 108, an elevator 110, a scraping section 112, and a boom conveyor 114.

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

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

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

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

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

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

The scraping portion 112 is provided at the lower end of the elevator 110. The scraping unit 112 turns integrally with the elevator 110 as the elevator 110 turns. In this way, the scraping section 112 is rotatably held by the top frame 108 and the elevator 110 that function as the vertical transport mechanism section.

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

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

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

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

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

As described above, since the opening is narrowed by the hatch combing 7, it is difficult for the operator to visually recognize the situation inside the boathouse 5 when the cargo 6 is scraped by the scraping unit 112. Therefore, the unloader device 100 of the present disclosure is provided with distance measuring sensors 130 to 136. Then, the unloader system 1 of the present disclosure displays the positional relationship between the unloader device 100 and the bunker 5 or the cargo 6 based on the distances measured by the distance measuring sensors 130 to 136, thereby displaying the unloader 5 It makes it possible for workers to understand the situation inside.

The range-finding sensors 130 to 136 are, for example, laser sensors capable of measuring a range, and VLP-16 and VLP-32 manufactured by Velodyne, M8 manufactured by Quanergy, and the like are applied. The distance measuring sensors 130 to 136 are provided with 16 laser irradiation portions separated along the axial direction, for example, on the side surface of a cylindrical main body portion. The laser irradiation unit is provided on the main body so as to be rotatable 360 degrees. The laser irradiation units are arranged so that the difference in the firing angle of the laser in the axial direction from the laser irradiation units arranged adjacent to each other is 2 degrees. That is, the distance measuring sensors 130 to 136 can irradiate the laser in the range of 360 degrees in the circumferential direction of the main body portion. Further, the distance measuring sensors 130 to 136 can emit a laser within a range of ± 15 degrees with respect to a plane orthogonal to the axial direction of the main body. Further, the distance measuring sensors 130 to 136 are provided with a receiving unit for receiving the laser in the main body portion.

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

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

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

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

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

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

Therefore, the distance measuring sensors 133 and 134 are ± 15 in the measurement direction with respect to the position below the side surface 112c and the side surface 112d of the scraping portion 112 and parallel to the side surface 112c and the side surface 112d of the scraping portion 112. It is possible to measure the distance of an object existing in the range of degrees. More specifically, the distance measuring sensors 133 and 134 can measure the distance to an object (load 6) existing on both sides of the scraping portion 112 on the bottom side of the scraping portion 112. The distance measuring sensors 133 and 134 are arranged so as to be able to measure at least a range equal to or larger than the maximum length of the bottom portion of the scraping portion 112 on the plane on which the bottom portion of the scraping portion 112 is located.

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

Therefore, the distance measuring sensors 135 and 136 exist in a range of ± 15 degrees with respect to the horizontal plane outside the scraping portion 112 and orthogonal to the side surface 112c and the side surface 112d of the scraping portion 112 as the measurement direction. The distance of an object can be measured.

FIG. 7 is a diagram illustrating an electrical configuration of the unloader system 1. As shown in FIG. 7, the unloader device 100 is provided with an unloader control unit 140, a storage unit 142, and a communication device 144.

The unloader control unit 140 is connected to a position sensor 116, a turning angle sensor 118, an inclination angle sensor 120, a turning angle sensor 122, a distance measuring sensor 130 to 136, and a communication device 144. The unloader control unit 140 is composed of a semiconductor integrated circuit including a CPU (Central Processing Unit). The unloader control unit 140 reads a program, parameters, and the like for operating the CPU itself from the ROM. Then, the unloader control unit 140 manages and controls the entire unloader device 100 in cooperation with the RAM as a work area and other electronic circuits. Further, the unloader control unit 140 includes a drive control unit 150, an edge detection unit 152, a coordinate conversion derivation unit 154, a model arrangement unit 156, a condition monitoring unit 158, a route generation unit 160, an automatic operation command unit 162, and an automatic operation end determination unit. 164, it functions as a collision prevention unit 166. The details of the unloader control unit 140 will be described later.

The storage unit 142 is a storage medium such as a hard disk or a non-volatile memory. The storage unit 142 stores the data of the three-dimensional model of the unloader device 100 and the ship 4. The data of the three-dimensional model of the unloader device 100 is voxel data of at least the outer shape of the elevator 110 and the scraping unit 112. The data of the three-dimensional model of the ship 4 is the voxel data of the outer shape of the hatch combing 7 and the voxel data of the wall surface shape and the internal space of the garage 5. The data of the three-dimensional model may be any data as long as the three-dimensional shapes of the unloader device 100 and the ship 4 can be grasped, and polygon data, contours (straight lines), point clouds, etc. may be used in combination. good. Further, the data of the three-dimensional model of the ship 4 is provided for each type of the ship 4.

The data of the three-dimensional model of the unloader device 100 can be calculated from the shape information at the time of design and the measurement results of the position sensor 116, the turning angle sensor 118, the tilt angle sensor 120 and the turning angle sensor 122 of the unloader device 100. Is. Further, as the data of the three-dimensional model of the ship 4, the design data of the ship may be used, or the data measured at the time of past arrival at the port may be used. The measurement at the time of arrival at the port can be performed using a device such as a laser sensor that can generate data of a three-dimensional model. Further, the data of the three-dimensional model may be restored in shape by accumulating information from the ranging sensors 130 to 136.

The communication device 144 communicates with the control device 200 by wire or wirelessly.

The control device 200 includes a monitoring control unit 210, an operation unit 220, a display unit 230, and a communication device 240. The monitoring control unit 210 is composed of a semiconductor integrated circuit including a CPU (Central Processing Unit). The monitoring control unit 210 reads out a program, parameters, and the like for operating the CPU itself from the ROM. Then, the monitoring control unit 210 comprehensively manages and controls a plurality of unloader devices 100 in cooperation with the RAM as a work area and other electronic circuits. Further, the monitoring control unit 210 functions as a remote control switching unit 212, a display switching unit 214, and a status determination unit 216. The details of the monitoring control unit 210 will be described later.

