JP7237703B2 - Unloading device - Google Patents

Description

The present disclosure relates to unloading equipment.

The unloading device unloads the cargo loaded in the shiphouse to the outside of the shiphouse. There is an unloader device as an example of the unloading device. In unloader devices, it is often difficult or impossible for the operator to directly see the condition of the cargo, the distance to the wall of the ship, and the like. In the unloader device, a technique (for example, Patent Literature 1) has been developed in which a sensor is attached to the scraping portion to measure the distance to the wall of the shipyard.

JP-A-8-012094

As described above, the technique described in Patent Literature 1 can grasp the distance between the scraping section and the wall of the shipyard. However, it was difficult for the operator to grasp the position of the hatch coaming of the ship.

In view of such problems, an object of the present disclosure is to provide a cargo unloading device capable of easily grasping the position of the hatch coaming of a ship.

In order to solve the above problems, the unloading device according to one aspect of the present disclosure includes a distance sensor that measures a distance downward from above a ship, and a plurality of measurement points whose distances are measured by the distance sensor. and a measurement point extraction unit for extracting measurement points having a predetermined reference height or more in the vertical direction, deriving the frequency in the vertical direction for the measurement points measured by the distance measuring sensor, and calculating the derived vertical direction Derive the height of the hatch cover based on the frequency of

The measurement point extraction unit may extract the measurement points using the deck height of the ship as the reference height.

A display control unit may be provided that switches and displays the measurement points extracted by the measurement point extraction unit and the measurement points not extracted by the measurement point extraction unit.

The display control unit may display the measurement points above the height of the deck of the ship in the vertical direction, and hide the measurement points below the height of the deck of the ship.

The display control unit may superimpose and display a scraping unit that scrapes the load on the measurement point.

The display control unit may project and display the scraping unit on a horizontal plane with respect to the measurement points.

A collision prevention unit may be provided that stops movement of the unloading device based on the measurement points extracted by the measurement point extraction unit.

A deck height derivation unit for deriving the height of the deck as the reference height based on the height of the hatch cover, and based on the height of the hatch cover. may be provided.

It is possible to easily grasp the position of the hatch coaming of the ship.

It is a figure explaining the outline|summary of an unloader apparatus. It is a figure explaining the structure of an unloader apparatus. It is a figure explaining the measurement range of a ranging sensor. It is a figure explaining the measurement range of a ranging sensor. It is a figure explaining the measurement range of a ranging sensor. It is a figure explaining the measurement range of a ranging sensor. It is a figure explaining the electrical structure of an unloader apparatus. 4 is a flow chart showing the flow of processing for displaying a measurement point cloud image; It is a figure explaining the measurement point measured by the ranging sensor. It is a figure explaining the process which derives the height of a deck. It is a figure which shows an example of a measurement point cloud image.

An embodiment of the present disclosure will be described in detail below with reference to the accompanying drawings. The dimensions, materials, and other specific numerical values shown in such embodiments 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 given the same reference numerals to omit redundant description, and elements that are not directly related to the present disclosure are omitted from the drawings. do.

FIG. 1 is a diagram for explaining the outline of the unloader device 100. As shown in FIG. As shown in FIG. 1 , an unloader device 100 as an example of a cargo unloading device can travel on a pair of rails 3 laid along a wharf 2 in the extending direction of the rails 3 . The unloader device 100 unloads the cargo 6 loaded in the shipyard 5 of the ship 4 anchored at the wharf 2 to the outside. The cargo 6 is assumed to be a bulk cargo, an example of which is coal.

FIG. 2 is a diagram for explaining the configuration of the unloader device 100. As shown in FIG. In addition, 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 revolving 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). A position sensor 116 is provided on the traveling body 102 . Position sensor 116 is, for example, a rotary encoder. The position sensor 116 measures the horizontal position of the running body 102 with respect to a predetermined origin position based on the number of rotations of the wheels of the running body 102 .

The revolving body 104 is provided above the traveling body 102 so as to be rotatable around a vertical axis. The revolving body 104 can revolve 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 revolving body 104 so that the inclination angle can be changed. The boom 106 can change the tilt angle with respect to the revolving body 104 by being driven by an actuator (not shown).

The turning body 104 is provided with a turning angle sensor 118 and an inclination angle sensor 120 . The turning angle sensor 118 and the tilt angle sensor 120 are rotary encoders, for example. A 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 revolving structure 104 .

A 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 .

