JP7285122B2 - Shape derivation device - Google Patents

Description

The present disclosure relates to a shape derivation device.

Conventionally, there is a technique in which the distance to an object is measured, the shorter the measured distance is, the larger the weighting factor is used, and when the total number of weighted points is equal to or greater than a predetermined value, it is determined that there is an object. It has been proposed (for example, Patent Document 1).

JP 2017-32329 A

However, the technique described in Cited Document 1 can determine the presence or absence of an object, but cannot derive the shape of the object.

In view of such problems, an object of the present disclosure is to provide a shape derivation device capable of deriving the shape of an object with high accuracy.

In order to solve the above problems, a shape derivation device according to an aspect of the present disclosure includes an area generation unit that generates a work area composed of a plurality of small areas that are three-dimensionally developed, and a measurement data acquisition unit that acquires measurement data at measurement points of an object at any time; a data accumulation unit that accumulates statistical data of measurement points in a small area corresponding to the measurement data based on the measurement data of the measurement points; and a shape deriving unit for deriving the shape of an object based on the statistical data, and the data storage unit calculates, based on the statistical data , the measurement direction vector from the measurement point to the range sensor for each small area containing the measurement point. A certain comparison direction is derived, and the shape derivation unit compares the statistical data of one small region with the statistical data of other small regions arranged in the comparison direction of the one small region, thereby determining the object Identify a small region corresponding to the surface of

The data accumulating unit stores, as statistical data, at least the measurement point that minimizes the distance from the measurement point to the distance measuring sensor when each measurement point is measured, for each small area that includes the measurement point. and the comparison direction at the measurement point having the minimum distance , and the shape derivation unit determines the small region located in the direction corresponding to the comparison direction, out of the small regions arranged in the vicinity of the one small region. may be used as comparison target sub-regions, and the shape of the object may be derived by comparing the statistical data of one sub-region and the comparison target sub-regions.

The data accumulation unit further accumulates the number of measurement points included in the small regions as statistical data, and the shape derivation unit compares the number of measurement points in one small region with the other small regions to obtain the object may derive the shape of

The data accumulation unit accumulates the measurement timings of the measurement points included in the small regions as statistical data, and the shape derivation unit compares the measurement timings of one small region with the other small regions to determine the shape of the object. can be derived.

It is possible to derive the shape of an object with high accuracy.

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. It is a flow chart which shows a flow of processing which derives a three-dimensional shape of a warehouse. It is a figure explaining the coordinate system of an unloader apparatus. It is a figure explaining the coordinate system of an unloader apparatus. FIG. 3 is a diagram for explaining a work area composed of a plurality of small areas; It is a figure explaining the measurement point of a ranging sensor. It is a figure which shows a mode that an edge point is detected. FIG. 4 is a diagram illustrating how a measurement point measured by a distance sensor is divided into upper and lower parts; It is a figure explaining bottom shape derivation processing. It is a figure explaining a mode of deriving|leading-out the small area|region corresponding to a side wall.

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 shape derivation device can travel on a pair of rails 3 laid along a quay wall 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 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 on which 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.

Further, the unloader control unit 140 includes a drive control unit 150, an area generation unit 152, an edge detection unit 154, a measurement data acquisition unit 156, a coordinate transformation derivation unit 158, a data storage unit 160, a noise removal unit 162, and a shape derivation unit 164. Function. Data storage unit 160 also functions as upper data storage unit 170 and lower data storage unit 172 . The shape derivation portion 164 also functions as a bottom surface shape derivation portion 180 and a side wall shape derivation portion 182 . The drive control unit 150 controls driving of the unloader device 100 . Details of other functional units of the unloader control unit 140 will be described later.

The storage unit 142 is a storage medium such as a hard disk or nonvolatile memory. The storage unit 142 stores data of the three-dimensional model of the unloader device 100 . The three-dimensional model data of the unloader device 100 is voxel data showing at least the outer shape of the elevator 110 and the scraping section 112 . The storage unit 142 also stores data of a three-dimensional model representing the three-dimensional shape of the shipyard 5 derived by the shape deriving unit 164, as will be described later in detail. The three-dimensional model data may be any data that allows the three-dimensional shape of the unloader device 100 and the shipyard 5 to be grasped. good too. The data of the three-dimensional model of the shipyard 5 are stored in the storage unit 142 for each ship 4 as many as the number of shipyards 5 provided in the ship 4 .

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

FIG. 8 is a flow chart showing the flow of processing for deriving the three-dimensional shape of the shipyard 5. As shown in FIG. It is assumed that the process of deriving the three-dimensional shape of the barge 5 is performed on the barge 5 from which the cargo 6 is scraped by the unloader device 100 for the first time. Therefore, when the cargo 6 is scraped from the same shipyard 5 for the second time or later, the process of deriving the three-dimensional shape of the shipyard 5 is not performed.