The operation unit 220 receives an input operation for operating the unloader device 100. As will be described in detail later, the display unit 230 displays an image in which the relative positional relationship between the unloader device 100 and the boathouse 5 and the cargo 6 can be grasped by the operator. The communication device 240 communicates with the unloader device 100 by wire or wirelessly.

FIG. 8 is a diagram illustrating a coordinate system of the unloader device 100. FIG. 8A is a view of the unloader device 100 as viewed from above. FIG. 8B is a side view of the unloader device 100. As shown in FIGS. 8 (a) and 8 (b), the unloader device 100 has three coordinate systems, namely the horizontal coordinate system 300, the top frame coordinate system 310 and the hatch combing coordinate system 320.

The ground coordinate system 300 has a preset initial position of the unloader device 100 as the origin. In the horizontal coordinate system 300, the direction orthogonal to the extending direction and the vertical direction of the rail 3 is the X-axis direction. In the horizontal coordinate system 300, the extending direction of the rail 3 is the Y-axis direction. In the horizontal coordinate system 300, the vertical direction is the Z-axis direction.

The top frame coordinate system 310 is on the central axis of the elevator 110 and has the lower end of the top frame 108 in the vertical direction as the origin. In the top frame coordinate system 310, the extending direction of the boom 106 is the X-axis direction. In the top frame coordinate system 310, the direction orthogonal to the extending direction and the vertical direction of the boom 106 is the Y-axis direction. In the top frame coordinate system 310, the vertical direction is the Z-axis direction.

The hatch combing coordinate system 320 is the center position of the wall surface on the stern side of the hatch combing 7 of the ship 4, and the upper end of the hatch combing 7 is the origin. In the hatch combing coordinate system 320, the longitudinal direction of the ship 4, that is, the extending direction of the hatch combing 7 along the ship 4 is the X-axis direction. In the hatch combing coordinate system 320, the lateral direction (width direction) of the ship 4 is the Y-axis direction. In the hatch combing coordinate system 320, the direction orthogonal to the upper end surface of the hatch combing 7 is the Z-axis direction.

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

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

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

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

Therefore, the edge detection unit 152 detects the upper edge of the hatch combing 7 based on the measurement points measured by the distance measuring sensors 130 to 132. Then, the coordinate conversion derivation unit 154 derives the conversion parameters between the top frame coordinate system 310 and the hatch combing coordinate system 320 based on the detected edge of the upper end of the hatch combing 7.

First, the edge detection unit 152 is a three-dimensional position of the measurement point in the top frame coordinate system 310 based on the positions of the distance measurement sensors 130 to 132 and the distance to the measurement point measured by the distance measurement sensors 130 to 132. Is derived.

FIG. 9 is a diagram illustrating measurement points of the distance measuring sensors 130 to 132. In FIG. 9, the measurement range of the distance measuring sensors 130 to 132 on the hatch combing 7 is shown by a thick line. As shown in FIG. 9, the distance measuring sensors 130 to 132 are below the horizontal plane and extend from the distance measuring sensors 130 to 132 to an object existing in the range of ± 15 degrees with respect to the plane in contact with the top frame 108. Measure the distance. Therefore, in the distance measuring sensors 130 to 132, the measurement range is the edge of the hatch combing 7, which is different between the front side and the rear side, with reference to the vertically downward portion of the distance measuring sensors 130 to 132 (the center of rotation of the elevator 110). The front side means the measurement range measured in the first half of one measurement. Further, the rear side means the measurement range measured in the latter half of one measurement.

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

FIG. 10 is a diagram showing how edge points are detected. In FIG. 10, the measurement points are indicated by black circles. FIG. 10 illustrates a measurement point where a laser radiated at a predetermined angle is reflected from one laser irradiation unit of the distance measuring sensors 130 to 132.

The edge detection unit 152 performs the following processing for each measurement point group (front side, rear side) measured by being irradiated by one laser irradiation unit. The edge detection unit 152 derives a vector (direction) of each measurement point irradiated and measured by one laser irradiation unit. As for the vector of measurement points, the direction (vector) of the measurement point to be measured next with respect to one measurement point among the continuously measured measurement points is derived as the vector of one measurement point.

Then, the edge detection unit 152 extracts the measurement points whose vector of the measurement points is in the vertical direction. This is because the wall surface of the hatch combing 7 measured by the distance measuring sensors 130 to 132 extends in the vertical direction. Therefore, when the measurement point is on the wall surface of the hatch combing 7, the vector of the measurement points is in the vertical direction. Because it becomes.

Then, when there are a plurality of continuously extracted measurement points among the extracted measurement points, the edge detection unit 152 extracts the uppermost point in the vertical direction. This is because the edge of the upper end of the hatch combing 7 is detected, so that the uppermost point in the continuously measured measurement point group may be the edge of the upper end of the hatch combing 7.

Subsequently, the edge detection unit 152 extracts the measurement points closest to the origin in the X-axis direction and the Y-axis direction in the top frame coordinate system 310 from the extracted measurement points. This is because the hatch combing 7 is located closest to the elevator 110 among the structures of the ship 4.

Then, the edge detection unit 152 re-extracts the measurement points existing in predetermined ranges (for example, a range of several tens of centimeters) in the X-axis direction and the Y-axis direction in the top frame coordinate system 310 with respect to the extracted measurement points. do. Here, the measurement points on the hatch combing 7 are extracted.

Then, the edge detection unit 152 extracts the re-extracted measurement points, that is, the uppermost measurement points in the vertical direction among the measurement points on the hatch combing 7, as the edge points of the hatch combing 7.