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

The scraping part 112 is provided at the lower end of the elevator 110 . The scraping part 112 rotates integrally with the elevator 110 as the elevator 110 rotates. Thus, the scraper 112 is pivotally held by the top frame 108 and elevator 110, which function as a vertical transport mechanism.

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

The scraping unit 112 is provided with a link mechanism (not shown). The link mechanism changes the length of the bottom portion of the scraping portion 112 by moving. Thereby, the scraping part 112 changes the number of the buckets 112a in contact with the cargo 6 in the ship's warehouse 5 . The scraping unit 112 scrapes the cargo 6 in the barge 5 with the bottom bucket 112a by rotating the chain 112b. The bucket 112a that has scraped the cargo 6 moves to the upper part of the elevator 110 as the chain 112b rotates.

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

The unloader device 100 having such a configuration moves in the extending direction of the rails 3 by the traveling body 102 and adjusts the relative positional relationship with the ship 4 in the longitudinal direction. Also, the unloader device 100 rotates the boom 106 , the top frame 108 , the elevator 110 and the scraping section 112 by the rotating body 104 to adjust the relative positional relationship with the vessel 4 in the lateral direction. The unloader device 100 also moves the top frame 108 , the elevator 110 and the scraping unit 112 in the vertical direction by the boom 106 to adjust the vertical relative positional relationship with the ship 4 . Also, the unloader device 100 rotates the elevator 110 and the scraping unit 112 by the top frame 108 . Thereby, the unloader device 100 can move the scraping part 112 to any position and angle.

Here, the ship 4 is provided with a plurality of shipyards 5 . A hatch coaming 7 is provided in the upper part of the ship's warehouse 5 . The hatch coaming 7 has a wall surface with a predetermined height in the vertical direction. In addition, the hatch coaming 7 has a smaller opening area than the horizontal cross section near the center of the garage 5 . In other words, the shipyard 5 has a shape in which the opening is narrowed by the hatch coaming 7 . A hatch cover 8 for opening and closing the hatch coaming 7 is provided above the hatch coaming 7 .

The unloader device 100 is provided with ranging sensors 130-136. The distance measuring sensors 130 to 136 are, for example, laser sensors capable of distance measurement, and VLP-16 and VLP-32 manufactured by Velodyne, M8 manufactured by Quanergy, etc. are applied. The distance measuring sensors 130 to 136 are provided with 16 laser irradiating portions spaced apart along the axial direction, for example, on the side surface of a cylindrical main body portion. The laser irradiation section is provided in the body section so as to be rotatable by 360 degrees. The laser irradiating sections are arranged such that the laser irradiating sections arranged adjacent to each other have a uniform difference in axial laser emission angle of 1 to 2.5 degrees. In other words, the distance measuring sensors 130 to 136 can irradiate a laser within a range of 360 degrees in the circumferential direction of the main body. Moreover, the distance measuring sensors 130 to 136 can emit laser beams within a range of ±15 degrees with respect to a plane perpendicular to the axial direction of the main body. Further, each of the distance measuring sensors 130 to 136 is provided with a receiving portion for receiving a laser in its main body.

The distance measuring sensors 130 to 136 irradiate the laser at every predetermined angle while rotating the laser irradiation section. The distance measuring sensors 130 to 136 each receive laser beams that are irradiated (projected) from a plurality of laser irradiation units and reflected by an object (measurement point). Distance sensors 130 to 136 then derive the distance to the object based on the time from laser irradiation to reception. In other words, the distance measuring sensors 130 to 136 each measure distances to a plurality of measurement points on one measurement line using one laser irradiation unit. Further, the distance measuring sensors 130 to 136 measure distances to a plurality of measurement points on a plurality of measurement lines using a plurality of laser irradiation units.

3 and 4 are diagrams for explaining the measurement ranges of the ranging sensors 130-132. FIG. 3 is a diagram for explaining the measurement ranges of the range sensors 130 to 132 when the unloader device 100 is viewed from above. FIG. 4 is a diagram illustrating the measurement ranges of the distance sensors 130 to 132 when the unloader device 100 is viewed from the side. 3 and 4, the measurement ranges of the distance measuring sensors 130 to 132 are indicated by dashed lines.