As shown in FIG. 8, when the process of deriving the three-dimensional shape of the shipyard 5 is started, first, the area generation unit 152 uses the hatch coaming coordinate system 320 (see FIGS. 9 and 10) as a reference (shipyard 5) is performed to create a work area 400 (see FIG. 11) (S100). A work area is a group of small areas densely arranged in a virtually generated three-dimensional space. In this embodiment, a space (so-called voxel space) in which cubic small regions (voxels) are arranged in a cubic lattice is used.

9 and 10 are diagrams for explaining the coordinate system of the unloader device 100. FIG. FIG. 9 is a top view of the unloader device 100. FIG. FIG. 10 is a side view of the unloader device 100. FIG. Here, the unloader device 100 has three coordinate systems: a ground coordinate system 300, a top frame coordinate system 310 and a hatch coaming coordinate system 320.

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

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

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

FIG. 11 is a diagram for explaining a work area 400 configured with a plurality of small areas 402. As shown in FIG. In addition, in FIG. 11, the shipyard 5 is illustrated with the dashed-dotted line. As shown in FIG. 11, the area generation unit 152 generates a work area 400 by arranging a plurality of small areas (voxels) 402 that are three-dimensionally developed with the origin O as a reference in the hatch combing coordinate system 320. . A work area 400 has a plurality of small areas 402 arranged side by side in the Xc-axis direction, the Yc-axis direction, and the Zc-axis direction. More specifically, the region generator 152 arranges the small regions 402 in both the positive direction and the negative direction in the Xc-axis direction and the Yc-axis direction, and arranges the small regions 402 only in the negative direction in the Zc-axis direction. Deploy. The small area 402 is, for example, a rectangular parallelepiped with a side of 0.2 to 1 m.

The work area 400 may be larger than the shipyard 5 as a whole, and the number of small areas 402 and the length of one side can be selected as appropriate. Moreover, the working area 400 may have a cylindrical shape centered on the Zc-axis direction as a whole.

Note that the area generation unit 152 creates two identical work areas 400 . As will be described later in detail, the small areas 402 each include the number of votes indicating the number of measurement points, the sum of the coordinates of the measurement points in the Xc-axis direction, the sum of the coordinates of the measurement points in the Yc-axis direction, the sum of the coordinates of the measurement points in the Yc-axis direction, and the Statistical data such as the sum of the coordinates of the measurement points in the direction, the minimum distance to the distance measurement sensor 133 or 134, and the measurement direction vector (comparison direction) from the measurement point to the distance measurement sensor 133 or 134 are associated and stored. Note that the items described here as statistical data are only examples, and other items such as variance values may be accumulated.

Returning to FIG. 8, the edge detection unit 154 reads the three-dimensional model information of the hatch coaming 7 stored in the storage unit 142 (S102). The three-dimensional model information of the hatch coaming 7 is a three-dimensional model of the hatch coaming 7 represented by the hatch coaming coordinate system 320 . The three-dimensional model information of the hatch coaming 7 may be created using the measurement data of the measurement points measured by the range sensors 130 to 132 when the scraping unit 112 is put into the shipyard 5 for the first time. Also, the three-dimensional model information of the hatch coaming 7 may be created using measurement data measured by another measuring instrument. Also, the three-dimensional model information of the hatch coaming 7 may be created based on a drawing of the hatch coaming 7 . In any case, it is sufficient that the three-dimensional model information of the hatch coaming 7 is created and stored in the storage unit 142 before the process of S102 is performed.

Subsequently, the measurement data acquisition unit 156 acquires the measurement data of the measurement points measured by the ranging sensors 130 to 136 (S104). Note that the measurement data acquisition unit 156 keeps each measurement from when the scraping unit 112 starts scraping the cargo 6 in the warehouse 5 until it finishes scraping all the cargo 6 (for example, 10 hours). Measurement data is periodically obtained from the distance sensors 130 to 136 at a frequency of 1 to 5 times per second.

Then, each time the measurement data acquisition unit 156 acquires measurement data from the ranging sensors 130 to 136, the coordinate transformation derivation unit 158 obtains transformation parameters for transforming the top frame coordinate system 310 into the hatch combing coordinate system 320. Coordinate transformation processing for derivation is performed (S106).

Here, the ground coordinate system 300 and the top frame coordinate system 310 can be transformed 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, their positions with respect to the scraping section 112 are known in advance. Then, based on the turning angle of elevator 110, the position of top frame coordinate system 310 can be derived.

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

Here, the relative positional relationship between the top frame coordinate system 310 and the hatch coaming coordinate system 320 changes as the unloader device 100 and the ship 4 move. For example, the top frame coordinate system 310 and the hatch coaming coordinate system 320 may move relative to each other as the ship 4 shakes or moves vertically due to the ebb and flow of the tide or the load capacity of the cargo 6 . The positional relationship changes.