The edge detection unit 152 extracts front side and rear side edge points for each measurement point group measured by being irradiated by one laser irradiation unit of the distance measuring sensors 130 to 132.

Then, when all the edge points are extracted, the edge detection unit 152 detects the straight line of the edge of the hatch combing 7. Specifically, the edge detection unit 152 sets the edge points extracted on the front side of the distance measuring sensor 130 into one group. Similarly, the edge detection unit 152 groups the edge points extracted on the rear side of the distance measuring sensor 130 into one group. Further, the edge detection unit 152 groups the edge points extracted on the front side and the rear side of the distance measuring sensors 131 and 132, respectively.

Here, as shown in FIG. 9, there are two straight lines at the upper end edge of the hatch combing 7 measured on the front side and the rear side of the distance measuring sensors 130 to 132, respectively, when the corner of the hatch combing 7 is included. It will be measured.

Therefore, the edge detection unit 152 derives, for each group, the line segment between the extracted edge points having the most similar line segments as a candidate vector. Then, the edge detection unit 152 extracts the edge points existing within the range preset for the candidate vector. Then, the edge detection unit 152 recalculates the straight line using the extracted edge points.

Next, the edge detection unit 152 repeats the above-mentioned process using the edge points that have not been extracted. However, if the number of extracted edge points is less than a preset threshold value, a straight line is not derived. Thereby, even when the corner of the hatch combing 7 is included, a straight line of two edges can be derived.

The edge detection unit 152 derives a straight line of an edge by repeating the above-mentioned processing for each group.

As described above, since a maximum of two straight lines are detected at one location, a maximum of 12 straight lines are detected.

Then, the edge detection unit 152 derives the angle formed between the detected straight lines. Then, when the angle formed by the edge detection unit 152 is equal to or less than a predetermined threshold value, the edge detection unit 152 integrates them as the same straight line. Specifically, the straight line is redistributed by least squares approximation using the edge points constituting the straight line whose angle is equal to or less than a predetermined threshold value.

Subsequently, the edge detection unit 152 obtains edge information including the three-dimensional direction vector of each side, the three-dimensional center of gravity coordinates of each side, the length of each side, and the coordinates of the end points of each side from the straight line of the detected edge. Derived. In this way, the position of the garage 5 ( The posture) can be derived accurately and easily.

Next, the coordinate transformation derivation unit 154 reads out the three-dimensional model information of the hatch combing 7 stored in advance in the storage unit 142 from the storage unit 142. The 3D model information includes the 3D direction vector of the upper end side of the hatch combing 7, the 3D center of gravity coordinates of each side, the length of each side, and the coordinates of the end points of each side. Further, the three-dimensional model information is represented by the hatch combing coordinate system 320. Then, the coordinate transformation derivation unit 154 sets the top frame coordinate system 310 and the hatch combing coordinate system 320 based on the read three-dimensional model information and the edge edge information (detection result) represented by the top frame coordinate system 310. Derivation of the conversion parameters of.

The coordinate transformation derivation unit 154 makes a rough correction by rotating the direction of the straight line of the detected edge of the hatch combing 7 by the turning angle of the boom 106. Further, the coordinate transformation derivation unit 154 associates the detected straight line of the edge of the hatch combing 7 with the side of the upper end of the hatch combing 7 in the three-dimensional model information with the straight line having the closest edge direction. As a result, since the correct correspondence is made, the conversion parameters of the solution that is stable and close to the correct answer can be obtained. In the mapping, the straight line of the detected edge of the hatch combing 7 is represented by a three-dimensional point cloud, and the average value of the shortest distance between the three-dimensional point cloud and the upper end side of the hatch combing 7 in the three-dimensional model information. You may associate things that are close to each other. Further, both the direction of the edge and the average value of the shortest distance may be taken into consideration when associating.

Then, the coordinate conversion derivation unit 154 sets the conversion parameters, the rotation angles α, β, γ around the X-axis, the Y-axis, and the Z-axis, and the traveling vector t = (tx, ty, tz) by, for example, the LM method. Ask. In the LM method, for example, the sum of squares of the difference in the distance between the edge point and the upper end side of the hatch combing 7 based on the three-dimensional model information is used as the evaluation function, and the conversion parameter that minimizes the evaluation function is obtained. Specifically, it is formed by the sum of the distances between the edge points and the upper edge of the hatch combing 7 based on the 3D model information, or the straight line of the edge and the upper edge of the hatch combing 7 based on the 3D model information. Find the conversion parameters so that the area of the curved surface is minimized. The method for obtaining the conversion parameters is not limited to the LM method, and other methods such as the steepest descent method and Newton's method may be used.

In this way, the coordinate conversion derivation unit 154 derives conversion parameters for converting the top frame coordinate system 310 into the hatch combing coordinate system 320.

As a result, the unloader device 100 grasps the relative positional relationship between the elevator 110 and the scraping unit 112 represented by the top frame coordinate system 310 and the boathouse 5 and the hatch combing 7 represented by the hatch combing coordinate system 320. It becomes possible.

Further, the unloader device 100 has a simple configuration in which distance measuring sensors 130 to 132 capable of measuring distance downward are arranged on the side surface of the top frame 108, and the positional relationship between the unloader device 100 and the boathouse 5 is simple. Can be easily derived.

Further, the unloader device 100 can estimate the position and orientation of the hatch combing 7 represented by the hatch combing coordinate system 320 in the top frame coordinate system 310.

Further, with the two distance measuring sensors, it may not be possible to measure two edge sides having different directions depending on the posture of the unloader device 100 except for the square hatch combing 7. However, when the distance measuring sensors 130 to 132 are arranged so as to be turned 120 degrees in the circumferential direction of the elevator 110, the unloader device 100 is used as long as the hatch combing 7 has an edge aspect ratio of 1.73: 1 or less. It is possible to reliably detect two edge sides having different orientations regardless of the position and orientation of the. Therefore, the unloader device 100 can always detect two edge sides having different orientations because the ship 4 having the hatch combing 7 with an extreme aspect ratio is extremely rare.