Range sensors 130 to 132 are mainly used to detect hatch coaming 7 . Ranging sensors 130-132 are attached to the sides of top frame 108, as shown in FIGS. Specifically, distance measuring sensors 130 to 132 are arranged circumferentially apart from each other by 120 degrees with the central axis of elevator 110 as a reference. Further, the distance measuring sensors 130 to 132 are arranged such that the central axis of the main body portion extends along the radial direction of the elevator 110 . Note that the distance measuring sensors 130 to 132 are covered with a cover (not shown) in the upper half in the vertical direction.

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

5 and 6 are diagrams for explaining the measurement ranges of the ranging sensors 133-136. FIG. 5 is a diagram for explaining the measurement ranges of the distance measuring sensors 133 to 136 when the scraping section 112 is viewed from above. 5 shows only the scraping section 112 of the unloader device 100. As shown in FIG. 5 shows a horizontal cross-section of the ship 4 at the same position in the vertical direction as the scraping portion 112. As shown in FIG. FIG. 6 is a diagram illustrating the measurement ranges of the distance sensors 133 to 136 when the unloader device 100 is viewed from the side. 5 and 6, the measurement ranges of the distance measuring sensors 133 and 134 are indicated by dashed lines. 5 and 6, the measurement ranges of the distance measuring sensors 135 and 136 are indicated by two-dot chain lines.

The ranging sensors 133 to 136 are mainly used to detect the cargo 6 inside the ship's warehouse 5 and the wall surfaces (side walls and bottom surface) of the ship's warehouse 5 . The ranging sensor 133 is attached to the side surface 112c of the scraping section 112, as shown in FIGS. The distance measuring sensor 133 is arranged such that the center axis of the main body section is perpendicular to the side surface 112 c of the scraping section 112 . The ranging sensor 134 is attached to the side surface 112 d of the scraping section 112 . The distance measuring sensor 134 is arranged such that the center axis of the main body section is perpendicular to the side surface 112 d of the scraping section 112 . A part of the distance measuring sensors 133 and 134 in the vertical direction is covered with a cover (not shown).

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

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

Therefore, the distance measuring sensors 135 and 136 are positioned outside the scraping portion 112 as the measurement direction, and are perpendicular to the side surfaces 112c and 112d of the scraping portion 112 (or perpendicular to the central axis of the main body). It is possible to measure the distance of an object existing in the range of ±15 degrees with respect to the plane).

After measuring the distance to the object, the ranging sensors 130 to 136 transmit measurement data indicating the distance to the object to the unloader control section 140 (see FIG. 7).

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

Unloader control unit 140 is connected to position sensor 116 , turning angle sensor 118 , tilt angle sensor 120 , turning angle sensor 122 , ranging sensors 130 to 136 , storage unit 142 and display unit 144 . The unloader control unit 140 is composed of a semiconductor integrated circuit including a CPU (Central Processing Unit). The unloader control unit 140 reads programs, parameters, etc. for operating the CPU itself from the ROM. 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.

The unloader control unit 140 also functions as a drive control unit 150 , a measurement data acquisition unit 152 , a measurement point extraction unit 154 , a deck height derivation unit 156 , a display control unit 158 and a collision prevention unit 160 . Details of the functional units of the unloader control unit 140 will be described later.

The storage unit 142 is a storage medium such as a hard disk or nonvolatile memory. The display unit 144 is an LED display, an organic EL display, or the like. The display unit 144 displays a measurement point cloud image, which will be described later in detail.

FIG. 8 is a flow chart showing the flow of processing for displaying a measured point cloud image. As shown in FIG. 8, when the process of displaying the measurement point cloud image is started, the measurement data acquisition unit 152 performs the measurement data acquisition process of acquiring the measurement data of the measurement points measured by the ranging sensors 130 to 132 as needed. (S100). Note that the measurement data acquisition unit 152 periodically acquires measurement data from the ranging sensors 130 to 132 at a frequency of 1 to 5 times per second.

FIG. 9 is a diagram for explaining measurement points measured by the ranging sensors 130-132. In addition, in FIG. 9, the measurement line of the measurement point is indicated by a one-dot chain line. As described above, the distance measuring sensors 130 to 132 measure the distances to objects (measurement points) downward from above the ship 4 . Therefore, as shown in FIG. 9, when the unloader device 100 scrapes the cargo 6 in the shipyard 5, the distance sensors 130 to 132 measure the distance to the ship 4 centering on the shiphouse 5. Become. Specifically, the distance measuring sensors 130 to 132 measure the distances to the deck 9 of the ship 4 , the hatch coaming 7 , the hatch cover 8 and the cargo 6 in the warehouse 5 . However, the distance sensors 130 to 132 also measure distances to the quay 2 and the sea S in addition to the ship 4 (included in the measurement range).