Therefore, the edge detection unit 154 detects the edge of the upper end of the hatch coaming 7 based on the measurement data of the measurement points measured by the range sensors 130-132. Then, the coordinate transformation derivation unit 158 derives a transformation parameter for transforming the top frame coordinate system 310 into the hatch coaming coordinate system 320 based on the detected top edge of the hatch coaming 7 . That is, here, the positional relationship between the hatch coaming 7, which serves as a reference point in the work area 400, and the distance measuring sensor 133 or 134 is derived. The positional relationship is used to reflect the measurement points measured by the distance measuring sensors 133 and 134 to the small area 402 within the work area 400 .

First, the edge detection unit 154 calculates the three-dimensional positions of the measurement points in the top frame coordinate system 310 based on the positions of the distance sensors 130 to 132 and the distances to the measurement points measured by the distance sensors 130 to 132. to derive

FIG. 12 is a diagram for explaining measurement points of the ranging sensors 130-132. In FIG. 12, the measurement ranges of the range sensors 130 to 132 on the hatch coaming 7 are indicated by thick lines. As shown in FIG. 12, the distance sensors 130 to 132 are located below the horizontal plane and are positioned within a range of ±15 degrees from the distance sensors 130 to 132 with respect to a plane in contact with the top frame 108. Measure distance.

Therefore, the distance measuring sensors 130 to 132 have a measurement range of the edges of the hatch coaming 7 which are different on the front side and the rear side, with the vertically lower side of the distance measuring sensors 130 to 132 (the center of rotation of the elevator 110) as a reference. Note that the front side refers to the measurement range measured in the first half (time series) in one measurement. Further, the rear side refers to the measurement range measured in the latter half (time series) in one measurement.

Therefore, the measurement points measured by the distance measuring sensors 130 to 132 are divided into two on the front side and the rear side on the basis of vertically below the distance measuring sensors 130 to 132 .

FIG. 13 is a diagram showing how edge points are detected. In addition, in FIG. 13, the measurement points are indicated by black circles. FIG. 13 shows the measurement points measured by the laser irradiated to one of the laser irradiation units of the ranging sensors 130-132.

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

Then, the edge detection unit 154 extracts measurement points whose vectors are in the vertical direction. This is because the wall surface (side surface) of the hatch coaming 7 measured by the distance measuring sensors 130 to 132 extends in a substantially vertical direction. This is because the direction is vertical.

Then, if there are a plurality of consecutively extracted measurement points among the extracted measurement points, the edge detection unit 154 extracts the uppermost point in the vertical direction. This is because the top edge of the hatch coaming 7 is detected, and the top edge of the hatch coaming 7 may be the topmost point in the continuously measured point group.

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

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

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

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

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

Here, as shown in FIG. 12, if the corners of the hatch coaming 7 are included in the straight line of the edge of the upper edge of the hatch coaming 7 measured respectively on the front side and the rear side of the distance measuring sensors 130 to 132, there are two straight lines. will be measured.

Therefore, the edge detection unit 154 derives, for each group, the line segment having the largest number of similar line segments among the extracted line segments between the edge points as a candidate vector. Then, the edge detection unit 154 extracts edge points existing within a preset range with respect to the candidate vector. The edge detection unit 154 then recalculates the straight line using the extracted edge points.

Next, the edge detection unit 154 repeats the above-described processing using edge points that have not been extracted. However, if the number of extracted edge points is less than a preset threshold, no straight line is derived. Thereby, even if the corner of the hatch coaming 7 is included, straight lines of two edges can be derived.

The edge detection unit 154 derives edge straight lines by repeatedly performing the above-described processing for each group.

In this way, a maximum of 2 edge straight lines are detected at one location, so a maximum of 12 edge straight lines are detected.

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

Subsequently, the edge detection unit 154 generates edge side information including the three-dimensional direction vector of each side, the three-dimensional barycentric coordinates of each side, the length of each side, and the coordinates of the end points of each side from the straight lines of the detected edges. derive In this way, by using the distance measuring sensors 130 to 132 provided above the ship 4 to derive the edge side information of the hatch coaming 7 provided above the ship 4, the position of the ship 5 ( posture) can be easily derived with high accuracy.

Next, the coordinate transformation deriving unit 158 converts the top frame coordinate system 310 and the hatch combing coordinates based on the three-dimensional model information read in S102 and the edge side information (detection result) represented by the top frame coordinate system 310. Coordinate transformation processing is performed to derive transformation parameters for the system 320 (S106 in FIG. 8).

The coordinate transformation derivation unit 158 performs rough correction by rotating the direction of the detected straight line of the edge of the hatch coaming 7 by the turning angle of the boom 106 . In addition, the coordinate transformation deriving unit 158 associates the detected straight line of the edge of the hatch coaming 7 with the upper end side of the hatch coaming 7 in the three-dimensional shape information with the straight lines having the closest edge directions. As a result, a correct correspondence is made, so that a transformation parameter of a solution that is stably close to the correct answer can be obtained. In the correspondence, the straight lines of the detected edges of the hatch coamings 7 are represented by a three-dimensional point group, and the average value of the shortest distances between the three-dimensional point group and the upper edge of the hatch coamings 7 in the three-dimensional model information may be associated with each other. Alternatively, both the direction of the edge and the average value of the shortest distances may be taken into consideration for the correspondence.