Next, a process of arranging a three-dimensional model of the elevator 110, the scraping section 112, the boathouse 5, and the hatch combing 7 will be described.

FIG. 11 is a diagram illustrating the arrangement of the three-dimensional model. As shown in FIG. 11, the model arranging unit 156 first arranges the three-dimensional model 400 of the elevator 110 and the scraping unit 112 stored in the storage unit 142 on the hatch combing coordinate system 320. The three-dimensional model 400 of the elevator 110 and the scraping unit 112 is represented by the top frame coordinate system 310. Therefore, the model arrangement unit 156 converts the three-dimensional model 400 of the elevator 110 and the scraping unit 112 into the hatch combing coordinate system 320 by using the conversion parameters derived by the coordinate conversion derivation unit 154.

When the elevator 110 and the scraping unit 112 move with respect to the top frame 108, the model arranging unit 156 measures the position sensor 116, the turning angle sensor 118, the tilt angle sensor 120, and the turning angle sensor 122 of the unloader device 100. Based on the result, the rotation of the elevator 110, the length of the scraping portion 112, and the like are reflected in the three-dimensional model 400.

Further, the three-dimensional model 400 is a model of a design drawing, whether it is a model in which noise or moving objects are filtered from the accumulated results of measured values during scraping of the cargo 6, or a model in which measured values at the end of scraping in the past are accumulated. However, it may be a model obtained by temporarily bringing a measuring instrument into the shipyard and measuring it.

Then, the model arranging unit 156 arranges the three-dimensional model 400 of the elevator 110 and the scraping unit 112 converted into the hatch combing coordinate system 320 on the hatch combing coordinate system 320 (FIG. 11A).

Subsequently, the model arranging unit 156 arranges the three-dimensional model 410 of the hatch combing 7 stored in the storage unit 142 on the elevator 110 and the three-dimensional model 400 of the scraping unit 112 (FIG. 11B). .. Since the three-dimensional model 410 of the hatch combing 7 is represented by the hatch combing coordinate system 320, it is arranged as it is without performing coordinate conversion.

Further, the model arranging unit 156 superimposes the three-dimensional model 420 of the bunker 5 stored in the storage unit 142 on the three-dimensional model 400 of the elevator 110 and the scraping unit 112 and the three-dimensional model 410 of the hatch combing 7. (Fig. 11 (c)).

As a result, the model arranging unit 156 creates a three-dimensional model of the relative positions of the elevator 110 and the scraping unit 112, which are part of the unloader device 100, and the hatch combing 7 and the boathouse 5, which are part of the ship 4. It can be easily grasped by using it.

In particular, by arranging the three-dimensional model of the elevator 110 that may collide with the hatch combing 7 and the three-dimensional model of the hatch combing 7, it is possible to easily grasp the position of the elevator 110 with respect to the hatch combing 7. Will be.

Further, by arranging the three-dimensional model of the scraping unit 112 that may collide with the boathouse 5 and the three-dimensional model of the boathouse 5, the position of the scraping unit 112 with respect to the boathouse 5 can be easily grasped. It is possible to make it.

Next, the state monitoring process by the state monitoring unit 158 will be described. The state monitoring unit 158 is a three-dimensional model 410 of the hatch combing 7 arranged on the hatch combing coordinate system 320 by the model arrangement unit 156, a three-dimensional model 420 of the garage 5, and the elevator 110 and the scraping unit 112. The distance (distance information) of each voxel to the three-dimensional model 400 is derived by rounding.

Further, the condition monitoring unit 158 derives the situation in the boathouse 5 based on the measurement points measured by the distance measuring sensors 133 to 136. Specifically, the condition monitoring unit 158 has 3 measurement points in the top frame coordinate system 310 based on the distance to the measurement point measured by the distance measurement sensors 133 to 136 and the position of the distance measurement sensors 133 to 136. Derive the dimensional position.

Further, the condition monitoring unit 158 converts the three-dimensional position of the measurement point in the top frame coordinate system 310 into the hatch combing coordinate system 320 by using the conversion parameter. Then, using the position of each measurement point and the three-dimensional model 420 of the boathouse 5, it is determined whether each measurement point is the wall surface of the boathouse 5 or the cargo 6. Here, the measurement points whose relationship between the position of each measurement point and the position of the three-dimensional model 420 of the garage 5 is within a preset range are determined as the wall surface of the garage 5, and the other points are the cargo 6 Is determined.

Then, the state monitoring unit 158 sets the voxel including the measurement point determined to be the load 6 among the voxels in the internal space of the three-dimensional model 420 of the garage 5 as the voxel of the load 6, and the voxel as the load 6. The voxels vertically below the voxels are also voxels with a load of 6. The model placement unit 156 rearranges the voxels determined to be the voxels of the load 6 among the voxels in the internal space of the three-dimensional model 420 of the boathouse 5 as the three-dimensional model of the load 6. As a result, the status of the cargo 6 in the boathouse 5 can be grasped.

Further, in the unloader device 100, a three-dimensional model of the hatch combing 7 and the unloader device 100 located at an accurate relative position is used. Therefore, in the unloader device 100, even if all the edge sides of the hatch combing 7 cannot be detected by the distance measuring sensors 130 to 132, the collision / approach with all the side surfaces of the hatch combing 7 can be detected / prevented.

Further, the distance measuring sensors 133 and 135 are provided on the side surface 112c of the scraping portion 112. The distance measuring sensors 134 and 136 are provided on the side surface 112d of the scraping portion 112. Then, the scraping unit 112 scrapes the load 6 while moving from the side surface 112d side to the side surface 112c side. Therefore, the unloader device 100 can grasp the status of the load 6 on the traveling direction side of the scraping unit 112 by the distance measuring sensors 133 and 135. Further, the unloader device 100 can grasp the status of the load 6 on the side opposite to the traveling direction of the scraping unit 112 by the distance measuring sensors 134 and 136.

