JP7442356B2 - unloader - Google Patents

Description

The present invention relates to an unloader.

For example, Patent Document 1 describes an unloader that unloads objects such as bulk cargo loaded on a ship. This unloader inserts an excavation part for unloading into the hold of a ship, and arranges the excavation part along the surface of objects loaded in the hold. Thereby, the unloader unloads the object with the driven bucket.

Japanese Patent Application Publication No. 2013-116779

In the above-mentioned unloader, objects at each position in the hold are unloaded by moving the excavation part in a horizontal direction. Here, for example, in the case of a large ship with multiple hatches, such as an ocean-going ship, there is almost no tilting of the ship due to cargo handling, so there is little need to consider the tilting when carrying out cargo handling. . However, for example, in a small vessel such as a domestic vessel, the inclination of the vessel may become large depending on the cargo handling mode.

The present invention has been made to solve such problems, and an object of the present invention is to provide an unloader that can suppress the inclination of a ship during cargo handling.

The unloader according to the present invention is an unloader that unloads objects loaded on a ship from the ship, and includes a cargo handling section that unloads the objects from the ship, and a ship position detection section that detects at least the inclination of the ship with respect to the horizontal direction. , a control unit that controls the operation of the cargo handling unit based on the detection result of the ship position detection unit, and when the cargo handling unit unloads the object while moving in the moving direction with respect to the ship, the control unit: The cargo handling height of the cargo handling section at each position in the movement direction is adjusted based on the detection result of the ship position detection section.

The unloader according to the present invention can detect at least the inclination of the ship with respect to the horizontal direction using the ship position detection section. Therefore, the control section can control the operation of the cargo handling section based on the detection result of the ship position detection section, that is, the inclination of the ship. Here, when the cargo handling section unloads the object while moving in the moving direction with respect to the ship, the control section controls the cargo handling section's cargo handling section at each position in the moving direction based on the detection result of the ship position detection section. Adjust the height. In this way, by adjusting the cargo handling height of the cargo handling section, the amount of unloaded cargo at each position in the moving direction is adjusted. Therefore, the cargo handling section can unload the cargo while suppressing the inclination of the ship. With the above, it is possible to suppress the inclination of the ship during cargo handling.

When the cargo handling section unloads the object while moving in the front-back direction as the movement direction, the control section may adjust the cargo handling height of the cargo handling section at each position in the front-back direction based on the inclination in the front-back direction. . Since the rear side of a ship tends to be heavier than the front side, the ship tends to tilt more in the longitudinal direction during cargo handling. Therefore, when the cargo handling section moves in the longitudinal direction, the control section can suppress the inclination of the ship in the longitudinal direction by adjusting the cargo handling height of the cargo handling section based on the inclination in the longitudinal direction.

The control unit may adjust the cargo handling height of the cargo handling section such that the cargo handling height of the cargo handling section on the rear side of the ship is lower than the cargo handling height of the cargo handling section on the front side of the ship. Ships tend to sink because they are heavy at the rear. Therefore, by lowering the cargo handling height on the rear side and increasing the amount of unloaded cargo to make it lighter, it is possible to suppress the inclination of the ship in the longitudinal direction.

When one end of the ship is lower than the other end in the direction of movement, the control unit adjusts the cargo handling height of the cargo handling unit so that the amount of unloaded cargo at one end is greater than the amount of unloaded cargo at the other end of the ship. You can adjust the In this case, by increasing the amount of cargo unloaded on one end side by the cargo handling department, it is possible to lighten the sunken end side. Thereby, it is possible to reduce the sinking of one end of the ship and suppress the inclination.

The control unit compares the inclination obtained based on the detection result of the ship position detection unit with a reference value set for the inclination, and adjusts the cargo handling height of the cargo handling unit based on the comparison result. good. Thereby, when the slope is larger than the reference value, the cargo handling section can adjust the amount of unloaded cargo so as to eliminate the difference from the reference value. Thereby, the control section can feed back the actual inclination of the ship and adjust the cargo handling height of the cargo handling section.