Then, the coordinate transformation derivation unit 158 converts the rotation angles α, β, and γ about the Xb, Yb, and Zb axes, which are transformation parameters, and the progress vector t=(tx, ty, tz) by, for example, the LM method. demand. In the LM method, for example, the sum of the squares of the differences in the distances between the edge points forming the straight line of the edge and the upper end side of the hatch coaming 7 based on the three-dimensional shape information is used as the evaluation function, and the conversion parameter that minimizes the evaluation function Ask for Specifically, the sum of the distances between the edge points forming the straight line of the edge and the upper edge of the hatch coaming 7 based on the three-dimensional shape information, or the straight line of the edge and the upper end of the hatch coaming 7 based on the three-dimensional shape information A conversion parameter is obtained so that the area of the curved surface formed by the sides of is minimized. Note that the method for obtaining the transformation parameters is not limited to the LM method, and other methods such as the steepest descent method and the Newton method may be used.

In this manner, the coordinate transformation derivation unit 158 derives transformation parameters for transforming the top frame coordinate system 310 into the hatch coaming coordinate system 320 .

As a result, the unloader device 100 can express the three-dimensional positions of the measurement points measured by the distance measuring sensors 133 to 136 provided in the scraping unit 112 in the hatch combing coordinate system 320 . Therefore, it can be said that the distance measuring sensors 133 to 136 measure measurement data relating to the three-dimensional position (position information) of the hatch coaming coordinate system 320 at the measurement points of the shipyard 5 . In addition, by using the hatch coaming coordinate system 320, it is possible to reduce the influence of the ship 4's shaking and positional changes on the unloader device 100. FIG.

The data accumulation unit 160 accumulates statistical data of the measurement points for the small areas 402 formed in the work area 400 based on the three-dimensional positions of the measurement points measured by the distance measuring sensors 133 and 134 ( S108, S110 in FIG. 8).

FIG. 14 is a diagram illustrating how the measurement points measured by the distance measuring sensor 133 are divided into upper and lower parts. In addition, in FIG. 14, the measurement range of the distance measuring sensor 133 is indicated by a dashed line. As described above, the distance measuring sensor 133 is partially covered with a cover (not shown) in the vertical direction. Therefore, as shown in FIG. 14, the distance measurement sensor 133 is relatively upper (elevator 110 side) and relatively lower (scraping portion 112 It is possible to measure the distance to an object (measurement point) existing on the bottom side of the Similarly, the distance measuring sensor 134 can measure the distances to objects (measurement points) existing above and below the plane S1 perpendicular to the extension direction of the elevator 110 as a reference. The reference for separating the upper portion and the lower portion may be set at a height at which the surface of the load 6 does not enter the measurement range.

When the scraping unit 112 is inserted into the shipyard 5, the distance measuring sensors 133 and 134 mainly detect the side walls of the shiphouse 5 and the structures inside the shiphouse 5 (these Also referred to as the side of the shipyard 5), the distance to the bottom of the shiphouse 5, the side wall of the shiphouse 5, the structure in the shiphouse 5, and the cargo 6 are measured by the lower measurement points. (These are collectively called the bottom of the ship's shed 5).

Therefore, the data storage unit 160 divides the measurement data of the measurement points measured by the distance sensors 133 and 134 into measurement data of the upper measurement points and measurement data of the lower measurement points, and stores them in different work areas 400. Statistical data is accumulated for the small area 402 formed.

The upper data accumulation unit 170 derives the three-dimensional positions of the upper measurement points in the top frame coordinate system 310 among the measurement points measured by the range sensors 133 and 134 . Also, the upper data storage unit 170 converts the three-dimensional position of the top frame coordinate system 310 into the three-dimensional position of the hatch coaming coordinate system 320 using a conversion parameter.

Then, the upper data accumulation unit 170 uses the upper work area 400 to perform an upper measurement data accumulation process of accumulating statistical data in a small area 402 corresponding to the three-dimensional position of the measurement point in the hatch coaming coordinate system 320. (S108 in FIG. 8). Specifically, upon receiving the measurement data of one point, the upper data accumulation unit 170 adds 1 to the number of votes (the number of measurement points) of the corresponding small area 402 . The upper data storage unit 170 also adds the position (coordinates) of the measurement points in the Xc-axis direction to the sum of the coordinates in the Xc-axis direction. In addition, the upper data accumulation unit 170 adds the position (coordinates) of the measurement points in the Yc-axis direction to the sum of the coordinates in the Yc-axis direction. The upper data storage unit 170 also adds the position (coordinates) of the measurement points in the Zc-axis direction to the total sum in the Zc-axis direction. Since multiple points are measured in one measurement, addition may be performed multiple times in the small area 402 in one measurement. Here, by dividing the total sum of coordinates in the Xc-axis direction by the number of votes, it is possible to derive the position of the center of gravity in the Xc-axis direction of the measurement points included in the small area 402 . Therefore, by accumulating the number of votes, the sum of coordinates in the Xc-axis direction, the sum of coordinates in the Yc-axis direction, and the positions (coordinates) of the measurement points in the Zc-axis direction, the three-dimensional center of gravity of the small region 402 can be determined. can be derived.