Each process described above by the coordinate transformation derivation unit 154, the model arrangement unit 156, and the state monitoring unit 158 is repeatedly performed at predetermined intervals. The communication device 144 transmits the data of the three-dimensional model arranged by the model arrangement unit 156 and the distance information derived by the state monitoring unit 158 to the control device 200.

FIG. 12 is a diagram illustrating the upper viewpoint image 500. FIG. 13 is a diagram illustrating an image around the scraping portion 510. The monitoring control unit 210 of the control device 200 receives the three-dimensional model data and the distance information transmitted from the unloader device 100 by the communication device 240. The monitoring control unit 210 displays the upper viewpoint image 500 and the scraping unit peripheral image 510 on the display unit 230 based on the received data.

As shown in FIG. 12, the upper viewpoint image 500 displays a three-dimensional model 410 of the hatch combing 7 and a three-dimensional model 400 of the elevator 110 existing at the same position in the Z-axis direction as the hatch combing 7. That is, the upper viewpoint image 500 displays a cross section perpendicular to the Z-axis direction at the position where the three-dimensional model 410 of the hatch combing 7 exists (a cross section parallel to the upper surface of the hatch combing 7 or parallel to the horizontal). To.

Further, in the upper viewpoint image 500, the three-dimensional model 400 of the scraping portion 112, the three-dimensional model 420 of the bunker 5 existing at the same position in the Z-axis direction with the scraping portion 112, and the three-dimensional model 430 of the cargo 6. Is displayed. That is, the upper viewpoint image 500 displays a cross section perpendicular to the Z-axis direction at the position where the three-dimensional model 400 of the scraping unit 112 exists.

That is, in the upper viewpoint image 500, the XY cross section at the position where the 3D model 410 of the hatch combing 7 exists and the XY cross section at the position where the 3D model 400 of the scraping portion 112 exists are displayed superimposed.

Further, the upper viewpoint image 500 shows the distance between the hatch combing 7 and the elevator 110 (“hatch ○ m”), and the scraping portion 112 and the wall surface of the boathouse 5 outside the three-dimensional model 420 of the boathouse 5. The distance to and ("Boathouse ○ m") is displayed. The distance between the hatch combing 7 and the elevator 110 displayed here is displayed only when it is equal to or less than a preset first threshold value (here, 1.5 m). More specifically, when it is equal to or less than the first threshold value and is greater than or equal to the second threshold value (here, 1.0 m) smaller than the first threshold value, the distance is displayed on a yellow background. If it is less than the second threshold value, the distance is displayed on a red background. Further, the distance between the scraping portion 112 and the wall surface of the boathouse 5 is displayed only when it is equal to or less than a preset third threshold value (here, 1.5 m). More specifically, when it is equal to or less than the third threshold value and is greater than or equal to the fourth threshold value (here, 1.0 m) smaller than the third threshold value, the distance is displayed on a yellow background. If it is less than the fourth threshold value, the distance is displayed on a red background.

In this way, by displaying the distance between the hatch combing 7 and the elevator 110 and the distance between the scraping unit 112 and the wall surface of the boathouse 5, it is possible to quantitatively grasp whether or not there is a risk of collision. be able to.

Further, by displaying the distance at the position where the first threshold value or the third threshold value is obtained, the distance between the hatch combing 7 and the elevator 110 and the distance between the scraping portion 112 and the wall surface of the boathouse 5 are close to each other. Can be easily grasped. Further, by displaying the distance in different display modes depending on whether the distance is equal to or less than the first threshold value and greater than or equal to the second threshold value and less than the second threshold value, the sense of distance can be easily grasped. Similarly, by displaying the distance in different display modes depending on whether the distance is equal to or less than the third threshold value and greater than or equal to the fourth threshold value and less than the fourth threshold value, the sense of distance can be easily grasped. The distance between the hatch combing 7 and the elevator 110 and the distance between the scraping unit 112 and the wall surface of the boathouse 5 are derived based on the distance information transmitted from the unloader device 100.

As a result, the upper viewpoint image 500 facilitates the positional relationship between the hatch combing 7 and the elevator 110, which may collide, and the positional relationship between the scraping portion 112, which may collide, and the wall surface of the boathouse 5. Can be grasped by. Therefore, the operator can avoid the collision between the hatch combing 7 and the elevator 110 and the collision between the scraping portion 112 and the wall surface of the boathouse 5 by visually observing the upper viewpoint image 500. Further, since it is not necessary to arrange a commander who directs the operation of the unloader device 100 in the boathouse 5 or on the ship 4, the number of personnel required for scraping the cargo 6 can be reduced. Further, since only the part where there is a possibility of collision is extracted and displayed, the amount of information for the worker does not become too large, and the worker can make an appropriate judgment. Further, the upper viewpoint image 500 can easily grasp the state of the load 6 at the height at which the scraping portion 112 exists.

FIG. 13 is a diagram illustrating an image around the scraping portion 510. As shown in FIG. 13, the image around the scraping portion 510 is the image around the scraping portion 512 seen from the side surface 112c side of the scraping portion 112, and the image around the scraping portion 112 seen from the front side of the scraping portion 112. The images around the scraping portion 112 as seen from the side surface 112d side of the scraping portion 112 are displayed side by side.

In these images around the scraping section 512, 514, and 516, the 3D model 400 of the scraping section 112, the 3D model 430 of the cargo 6, and the 3D model 420 of the boathouse 5 (only the bottom surface) are displayed. To.