Here, since the operator needs to operate the unloader device 100 so as not to collide the elevator 110 and the scraping unit 112 with the hatch coaming 7, the relative positions of the hatch coaming 7, the elevator 110 and the scraping unit 112 are must be understood.

However, if the measurement points as shown in FIG. will be displayed. This makes the position of the hatch coaming 7 unclear.

Therefore, the measurement point extraction unit 154 excludes the measurement points corresponding to the land side of the wharf 2 from among the measurement points measured by the ranging sensors 130 to 132 (S102 in FIG. 8). Specifically, the measurement point extraction unit 154 derives the three-dimensional positions of the measurement points measured by the range sensors 130-132. Note that the three-dimensional positions of the measurement points are derived with reference to a predetermined initial position of the unloader device 100 .

First, the measurement point extraction unit 154 extracts the measurement points measured by the distance sensors 130 to 132 based on the laser irradiation angle and the distance to the measurement points. A three-dimensional position of the measurement point is derived.

After that, the measurement point extraction unit 154 derives the three-dimensional positions of the range sensors 130 to 132 with respect to the initial position based on the measurement results of the position sensor 116, turning angle sensor 118, tilt angle sensor 120, and turning angle sensor 122. . In addition, the measurement point extraction unit 154 extracts the three-dimensional positions of the measurement points relative to the initial positions based on the three-dimensional positions of the ranging sensors 130 to 132 relative to the initial positions and the three-dimensional positions of the measurement points relative to the ranging sensors 130 to 132. Derive the position.

When the three-dimensional positions of the measurement points with respect to the initial positions are derived for all the measurement points, the measurement point extraction unit 154 excludes the measurement points located on the land side of the wharf 2 . In addition, the distance to the quay 2 with respect to the initial position is known in advance. Therefore, whether or not the measurement point is located on the land side of the wharf 2 can be determined based on the three-dimensional position of the measurement point relative to the initial position and the position of the wharf 2 relative to the initial position.

Subsequently, the measurement point extraction unit 154 excludes measurement points located vertically below the wharf 2 from the measurement points that are not excluded (S104 in FIG. 8). Here, since the measurement points corresponding to the ship 4 are located vertically above the quay 2, the measurement points corresponding to the sea S located vertically below the quay 2 are excluded. As a result, only the measurement points corresponding to the ship 4 are extracted (remained) from among the measurement points measured by the ranging sensors 130-132.

The deck height deriving unit 156 derives the height of the deck 9 of the ship 4 (S106 in FIG. 8). FIG. 10 is a diagram illustrating the process of deriving the height of the deck 9. As shown in FIG. In FIG. 10, the measurement points (black circles) corresponding to the ship 4 are shown on the left side of the drawing, and the histogram is shown on the right side of the drawing. In addition, the measurement points (black circles) indicate not only the same cross section but also other cross sections.

As shown in FIG. 10 , in the ship 4 , the hatch cover 8 is positioned higher than the hatch coaming 7 , and the hatch coaming 7 is positioned higher than the deck 9 in the vertical direction. Also, the deck 9 is positioned higher than the surface of the cargo 6 .

Since the distance measuring sensors 130 to 132 are positioned above the ship 4, there are relatively many measurement points on the hatch cover 8 and the deck 9. Further, the hatch cover 8 extends substantially horizontally, while the deck 9 is curved with respect to the horizontal direction. This is a general structure for avoiding rainwater staying on the deck 9 .

Therefore, as shown on the right side of FIG. 10, when a histogram is taken in the vertical direction (the frequency is derived) for the extracted measurement points, the position corresponding to the hatch cover 8 becomes the peak (maximum frequency). . Therefore, the deck height deriving unit 156 draws a histogram in the vertical direction for the extracted measurement points, and derives the height of the peak of the histogram as the height of the hatch cover 8 .

Subsequently, the deck height derivation unit 156 sets a predetermined range (for example, ±4 m) in the vertical direction with respect to the height of the hatch cover 8, and within the set range, the histogram has a predetermined frequency or more. Detect height. In the example of FIG. 10, two heights will be detected. The predetermined frequency is set to ⅓ of the frequency (peak) of the hatch cover 8, for example.