The upper data accumulation unit 170 also derives the distance between the measurement point and the position of the distance measuring sensor 133 or 134 when the measurement point is measured. Note that the three-dimensional position of the range sensor 133 or 134 in the top frame coordinate system 310 is transformed into the hatch combing coordinate system 320 using transformation parameters. Here, instead of converting to the hatch coaming coordinate system 320, the distance between the measurement point and the position of the distance measuring sensor 133 or 134 when measuring the measurement point may be derived.

Then, the upper data storage unit 170 compares the derived distance with the minimum distance held for the small area 402, and if the derived distance is a smaller value, the minimum distance is changed to the derived distance. Update. In other words, the distance between the measurement point closest to the distance measuring sensor 133 or 134 among the measurement points included in the small area 402 and the position of the distance measuring sensor 133 or 134 when that measurement point was measured will be kept as the minimum distance.

Further, when the minimum distance is updated, the upper data storage unit 170 derives a vector from the measurement point toward the ranging sensor 133 or 134 and updates the derived vector as the measurement direction vector. Here, the vector of the measurement point with the minimum distance and the position of the distance measuring sensor 133 or 134 when the measurement point is measured is held as the measurement direction vector.

The upper data accumulation unit 170 accumulates statistical data in the corresponding small area 402 for all measurement points belonging to the upper portion each time measurement data is acquired by the ranging sensor 133 or 134 .

Similarly, the lower data accumulation unit 172 derives the three-dimensional positions of the lower measurement points in the top frame coordinate system 310 among the measurement points measured by the range sensors 133 and 134 . The lower data storage unit 172 also converts the three-dimensional position of the top frame coordinate system 310 into the three-dimensional position of the hatch coaming coordinate system 320 using the conversion parameters.

Then, the lower data accumulation unit 172 uses the lower work area 400 to perform lower measurement data accumulation processing for accumulating statistical data in a small area 402 corresponding to the three-dimensional position of the measurement point in the hatch coaming coordinate system 320. (S110 in FIG. 8). Specifically, the lower data accumulation unit 172 adds 1 to the number of votes (the number of measurement points) of the corresponding small area 402 . The lower data accumulation unit 172 also adds the position (coordinates) of the measurement points in the Xc-axis direction to the total sum of the coordinates in the Xc-axis direction. The lower data accumulation unit 172 also adds the position (coordinates) of the measurement points in the Yc-axis direction to the total sum of the coordinates in the Yc-axis direction. In addition, the lower data accumulation unit 172 adds the position (coordinates) of the measurement points in the Zc-axis direction to the total sum in the Zc-axis direction.

The lower data accumulation unit 172 also derives the distance between the measurement point and the position of the distance measuring sensor 133 or 134 when the measurement point was measured. Then, the lower data accumulation unit 172 compares the derived distance with the minimum distance accumulated for the small area 402, and if the derived distance is a smaller value, the minimum distance is changed to the derived distance. Update. Here, instead of converting to the hatch coaming coordinate system 320, the distance between the measurement point and the position of the distance measuring sensor 133 or 134 when measuring the measurement point may be derived.

In addition, when the minimum distance is updated, the lower data storage unit 172 derives a vector from the measurement point toward the ranging sensor 133 or 134, and updates the derived vector as the measurement direction vector.

The lower data storage unit 172 stores the measurement data measured by the distance measuring sensor 133 or 134 during several tens of minutes to several hours immediately before the unloader device 100 finishes scraping the cargo 6 in the warehouse 5. Each time it is acquired, statistical data is accumulated in the corresponding small area 402 for all measurement points belonging to the lower part. Thus, for the lower work area 400, statistical data is accumulated for the lower measurement points acquired during the few minutes immediately before the scraping operation of the load 6 is completed. As a result, the statistical data is accumulated at the timing when almost no cargo 6 remains in the shipyard 5.例文帳に追加Therefore, when deriving the shape of the bottom surface of the warehouse 5 described below, the measurement points corresponding to the cargo 6 can be excluded as much as possible, and the shape of the bottom surface of the warehouse 5 can be derived with high accuracy. becomes. As a result, when the cargo 6 in the same shipyard 5 is unloaded by the unloader device 100 for the second time or later, the derived shape of the bottom surface of the shiphouse 5 can be used by the operator. can be easily grasped.