Here, the scraping unit 112 scrapes the load 6 while moving from the side surface 112d side to the side surface 112c side. Therefore, the three-dimensional model 430 of the load 6 that has not been scraped is displayed in the image around the scraping portion 512. On the other hand, in the image around the scraping section 516, a three-dimensional model 430 of the load 6 scraped by the scraping section 112 is displayed. Further, in the image 514 around the scraping portion, the load 6 in which the side surface 112c side is not scraped and the side surface 112d side is scraped is displayed. As a result, the state of scraping of the load 6 can be easily grasped. For example, the operator can see the image around the scraping section 514 or compare the images around the scraping section 512 and 516 to see the cargo 6 in the traveling direction of the scraping section 112 and the direction opposite to the traveling direction. It is possible to grasp the difference in height and the height of the cargo 6 in the traveling direction. As a result, the operator can properly scrape the load 6 by the scraping unit 112. In addition, the worker can quantitatively grasp to what depth the cargo 6 is scraped off even outside the boathouse 5. Further, since it is not necessary to arrange a commander who directs the operation of the unloader device 100 in the boathouse 5 or on the ship 4, the number of personnel required for scraping the cargo 6 can be reduced. Further, since the image around the scraping section 510 is displayed in the hatch combing coordinate system 320, the cargo 6 in the boathouse 5 and the scraping section 112 can be presented from a viewpoint fixed to the ship 4 at all times. It becomes easier to grasp the situation of the person.

Further, the image 514 around the scraping portion displays the difference with respect to the cutting depth of the scraping portion 112 and the distance between the scraping portion 112 and the bottom surface of the boathouse 5, which will be described in detail later. The depth of cut is displayed on the side surface 112c side and the side surface 112d side, respectively. The depth of cut and the distance between the scraping portion 112 and the bottom surface of the boathouse 5 are derived based on the distance information transmitted from the unloader device 100.

The upper viewpoint image 500 and the scraping portion peripheral image 510 described above are updated and displayed each time the data of the three-dimensional model and the distance information are transmitted from the unloader device 100.

Next, the processing of the route generation unit 160, the automatic operation command unit 162, and the automatic operation end determination unit 164 of the unloader device 100 will be described.

FIG. 14 is a diagram illustrating an automatic route. Here, when the load 6 is scraped off by the unloader device 100, there are roughly three steps. If the cargo 6 in the boathouse 5 has never been scraped off, the cargo 6 is piled up in a mountain shape in the boathouse 5. Therefore, as the first step, it is a step of flattening the cargo 6 in the boathouse 5. The first step is performed by the operator operating the unloader device 100 via the operation unit 220. More specifically, when a signal corresponding to the operation of the operation unit 220 is transmitted to the unloader device 100, the drive control unit 150 operates various actuators to cause the unloader device 100 to respond to the operation of the operation unit 220. To drive.

After that, when the surface of the cargo 6 loaded in the boathouse 5 becomes almost flat, as a second step, the scraping portion 112 is moved a plurality of turns along the wall surface of the boathouse 5, and then the center is 1 Move it once. This second step can be automated because the path for moving the scraping unit 112 is simple and the scraping amount of the load 6 is stable.

After that, when the load 6 in the boathouse 5 becomes small, the remaining load 6 is scraped by the scraping unit 112 as a third step. In this third step, it is necessary to move the scraping unit 112 to the position of the cargo 6 remaining in the boathouse 5. Further, in the third step, it is necessary to move the scraping portion 112 near the bottom surface of the boathouse 5. Therefore, the third step is performed by the operator operating the unloader device 100 via the operation unit 220. Again, when a signal corresponding to the operation of the operation unit 220 is transmitted to the unloader device 100, the drive control unit 150 drives the unloader device 100 according to the operation of the operation unit 220 by operating various actuators. ..

As described above, of the three steps when the load 6 is scraped by the unloader device 100, the second step can automate the unloader device 100.

Therefore, the route generation unit 160 translates the scraping unit 112 along the side wall of the boathouse 5 from a predetermined position shown by a solid line in FIG. 14A as an automatic route. Then, with the central axis of the elevator 110 as a reference, the scraping portion 112 is moved to a position where it can turn. After that, the scraping portion 112 is swiveled 90 degrees along the side wall of the boathouse 5. Further, the scraping portion 112 is translated along the side wall of the boathouse 5. By repeating this, the scraping portion 112 is moved 360 degrees along the side wall of the boathouse 5. Then, change the depth of cut and move it a few more laps.

Finally, as shown in FIG. 14 (b), the scraping portion 112 is swiveled 90 degrees at the position of the center of the boathouse 5, and then moved along the center of the boathouse 5. As a result, the cargo 6 remaining in the center is scraped off by the scraping section 112.

By the way, the control device 200 can control a plurality of unloader devices 100 in parallel. Then, the operator who operates the operation unit 220 of the control device 200 selects one unloader device 100 as a target for remote control, and the first step and the first step among the above three steps for the selected unloader device 100. Perform step 3. Further, the unloader device 100 capable of performing the second step is selected as the unloader device 100 to be automatically operated, and the unloader device 100 to be automatically operated is automatically operated.

When there is an unloader device 100 that is a target of remote control for performing the first step and the third step, the operator operates the operation unit 220 to select the unloader device 100 that is the target of remote control. The remote control switching unit 212 determines the unloader device 100 to be remotely controlled according to the operation of the operation unit 220. Then, the remote control switching unit 212 establishes bidirectional communication with the unloader device 100, which is the target of remote control, via the communication device 240. However, the monitoring control unit 210 continues to receive the data of the three-dimensional model from the unloader device 100, which is not the target of remote control, and the distance information.

The display switching unit 214 displays 3D model data received from the unloader device 100, which is the target of remote control, and an image based on distance information (upper viewpoint image 500, scraping unit peripheral image 510). To display. As a result, the status of the unloader device 100, which is the target of remote control, can be easily grasped.