According to the present invention, it is possible to provide an unloader that can suppress the inclination of a ship during cargo handling.

It is a schematic diagram showing an unloader concerning this embodiment. FIG. 1 is a block configuration diagram of a control system having a control unit. FIG. 3 is a schematic diagram showing the basic operation of the cargo handling section of the unloader. FIG. 3 is a schematic diagram showing the contents of the operation of the cargo handling section. 5 is a flowchart showing control details by a control unit. It is a schematic diagram which shows the content of the operation|movement of the cargo handling part of the unloader based on a comparative example. FIG. 3 is an enlarged view showing the positional relationship between the cargo handling section and bulk cargo.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a schematic diagram showing an unloader according to this embodiment.

In this embodiment, the unloader 1 is exemplified by a bucket elevator-type continuous unloader for ships (CSU). The unloader 1 is a device that continuously unloads target bulk cargo M (for example, coal, ore, etc.) from a hold 103 of a ship 100. The unloader 1 includes a girder 2, a swing frame 3, a boom 4, a bucket elevator 6, a cargo handling section 7, and a control system 50 having a control section 20.

The girder 2 is a device that can run along the quay 101 using two rails laid parallel to the quay 101. The girder 2 is a main body that can be installed on the top surface of the quay 101. The rotating frame 3 is supported in the upper part of the girder 2 so that it can rotate. The revolving frame 3 supports the boom 4 so as to be able to rise and fall. The boom 4 extends laterally from the swing frame 3 toward the sea side. The boom 4 supports a bucket elevator 6 at its tip on the sea side.

The bucket elevator 6 extends downward from the tip of the boom 4. The bucket elevator 6 transports the bulk cargo M unloaded in the cargo handling section 7 upward. The bucket elevator 6 is maintained vertically by a balancing lever 12 and a counterweight 13 regardless of the up-and-down angle of the boom 4.

In addition, the unloader 1 is equipped with a cylinder 15 for adjusting the up-and-down angle of the boom 4. When the cylinder 15 is extended, the boom 4 is directed upward and the bucket elevator 6 is raised, and when the cylinder 15 is retracted, the boom 4 is directed downward and the bucket elevator 6 is lowered.

The cargo handling section 7 unloads the bulk cargo M from the ship 100. The cargo handling section 7 is provided at the lower part of the bucket elevator. In this embodiment, the cargo handling section 7 is constituted by a scraping device of a side excavation type. Therefore, the cargo handling section 7 continuously excavates and scrapes the bulk cargo M in the hold 103, transports the scraped bulk cargo M upward, and unloads the bulk cargo M.

The bucket elevator 6 includes an elevator main body 16 that constitutes an elevator shaft, and a chain bucket 17 that moves around the elevator main body 16. The chain bucket 17 is configured by providing a plurality of buckets on a chain (endless chain) that is a pair of endlessly connected roller chains. The chain bucket 17 moves around the elevator main body 16 and the cargo handling section 7 along a predetermined trajectory. Thereby, the chain bucket 17 circulates between the top of the bucket elevator 6 and the cargo handling section 7 while moving around.

The chain bucket 17 ascends along the elevator main body 16 with the bulk cargo M excavated in the hold 103 accommodated therein. A rotary feeder 18 is provided at the top of the elevator main body 16. The rotary feeder 18 conveys the bulk cargo M carried out from the chain bucket 17 to the boom 4 side. The boom 4 is provided with a transport section 19A that transports the bulk cargo M unloaded by the bucket elevator 6. This transport section 19A drops the bulk cargo M transferred from the rotary feeder 18 and supplies it to the transport section 19B inside the machine.

Next, the configuration of the control system 50 including the control unit 20 will be described with reference to FIG. 2. FIG. 2 is a block diagram of a control system 50 having a control unit 20. As shown in FIG. As shown in FIG. 2, the control system 50 is a system for controlling the operation of the unloader 1. The control system 50 includes a measurement section 51 (ship position detection section), a drive section 52, and a control section 20.