The data storage unit 160 determines whether all measurements have been completed (S112). Here, for example, this is done depending on whether it is confirmed that the scraping unit 112 has risen to the extent that it is removed from the shipyard 5 . However, it may be determined whether or not all the measurements have been completed by the operator performing a predetermined operation.

Then, when it is determined that all measurements have been completed (YES in S112), the process proceeds to S114. On the other hand, if it is not determined that all measurements have been completed (NO in S112), the process proceeds to S104, and the processes of S104 to S110 are repeated until all measurements are completed.

If it is determined that all the measurements have been completed (YES in S112), the noise removal unit 162 performs noise removal processing (S114), and does not extract the small area 402 that is regarded as noise as the shape of the ship shed 5. A rejection flag is set to indicate that. Here, the noise removal unit 162 performs two noise removal processes.

In the first noise removal process, the noise removal unit 162 removes the small regions 402 having the same height in the Zc-axis direction (same XcYc plane) as small regions 402 with a low voting frequency (few measurement points). Raise the hiring flag. Specifically, the noise removal unit 162 integrates the number of votes of all the small regions 402 having the same Zc-axis direction. Then, the noise removal unit 162 flags the small regions 402 in which the number of votes of the small regions 402 having the same Zc-axis direction is less than 0.01% of the integrated value. As a result, it is possible to prevent the small area 402 with an extremely low number of votes from being adopted as the shape of the ship's shed 5 .

In the second noise removal process, the noise removal unit 162 removes 26 small regions 402 adjacent to one small region 402 (small regions 402 other than the central small region 402 in a 3×3×3=27 cube). If the number of votes for is 0, a rejection flag is set in the 1 small area 402 . This is to prevent the small area 402 from being adopted as the shape of the garage 5 when floating matter such as rain or dust is measured as a measurement point.

After the noise removal processing is performed by the noise removal unit 162, the shape derivation unit 164 derives the three-dimensional shape of the shipyard 5 (S116, S118 in FIG. 8). The bottom surface shape derivation unit 180 mainly uses a lower work area 400 (a small area 402 whose height is less than the bottom surface position plus a predetermined threshold value) to derive the three-dimensional shape of the bottom surface of the ship shed 5. A shape derivation process is performed (S116 in FIG. 8). The side wall shape derivation unit 182 mainly uses the work area 400 for the upper part (including a small area 402 having a height equal to or higher than the bottom position in the work area 400 for the lower part plus a predetermined threshold value), A side wall shape deriving process for deriving the three-dimensional shape of the side wall is performed (S118 in FIG. 8).

FIG. 15 is a diagram for explaining the bottom shape derivation process. Note that in FIG. 15, the measurement points are indicated by black circles, and the small regions 402 to be extracted are indicated by thick lines. As shown in FIG. 15, the bottom surface shape deriving unit 180 selects small regions 402 aligned in the Zc-axis direction (vertical direction) from among the small regions 402 for which no rejection flag is set in the work region 400 for the lower part. Among them, the small area 402 with the smallest Zc-axis value is extracted. If statistical data has never been accumulated in the small area 402, that is, if it does not contain even one measurement point, a rejection flag is set for that small area 402. is not extracted by

In the lower measurement data accumulation process described above, the statistical data of each small area 402 is accumulated even for the measurement points when the cargo 6 remains in the ship's warehouse 5 . In such a case, the measurement points for the cargo 6 are also accumulated in the statistical data. On the other hand, when the cargo 6 decreases and the bottom of the garage 5 is exposed, statistical data about the measurement points for the bottom of the garage 5 is accumulated. Therefore, by utilizing the fact that the bottom of the barge 5 is located below the cargo 6 in the Zc-axis direction, the small region 402 with the smallest Zc-axis value is extracted from among the small regions 402 aligned in the Zc-axis direction. Thus, a small area 402 corresponding to the bottom of the ship's shed 5 can be extracted.

Then, the bottom shape deriving unit 180 sets the center of gravity position of the extracted small region 402 in the Zc-axis direction as the representative height. The bottom shape derivation unit 180 extracts the small regions 402 at all positions on the XcYc plane and derives the representative height. Then, the bottom shape deriving unit 180 divides the range at predetermined intervals (for example, 0.2 to 1 m) in the Zc-axis direction, and derives the number of small areas 402 including the representative height for each divided range. . Note that the interval in the Zc-axis direction and the interval in the XcYc direction may be different.

Subsequently, the bottom shape derivation unit 180 determines the representative height of the small regions 402 included in the range in which the number of small regions 402 including the representative height is the largest and the range in which 50% or more of the largest number is derived. The average height is derived as the height of the bottom of the barge 5 . Here, the bottom surface of the shipyard 5 is not always constant in the Zc-axis direction, and may be inclined, partially protruded or recessed. Therefore, the range in which the number of small regions 402 including the representative height is the largest is likely to be the height of the bottom surface. An average base height can be derived.