Here, what is positioned within a predetermined range with respect to the height of the hatch cover 8 is the deck 9 and the structures on the deck 9, and the deck 9 is the lowest position in the vertical direction. Therefore, the deck height derivation unit 156 determines the lowest height in the vertical direction as the height of the deck 9 among the detected heights.

FIG. 11 is a diagram showing an example of the measurement point cloud image 400. As shown in FIG. In addition, in FIG. 11, the measurement line of the measurement point is indicated by a one-dot chain line. Further, in FIG. 11, hatch coamings 7 are indicated by dashed lines for convenience of explanation, but hatch coamings 7 are not actually displayed.

When the deck height derivation unit 156 derives the height of the deck 9, the measurement point extraction unit 154 sets the height of the deck 9 in the vertical direction as a reference height, and extracts measurement points that are equal to or higher than the reference height (Fig. 8 S108). Here, as also shown in FIG. 10 , the cargo 6 exists at a position lower than the deck 9 in the vertical direction. Therefore, by extracting only the measurement points above the height of the deck 9 in the vertical direction, the measurement points corresponding to the cargo 6 are excluded.

Thereafter, as shown in FIG. 11, the display control unit 158 generates a measurement point cloud image 400 in which the measurement points extracted by the measurement point extraction unit 154 are projected vertically upward, and displays it on the display unit 144 (FIG. 8). S110).

As a result, most of the measurement points displayed in the measurement point cloud image 400 are the measurement points corresponding to the deck 9, the hatch coaming 7, and the hatch cover 8, and as is clear from FIG. become recognizable. Therefore, the operator can easily grasp the position of the hatch coaming 7 .

The display control unit 158 also superimposes the images of the elevator 110 and the scraping unit 112 on the measurement point cloud image 400 and displays them. That is, the display control unit 158 projects and displays the elevator 110 and the scraping unit 112 on the horizontal plane with respect to the measurement points extracted by the measurement point extraction unit 154 . The positions of elevator 110 and scraping unit 112 are derived based on the measurement results of position sensor 116 , turning angle sensor 118 , tilt angle sensor 120 and turning angle sensor 122 . Note that the images of the elevator 110 and the scraping unit 112 may be models that approximate the shapes of the elevator 110 and the scraping unit 112 .

As a result, the operator can easily grasp the relative relationship between the hatch coaming 7, the elevator 110 and the scraping portion 112, and suppresses a situation in which the elevator 110 and the scraping portion 112 collide with the hatch coaming 7. can do.

The collision prevention unit 160 detects the measurement points (extracted by the measurement point extraction unit 154) corresponding to the ship 4 when viewed vertically from above under the condition that the scraping unit 112 is lowered from outside the ship shed 5 toward the hatch coaming 7. When the measuring point (measurement point) overlaps the elevator 110 and the scraping unit 112, collision prevention processing is performed to stop the vertical movement of the unloader device 100 (S112 in FIG. 8). When the measurement point corresponding to the ship 4 , the elevator 110 and the scraping unit 112 overlap when viewed from above, the scraping unit 112 may collide with the ship 4 . Therefore, the collision prevention section 160 can avoid collision between the ship 4 and the scraping section 112 by stopping the movement of the unloader device 100 .

Note that the collision prevention unit 160 stops the movement of the unloader device 100 when the relative distance between the measurement point corresponding to the ship 4 and the scraping unit 112 is within a predetermined range (for example, within 1 m). good too. Further, the collision prevention unit 160 stops the movement of the unloader device 100 based on the measurement points extracted by the measurement point extraction unit 154 even after the scraping unit 112 is inserted into the shipyard 5. may In other words, the collision prevention section 160 should stop the movement of the unloader device 100 based on the measurement points extracted by the measurement point extraction section 154 . Also, the stop may be stopped in all directions, or the movement in the direction toward a nearby measurement point may be stopped. Alternatively, movement only in the vertical direction may be stopped. Also, the relative distance may be a distance on a plane or a three-dimensional distance. Further, the collision prevention section 160 may operate only when the height of the lower surface of the scraping section 112 approaches the height of the deck or the height of the hatch coaming 7 .

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 obvious that a person skilled in the art can conceive of various modifications or modifications within the scope of the claims, and they are naturally within the technical scope.

For example, in the above-described embodiment, the display control unit 158 generates the measurement point cloud image 400 by projecting the measurement points extracted by the measurement point extraction unit 154 from above vertically, and displays it on the display unit 144 . However, the display control unit 158 may display the extracted measurement points in different colors for each height range in the vertical direction. Thereby, it is possible to easily grasp which of the hatch coaming 7, the hatch cover 8, and the deck 9 is the measurement point. Further, the display control unit 158 may display the extracted measurement points in different sizes for each height range in the vertical direction.