The measuring section 51 is a device that acquires, by measurement, information necessary for detecting the position of the ship 100 and the position of the cargo handling section 7, which are necessary for controlling the cargo handling section 7. The measurement unit 51 acquires information necessary to detect the positions of the ship 100 and the cargo handling unit 7 in the horizontal direction and the vertical direction. The measurement unit 51 also acquires information for detecting the inclination of the ship 100 with respect to the horizontal direction. The inclination of the ship 100 with respect to the horizontal direction includes the inclination of the ship 100 in the longitudinal direction (bow/stern direction) and the inclination in the width direction (sea/land direction). The measurement unit 51 also acquires information for detecting the inclination of the ship 100 in the rotational direction with respect to the quay 101 when viewed from above. Note that the measurement method of the measurement unit 51 is not particularly limited, and for example, a known method such as a distance detector, GPS, 3D Lidar, etc. may be employed. The measurement unit 51 transmits the measurement results to the position detection processing unit 22 of the control unit 20. Thereby, the position detection processing section 22 performs arithmetic processing using the measurement results, and detects the positions of the cargo handling section 7 and the ship 100 in the horizontal direction and the vertical direction, and the inclination of the ship 100. Note that the position detection processing section 22 performs arithmetic processing according to the measurement method of the measurement section 51. The measurement unit 51 and the position detection processing unit 22 constitute a ship position detection unit 60 that detects at least the inclination of the ship 100 with respect to the horizontal direction.

The drive unit 52 applies driving force to each component in order for the unloader 1 to perform a cargo handling operation. The drive unit 52 is configured by drive mechanisms provided for the girder 2, the swing frame 3, the boom 4, the bucket elevator 6, and the cargo handling unit 7, respectively. The drive unit 52 applies driving force to each component at a predetermined timing based on a control signal from the control unit 20.

The control unit 20 is a device that controls the entire unloader 1. The control unit 20 includes a processor, memory, storage, communication interface, user interface, etc., and is configured as a general computer. The processor is a computing unit such as a CPU (Central Processing Unit). The memory is a storage medium such as ROM (Read Only Memory) or RAM (Random Access Memory). The storage is a storage medium such as an HDD (Hard Disk Drive). A communication interface is a communication device that realizes data communication. The processor controls memory, storage, communication interface, and user interface, and implements the functions described below. The control unit 20 realizes various functions by, for example, loading a program stored in a ROM into a RAM, and executing the program loaded into the RAM by a CPU. The control unit 20 may include a plurality of computers or PLCs (Programmable Logic Controllers). The control unit 20 includes an operation control unit 21, a position detection processing unit 22 (ship position detection unit), a calculation unit 23, and a storage unit 24.

The operation control section 21 transmits a control signal to the drive section 52 to cause the unloader 1 to perform a cargo handling operation. The operation control section 21 acquires the calculation result by the calculation section 23 and transmits a control signal so that the cargo handling section 7 operates according to the calculation result. As described above, the position detection processing section 22 performs calculation processing for detecting the positions of the cargo handling section 7 and the ship 100 in the horizontal direction and the vertical direction, and the inclination of the ship 100. The calculation unit 23 performs various calculation processes necessary for the cargo handling operation by the cargo handling unit 7. The calculation unit 23 calculates what operation the cargo handling unit 7 should perform based on the information detected by the ship position detection unit 60. The detailed contents of the arithmetic processing will be described later together with an explanation of the operation of the unloader 1. Information regarding the shape of the ship, etc. is registered in the storage unit 24 in advance. Furthermore, the storage unit 24 stores the height position of the cargo handling unit 7 at each position in the front-rear direction when cargo handling is performed.