Subsequently, the bottom surface shape derivation unit 180 is configured to form a small region 402 at the height of the bottom surface of the ship shed 5 and a small region adjacent to the small region 402 in the Zc-axis direction for each of the same small regions 402 on the XcYc plane. 402 to extract statistical data. Then, the bottom shape derivation unit 180 adds up the extracted statistical data for each item, and derives the positions of the centers of gravity of the three small regions 402 as the positions of the bottom surface. Here, considering that the bottom surface of the shipyard 5 may straddle a plurality of small regions 402, the small regions 402 adjacent in the Zc-axis direction are also extracted. Thereby, the bottom surface position can be derived with higher accuracy.

The bottom surface shape derivation unit 180 similarly derives the bottom surface positions for all the small regions 402 on the XcYc plane. As a result, the bottom surface shape derivation unit 180 derives the shape of the bottom surface (shape of the bottom portion) of the ship shed 5 from a point group of a plurality of bottom surface positions (gravity center positions).

16A and 16B are diagrams for explaining how small regions 402 corresponding to the sidewalls are derived. The side wall shape deriving unit 182 determines whether the rejection flag is set in the small area 402 of the upper work area 400 or the small area 402 having a height equal to or higher than the bottom surface position in the lower work area 400 plus a predetermined threshold value. From among the non-upright small regions 402, the small regions 402 above the position in the Zc-axis direction obtained by adding a predetermined value to the height of the bottom derived by the bottom shape derivation unit 180 are extracted.

Then, as shown in FIG. 16, the side wall shape derivation unit 182 extracts eight small regions 402 around an arbitrary one small region 402 (central small region 402 in the drawing) on the XcYc plane. Then, the side wall shape derivation unit 182 selects a small region 402 corresponding to the measurement direction vector of one small region 402 from among the eight small regions 402 as a comparison target small region (thick line small region 402 in the drawing). Extract. Specifically, the side wall shape deriving unit 182 calculates the small region corresponding to the vector closest to the measurement direction vector (with the smallest angular difference) among the vectors from the one small region 402 to the eight small regions 402. 402 is extracted as a small area to be compared. After that, the side wall shape derivation unit 182 compares the number of votes of the small area 402 of 1 with the number of votes of the comparison target area. Further, the side wall shape deriving unit 182 sets a reject flag for the small region 402 with a small number of votes as a result of the comparison.

The side wall shape derivation unit 182 similarly performs the processing of extracting comparison target regions, comparing the number of votes, and raising rejection flags for all the small regions 402 .

Then, the side wall shape derivation unit 182 derives, as the side wall position, the barycentric position of the small region 402 for which the rejection flag is not set, that is, the small region 402 has been determined to have a large number of votes. In other words, the side wall shape derivation unit 182 identifies the small region 402 corresponding to the side wall (surface) by comparing statistical data between the small regions 402 arranged along the measurement direction vector. As a result, the side wall shape derivation unit 182 derives the side wall shape (side portion shape) of the ship shed 5 from a point group of a plurality of side wall positions (gravity center positions).

Here, the measurement direction vector indicates the direction when the measurement point having the shortest distance from the distance measurement sensor 133 or 134 is measured. Therefore, it can be said that the measurement direction vector indicates the center direction of the shipyard 5 . In the direction along the measurement direction vector, a plurality of small regions 402 having different numbers of measurement points due to measurement errors are arranged.

Therefore, by comparing the number of votes between the small area 402 of 1 and the comparison target small area corresponding to the measurement direction, the side wall shape derivation unit 182 leaves only the small area 402 at the most probable position as the ship shed 5. (Do not raise rejection flag). Thereby, the side wall shape deriving section 182 can derive the shape of the side wall of the ship shed 5 with high accuracy.

The shape derivation unit 164 derives a point group of a plurality of bottom positions (center of gravity positions) of the ship shed 5 and a point group of a plurality of side wall positions (center of gravity positions). A three-dimensional model of the barge 5 is generated and stored in the storage unit 142 based on the group and the point group of a plurality of side wall positions (gravity center positions). The method of generating the three-dimensional model is, for example, to generate a three-dimensional model by arranging voxels centered on the bottom surface and side wall positions, or to derive curved surfaces connecting the adjacent bottom surface positions and side wall positions. A three-dimensional model may be generated by using any method.

As described above, the unloader device 100 generates the work area 400 based on the shipyard 5 and accumulates the statistical data of the measurement points in the small areas 402 of the work area 400 . As a result, the unloader device 100 can always accumulate statistical data with the shipyard 5 as a reference even when the range sensors 133 and 134 are moving with respect to the shiphouse 5 . Thus, the unloader device 100 can increase the accuracy of accumulating statistical data and derive the three-dimensional shape of the shipyard 5 with high accuracy.