Further, in the above embodiment, the display control unit 158 generates the measurement point cloud image 400 by projecting the measurement points extracted by the measurement point extraction unit 154 from above vertically, and displays it on the display unit 144 . However, of the measurement points extracted by the measurement point extraction unit 154, the display control unit 158 displays only the measurement points within a predetermined range (-2 m to 3 m) based on the height of the deck 9 in the measurement point cloud image 400. You may make it

Further, in the above embodiment, the deck height derivation unit 156 derives the height of the peak of the histogram as the height of the hatch cover 8 . However, the deck height derivation unit 156 may derive the height of the hatch cover 8 by another method using a histogram, such as the median value of the integrated frequency.

Further, although the collision prevention section 160 is provided in the above embodiment, the collision prevention section 160 is not essential.

In the above embodiment, the measurement point extraction unit 154 derives the height of the deck 9 and then extracts it from the measurement points measured by the ranging sensors 130 to 132. However, the extracted measurement points are Measurement data from other measurement sensors may also be used.

In the above-described embodiment, the measurement point extraction unit 154 uses the height of the deck 9 as the reference height, and extracts measurement points equal to or higher than the reference height. However, for example, the measurement point extraction unit 154 may derive the height of the hatch coaming 7 and set the height lower than the height of the hatch coaming 7 by a certain distance as the reference height.

Further, in the above embodiment, the display control unit 158 displayed the measurement points extracted by the measurement point extraction unit 154 as the measurement point cloud image 400 . That is, the display control unit 158 displays measurement points above the height of the deck 9 of the ship 4 in the vertical direction, and hides measurement points below the height of the deck 9 . However, the display control unit 158 can change the display direction by, for example, using different colors for the measurement points extracted by the measurement point extraction unit 154 and other measurement points (measurement points not extracted by the measurement point extraction unit 154). may be switched and displayed. For example, the display control unit 158 may switch the display method between measurement points above the height of the deck 9 of the ship 4 and measurement points below the height of the deck 9 in the vertical direction.

In the above-described embodiment, the display control unit 158 projects (superimposes) the elevator 110 and the scraping unit 112 onto the horizontal plane with respect to the measurement points extracted by the measurement point extraction unit 154. bottom. However, the display control unit 158 may project and display the elevator 110 and the scraping unit 112 horizontally or obliquely on the measurement points extracted by the measurement point extraction unit 154 .

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

INDUSTRIAL APPLICABILITY The present disclosure can be utilized in a loading device.

100 Unloader device (unloading device)
130 distance measurement sensor 131 distance measurement sensor 132 distance measurement sensor 154 measurement point extraction unit 158 display control unit

Claims (8)

a ranging sensor that measures a distance downward from above the ship;
a measurement point extracting unit that extracts the measurement points having a predetermined reference height or more in the vertical direction from among the plurality of measurement points whose distances are measured by the distance measuring sensor;
with
A cargo unloading device that derives a frequency in the vertical direction for the measurement points measured by the range sensor, and derives a height of the hatch cover based on the derived frequency in the vertical direction. The measurement point extraction unit
2. The unloading apparatus according to claim 1, wherein said reference height is taken as the deck height of said ship and said measurement points are extracted. The unloading according to claim 1 or 2, further comprising a display control unit that switches and displays the measurement points extracted by the measurement point extraction unit and the measurement points that are not extracted by the measurement point extraction unit. Device. The display control unit
4. The unloading apparatus according to claim 3, wherein the measurement points above the height of the deck of the ship are displayed in the vertical direction, and the measurement points below the height of the deck of the ship are hidden. The display control unit
The unloading device according to claim 3 or 4, wherein a scraping portion for scraping the cargo is superimposed on the measurement point and displayed. The display control unit
The unloading device according to claim 5, wherein the scraping portion is projected onto a horizontal plane and displayed with respect to the measurement point. The unloading device according to any one of claims 1 to 6, further comprising a collision prevention unit that stops movement of the unloading device based on the measurement points extracted by the measurement point extraction unit. A deck height derivation unit that derives the height of the hatch cover as the height with the highest frequency in the derived vertical direction , and derives the height of the deck as the reference height based on the height of the hatch cover. The unloading device according to any one of claims 1 to 7.

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