Next, the operation of the unloader 1 will be explained. First, the basic operation of the cargo handling section 7 of the unloader 1 will be explained with reference to FIG. As shown in FIG. 3(a), among the moving directions of the cargo handling section 7, the front-rear direction is designated as "D1", and the width direction is designated as "D2". Trajectories TR1 to TR4 in FIG. 3(a) show the movement trajectory of the cargo handling section 7 during cargo handling. As shown in FIG. 3(a), the cargo handling section 7 unloads the bulk cargo M while moving around the ship hold 103 along the four sides. The cargo handling section 7 moves in a position on the sea side in the width direction D2 so as to draw a trajectory TR1 from the front side to the rear side along the front-rear direction D1. The cargo handling section 7 moves at a position on the rear side in the longitudinal direction D1 so as to draw a trajectory TR2 from the sea side to the land side along the width direction D2. The cargo handling section 7 moves at a position on the land side in the width direction D2 so as to draw a trajectory TR3 from the rear side to the front side along the front-rear direction D1. The cargo handling section 7 moves at a position on the front side in the longitudinal direction D1 so as to draw a trajectory TR4 from the land side to the sea side along the width direction D2.

Further, after handling the bulk material M in the first layer, the cargo handling section 7 moves down one step and handles the bulk material M in the next layer, as shown in FIG. 3(b). By repeating this operation, the cargo handling section 7 performs cargo handling so that the interface of the bulk cargo M in the hold 103 gradually lowers. Note that the interface of the bulk cargo M can be estimated from the previous height position of the cargo handling section 7 at each position in the front-rear direction, which is stored in the storage section 24.

Next, details of the control of the cargo handling section 7 by the control section 20 will be explained. The control unit 20 controls the operation of the cargo handling unit 7 based on the detection result of the ship position detection unit 60. Further, when the cargo handling section 7 unloads the bulk cargo M while moving in the movement direction (the longitudinal direction D1 or the width direction D2) with respect to the ship 100, the control section 20 controls the load handling section 20 based on the detection result of the ship position detection section 60. Then, the cargo handling height of the cargo handling section 7 at each position in the moving direction is adjusted. Note that the cargo handling height of the cargo handling section 7 means the amount of bulk material M that enters into the interface of the cargo handling section 7 in the depth direction.

First, the details of control for suppressing the inclination of the ship 100 in the longitudinal direction D1 will be explained. In the explanation, the explanation may be made with reference to FIG. 4. FIG. 4 is a schematic diagram showing the operation of the cargo handling section 7 of the unloader 1 according to the present embodiment. In addition, in FIG. 4, the operation of the cargo handling section 7 is simplified in order to facilitate understanding of the characteristic parts. That is, unlike the case where the unloading of the first layer of bulk cargo M is completed in one circular operation as shown in FIG. 3, the unloading of the first layer of bulk cargo M is completed in the operation of FIG. It is assumed that bulk cargo M in the second layer is being unloaded in the operation of 4(b).

The control unit 20 adjusts the cargo handling height of the cargo handling section 7 so that the cargo handling height of the cargo handling section 7 on the rear side of the ship 100 is lower than the cargo handling height of the cargo handling section 7 on the front side of the ship 100. Specifically, as shown in FIG. 4(a), when the cargo handling section 7 moves from the front side to the rear side, the control section 20 controls the cargo handling section 7 so that the position of the cargo handling section 7 becomes lower toward the rear side. control to draw an inclined trajectory. In this case, since the cargo handling section 7 is arranged at a lower position on the rear side of the ship 100, a correspondingly larger amount of bulk cargo M can be unloaded. Therefore, the amount of unloaded cargo on the rear side of the ship 100 is greater than the amount of unloaded cargo on the front side of the ship 100.

Further, as shown in FIG. 4(b), when the cargo handling section 7 moves from the rear side to the front side, the control section 20 tilts the cargo handling section 7 so that the position of the cargo handling section 7 becomes higher toward the front side. Control to draw a trajectory. Also in this case, the cargo handling section 7 can unload more cargo on the rear side of the ship 100 than on the front side. Alternatively, the cargo handling section 7 can prevent the amount of cargo unloaded on the front side from becoming too large. For example, as a result of unloading too much on the front side, the rear side becomes relatively heavy, and the ship 100 may tilt rearward. On the other hand, the cargo handling section 7 can suppress the inclination by suppressing the amount of unloaded cargo on the front side.