When there is an unloader device 100 that is the target of automatic operation for performing the second step, the operator operates the operation unit 220 to select the unloader device 100 that is the target of automation. The remote control switching unit 212 determines the unloader device 100 to be automatically operated according to the operation of the operation unit 220. Then, the remote control switching unit 212 transmits an automation instruction command to the unloader device 100 that is the target of automatic operation. Upon receiving the automation instruction command in the unloader device 100, the automatic operation command unit 162 causes the route generation unit 160 to generate an automatic route. Then, the drive control unit 150 drives the unloader device 100 based on the automatic path.

The automatic operation end determination unit 164 stops (limits) the drive of the unloader device 100 when the automatic operation end condition is satisfied or an error occurs. The conditions for ending the automatic operation are that the position of the scraping unit 112 is lower than the position determined by the automatic route, and that the scraping amount of the load 6 exceeds a preset amount.

The display switching unit 214 displays only the minimum information necessary for automatic operation on the display unit 230 based on the data of the three-dimensional model received from the unloader device 100 during automatic operation and the distance information.

Further, the situation determination unit 216 refers to the unloader device 100 during automatic operation from the change in the height of the scraping unit 112 and the average of the scraping amount, so that the target height of the scraping unit 112 and the total amount of scraping of the target are accumulated. The time to reach is predicted for each unloader device 100. Then, when there is an unloader device 100 whose end time of the second step is near, the situation determination unit 216 issues a predetermined warning because the timings of remote control overlap.

Further, the condition monitoring unit 158 determines the distance between the wall surface of the hatch combing 7 and the boathouse 5 and the elevator 110 and the scraping unit 112 based on the data of the three-dimensional model transmitted from the unloader device 100 and the distance information. Derive the smallest minimum distance and its direction. Then, the collision prevention unit 166 limits (stops) the operation of the unloader device 100 when the derived minimum distance is equal to or less than a predetermined threshold value (collision prevention function). The collision prevention unit 166 may limit the operation of the elevator 110 and the scraping unit 112 in the derived direction when the derived minimum distance is equal to or less than a predetermined threshold value. This makes it possible to more safely automatically operate the unloader device 100.

For example, the operator causes the remaining three unloader devices 100 to perform the second step while performing the first step for one unloader device 100. Then, the operator transmits an automation instruction command to the unloader device 100 for which the first step has been completed via the operation unit 220. Further, the operator performs the third step on the unloader device 100 for which the second step has been completed.

As described above, in the unloader system 1, the plurality of unloader devices 100 can be controlled by one control device 200 by automating a part of the plurality of processes. As a result, the unloader system 1 can reduce the number of personnel. The condition monitoring unit 158 is a drive control unit when the distance between the hatch combing 7 and the elevator 110 and the distance between the scraping unit 112 and the wall surface of the boathouse 5 are less than the distance considered to collide. The automation may be stopped at 150.

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

For example, in the above embodiment, a plurality of unloader devices 100 are controlled by one control device 200. However, one control device 200 may be provided for one unloader device 100. In this case, the unloader control unit 140 and the monitoring control unit 210 may be integrated into one. Further, it is not necessary to provide the communication device 144 and the communication device 240.

Further, in the above embodiment, the unloader control unit 140 has a drive control unit 150, an edge detection unit 152, a coordinate conversion derivation unit 154, a model arrangement unit 156, a condition monitoring unit 158, a route generation unit 160, an automatic operation command unit 162, and an automatic operation unit. It is made to function as an operation end determination unit 164 and a collision prevention unit 166. However, the monitoring control unit 210 has a drive control unit 150, a coordinate conversion derivation unit 154, a model arrangement unit 156, a condition monitoring unit 158, a route generation unit 160, an automatic operation command unit 162, an automatic operation end determination unit 164, and a collision prevention unit 166. May function as part or all of.

Further, in the above embodiment, the distance measuring sensors 130 to 132 are arranged on the top frame 108. However, the ranging sensors 130 to 132 may be arranged in the elevator 110. Further, in the above embodiment, the distance measuring sensors 133 to 136 are arranged in the scraping unit 112. However, the distance measuring sensors 133 to 136 may be installed on the half side of the elevator 110 near the scraping portion 112.

Further, in the above embodiment, a part (cross section) of the three-dimensional model is displayed as an upper viewpoint image 500, but the measurement results (measurement points) measured by the distance measuring sensors 130 to 132 are displayed as they are. Alternatively, the straight line of the edge detected by the edge detection unit 152 may be displayed as an image. That is, based on the measurement results measured by the distance measuring sensors 130 to 132, the upper viewpoint image 500 showing at least a part of the elevator 110, the scraping unit 112, the boathouse 5, and the hatch combing 7 may be displayed.

Further, in the above embodiment, a part (cross section) of the three-dimensional model is displayed as an image around the scraping portion 510, but the measurement result (measurement point) measured by the distance measuring sensors 133 to 136 is used as it is. It may be displayed as. That is, based on the measurement results measured by the distance measuring sensors 133 to 136, the image around the scraping section 510 showing at least a part of the elevator 110, the scraping section 112, and the boathouse 5 may be displayed.

Further, in the above embodiment, the unloader device 100 will be described as an example of the unloading device. However, the unloading device may be a device having a mechanism for pumping by a crane, a continuous unloader (bucket type, belt type, vertical screw conveyor type, etc.), a grab type unloader, a pneumatic unloader, or the like.

Further, in the above embodiment, three distance measuring sensors 130 to 132 are provided so as to measure from the plane direction in contact with the cylinder toward a certain angle range at a distance of 120 degrees in the circumferential direction of the elevator 110. However, the number of distance measuring sensors may be three or more. Further, the distance measuring sensor does not need to be installed so as to measure in the direction of the plane in contact with the cylinder, and may be installed at an angle from the plane. At least one may be provided so as to be oriented in a direction different from that of the other ranging centers by 45 degrees or more in the circumferential direction (on a plane including the same). Further, the distance measuring sensor may be provided so that the measuring range is different.