Further, the unloader device 100 displays a three-dimensional model of the shipyard 5 on the display unit 144 when scraping the cargo 6 from the same shipyard 5 . As a result, the unloader device 100 allows the operator to easily grasp the shape of the shipyard 5 .

Further, the unloader device 100 accumulates statistical data by dividing the measurement points measured by the distance measuring sensors 133 and 134 into upper and lower parts. Further, the unloader device 100 derives the shape of the side wall of the vertically extending shipyard 5 using the upper statistical data, and derives the shape of the bottom surface of the horizontally extending shipyard 5 from the lower statistical data. derived using As a result, the unloader device 100 can accurately derive the shapes of the side walls and the bottom surface of the ship's shed 5 .

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 it is understood that these also belong to the technical scope.

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

In the above embodiment, the distance sensors 133 and 134 are moved along with the movement of the unloader device 100, but the directions of the distance sensors 133 and 134 may be changed. As a result, the measurement range of the distance measuring sensors 133 and 134 can be widened, and the shape of the shipyard 5 can be derived early.

In the above embodiment, the number of votes is compared when deriving the shape of the side wall. However, the data accumulation unit 160 may accumulate (update) the measurement times as accumulated data. Then, the shape derivation unit 164 may set a rejection flag in the small area 402 including the measurement points measured earlier, and leave the measurement points measured later. As a result, the shape of the object can be derived with high accuracy by adopting the most recently measured measurement points when the environment changes, for example, when the load 6 is scraped off.

In the above embodiment, when deriving the shape of the side wall, the number of votes of one small region 402 and the adjacent small region 402 are compared. However, the number of votes of one small area 402 and a plurality of small areas 402 corresponding to the measurement direction vector may be compared. In this case, only the small area 402 with the largest number of votes may be left, and the other small areas 402 may be flagged as rejection. Also, the small area 402 with the largest number of votes and the small area 402 with the number of votes equal to or greater than a predetermined percentage (for example, 50%) of the largest number of votes may be left. As a result, for example, if there is another structure near the side wall of the shipyard 5, it is possible to leave a small area 402 corresponding to that structure (identify the structure).

Further, in the above-described embodiment, the number of votes is compared between one small region 402 and the small region 402 corresponding to the measurement direction vector (comparison direction). However, not only the measurement direction vector but also the direction in which the small regions 402 are compared can be changed as appropriate. For example, by statistically obtaining the direction in which the sum of squared distances from the centroid in the distribution of the measurement points in the small region 402 is the smallest, that is, the direction of the third principal component of the distribution as the comparison direction, It is also possible to employ a method of comparing regions 402 .

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

Further, in the above-described embodiment, the unloader device 100 has been described as an example of the shape derivation device. However, the shape derivation device is not limited to the unloader device. The shape derivation device can be applied to various devices for deriving the shape of an object.

INDUSTRIAL APPLICABILITY The present disclosure can be used for a shape derivation device.

100 Unloader device (shape derivation device)
133 distance measurement sensor 134 distance measurement sensor 152 area generation unit 156 measurement data acquisition unit 160 data accumulation unit 164 shape derivation unit

Claims (4)

an area generation unit that generates a work area composed of a plurality of small areas that are three-dimensionally expanded;
a measurement data acquisition unit that acquires measurement data at measurement points of an object measured by a range sensor;
a data accumulation unit for accumulating statistical data of the measurement points in a small area corresponding to the measurement data, based on the measurement data of the measurement points;
a shape derivation unit that derives the shape of the object based on the statistical data;
with
The data storage unit
Based on the statistical data , for each small area containing the measurement point, derive a comparison direction, which is a measurement direction vector from the measurement point toward the distance measuring sensor;
The shape derivation part is
The small region corresponding to the surface of the object is specified by comparing the statistical data of one small region with the statistical data of other small regions arranged in the comparison direction of the one small region. shape derivation device. The data accumulation unit stores at least
a measurement point that minimizes the distance from the measurement point to the distance measuring sensor when each measurement point is measured;
the comparison direction at the measurement point having the minimum distance ;
and derive
The shape derivation part is
Among the small regions arranged in the vicinity of the one small region, a small region located in a direction corresponding to the comparison direction is set as a comparison target small region, and the statistical data of the one small region and the comparison target small region. 2. The shape derivation device according to claim 1, wherein the shape of the object is derived by comparing . The data storage unit
further accumulating the number of measurement points included in the small area as the statistical data;
The shape derivation part is
3. The shape derivation device according to claim 1, wherein the shape of the object is derived by comparing the number of measurement points in the one small area and the other small area. The data storage unit
accumulating measurement times of measurement points included in the small area as the statistical data;
The shape derivation part is
4. The shape deriving device according to any one of claims 1 to 3, wherein the shape of the object is derived by comparing the measurement times of the one small area and the other small areas.

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