Further, in the above embodiment, the vertical transport mechanism unit exemplified by the elevator 110 or the like indicates a mechanism for transporting a load mainly upward from the scraping unit 112, and does not indicate that the load is strictly vertical.

100 Unloader device (unloading device)
110 Elevator (vertical transport section)
112 Scraping unit 130 Distance measurement sensor 131 Distance measurement sensor 132 Distance measurement sensor 133 Distance measurement sensor 134 Distance measurement sensor 135 Distance measurement sensor 136 Distance measurement sensor 152 Edge detection unit 154 Coordinate conversion derivation unit 156 Model placement unit 158 Condition monitoring unit 166 Collision prevention unit 230 Display unit

Claims (13)

It is a unloading device installed on the quay and carrying out the cargo loaded in the boathouse to the outside.
An edge detector that detects the edge of the upper end of the hatch combing provided at the top of the boathouse in a ship,
The edge side information about each side of the edge is derived based on the edge detected by the edge detection unit, and the conversion parameter between the coordinate system of the unloading device and the coordinate system of the garage is based on the derived edge side information. And the coordinate conversion derivation part that derives
A storage unit that stores at least a part of the three-dimensional model of the unloading device and at least a part of the three-dimensional model of the ship, and at least a part of the three-dimensional model of the unloading device is the unloading device. The storage unit, which is represented by the coordinate system, and at least a part of the three-dimensional model of the ship is represented by the coordinate system of the garage.
Based on the detection result of the edge detection unit, a model arrangement unit for arranging at least a part of the three-dimensional model of the unloading device and at least a part of the three-dimensional model of the ship.
Equipped with
The model placement unit
Using the conversion parameters derived by the coordinate conversion derivation unit, at least one of the three-dimensional models of the unloading device stored in the storage unit and represented by the coordinate system of the unloading device can be obtained. Place it on the coordinate system of the garage together with the 3D model of the part.
Unloading device. The model placement unit
The unloading device according to claim 1, wherein a three-dimensional model of a vertical transport mechanism unit that holds a scraping unit that scrapes off the cargo in the boathouse and a three-dimensional model of the hatch combing are arranged. The model placement unit
The unloading device according to claim 1 or 2, wherein the three-dimensional model of the scraping section for scraping the cargo in the boathouse and the three-dimensional model of the boathouse are arranged. A condition monitoring unit that derives the minimum distance between the three-dimensional model of at least a part of the unloading device and the three-dimensional model of at least a part of the ship, and the direction of the minimum distance.
The unloading device according to any one of claims 1 to 3 , further comprising a collision prevention unit that limits the operation of the unloading device when the minimum distance is equal to or less than a threshold value. A condition monitoring unit that derives the minimum distance between the three-dimensional model of at least a part of the unloading device and the three-dimensional model of at least a part of the ship, and the direction of the minimum distance.
The unloading device according to any one of claims 1 to 3 , further comprising a collision prevention unit that limits the operation of the unloading device in the direction of the minimum distance when the minimum distance is equal to or less than a threshold value. The second aspect of claim 2 includes a cross section of the vertical transport mechanism portion and the three-dimensional model of the hatch combing arranged by the model arrangement unit, and a display unit for displaying the distance between the vertical transport mechanism unit and the hatch combing. Unloading device. Equipped with a distance measuring sensor that measures the distance to a plurality of measurement points projected onto the ship.
The edge detection unit is
Using the plurality of measurement points measured by the distance measuring sensor, the direction between the plurality of measurement points is derived, and the measurement points whose direction between the measurement points is the vertical direction are extracted and in the vertical direction. The unloading device according to any one of claims 1 to 6 , wherein the uppermost point is extracted as the edge point of the hatch combing. The edge detection unit is
The unloading according to claim 7 , wherein the plurality of measurement points are divided into two groups with reference to the vertical direction, and the edge points of the hatch combing are extracted from the measurement points included in the group for each group. Device. The coordinate transformation derivation unit is
After associating the straight line of the edge of the hatch combing in the edge side information and the upper end side of the three-dimensional model of the hatch combing based on the posture of the unloading device, the straight line of the edge and the said are associated. The unloading device according to any one of claims 1 to 8, wherein the conversion parameter is derived based on the positional relationship of the upper end sides. The coordinate transformation derivation unit is
The straight line of the edge of the hatch combing based on the edge side information is represented by a three-dimensional point cloud, and the total distance between the three-dimensional point cloud and the upper end side in the three-dimensional model of the hatch combing is minimized. The unloading device according to claim 9 , wherein the conversion parameter is derived. The coordinate transformation derivation unit is
The unloading device according to claim 9 , wherein the direction of the straight line of the edge of the hatch combing in the edge side information is corrected based on the information acquired from the sensor that detects the posture of the unloading device. The distance measuring sensor is
The seventh aspect of claim 7 is provided with a distance measuring sensor capable of measuring a distance from the upper part of the vertical transport mechanism unit to the lower side and a distance measuring sensor capable of measuring a distance toward the side side and the lower side of the scraping unit. Unloading device. The coordinate conversion derivation unit converts the coordinate system of the unloading device and the coordinate system of the boathouse based on the measurement result of the distance measuring sensor capable of measuring the distance from the upper part to the lower side of the vertical transport mechanism unit. Derived the parameters
The unloading device converts the measurement result of the distance sensor capable of measuring distance toward the side and the lower side of the scraping section from the coordinate system of the boathouse by using the conversion parameter, and the scraping section. The unloading device according to claim 12 , further comprising a display unit that displays the measurement result of the distance sensor capable of measuring distances toward the side and the lower side of the boathouse in the coordinate system of the boathouse.

Images