When the cargo handling section 7 unloads the bulk cargo M while moving in the longitudinal direction D1 as the movement direction, the control section 20 controls the cargo handling section 7 at each position in the longitudinal direction D1 based on the inclination in the longitudinal direction D1. Adjust the height. At this time, before the cargo handling section 7 starts moving in the movement direction, the calculation section 23 calculates what kind of trajectory the cargo handling section 7 will draw in the height direction, taking into consideration at least the inclination of the ship 100 with respect to the horizontal direction. Calculate power. Further, in the longitudinal direction D1, when the rear end side (one end side) of the ship is sunk compared to the front end side (other end side), the control unit 20 controls the amount of unloaded cargo at the rear end side to be lower than the front end side of the ship 100. The cargo handling height of the cargo handling section 7 is adjusted so that the amount of cargo unloaded is greater than the amount of unloaded cargo.

For example, as shown in FIG. 4(a), at the start of unloading, the calculation unit 23 takes into account the inclination of the ship 100 and calculates which of the trajectories ST, L1, and L2 should be applied. . For example, when the ship 100 is not tilted and the rear end side is not sunken, the calculation unit 23 adopts the trajectory ST as the trajectory of the cargo handling unit 7 according to the initial setting. On the other hand, when the ship 100 tilts rearward and the rear end sinks (for example, the state of the ship 100 as shown in FIG. 6(b)), the calculation unit 23 In order to increase the amount, a trajectory L1 having a larger slope than the trajectory ST may be adopted. Further, when the ship 100 is tilted forward, the calculation unit 23 may adopt a trajectory L2 having a smaller inclination than the trajectory ST so as to suppress the amount of unloaded cargo on the rear end side.

For example, as shown in FIG. 4(b), in a state where the bulk cargo M on the rear side is reduced, the calculation unit 23 takes into account the inclination of the ship 100 and calculates the How to set the cargo handling height of the cargo handling section 7 is calculated. For example, if the ship 100 is not tilted rearward (or if the amount of tilt is within the allowable range), the calculation unit 23 adopts the height position of the cargo handling unit 7 shown by the solid line. On the other hand, when the ship 100 is tilted rearward and the rear end side is sinking, the calculation section 23 adopts a lower height position of the cargo handling section 7, as shown by the two-dot chain line. Thereby, the inclination of the ship 100 can be reduced by increasing the amount of unloaded cargo on the rear end side.

Further, the control unit 20 compares the inclination in the longitudinal direction D1 acquired based on the detection result of the ship position detection unit 60 with a reference value set for the inclination, and based on the comparison result, the control unit 20 Adjust the cargo handling height in step 7. As such a reference value, for example, the value of the inclination in the longitudinal direction at the start of cargo handling (the state shown in FIG. 4(a)) may be adopted. At this time, at the start of cargo handling, the storage unit 24 stores the reference value. For example, in the situation shown in FIG. 4(b), if the calculation unit 23 calculates the difference between the current inclination of the ship 100 and the reference value, and determines that the rear end side is sinking too much beyond the allowable range, Feedback control is performed to change the cargo handling height of the cargo handling section 7 shown by the solid line to the cargo handling height of the cargo handling section 7 shown by the two-dot chain line. Note that there is no particular limitation on what kind of slope is adopted as the reference value. For example, as the reference value, 0° (a state where there is no inclination at all) may be adopted, or the inclination at the time of the previous cargo handling may be adopted.

Next, details of control for suppressing the inclination of the ship 100 in the width direction D2 will be explained. When the cargo handling section 7 unloads the bulk cargo M while moving in the width direction D2 as the movement direction, the control section 20 controls the cargo handling section 7 at each position in the width direction D2 based on the inclination in the width direction D2. Adjust the height. In addition, in the width direction D2, if one end of the ship 100 on the sea side or the land side is sunk compared to the other end, the control unit 20 determines that the amount of unloaded cargo at one end is the same as the unloaded amount at the other end of the ship. The cargo handling height of the cargo handling section 7 may be adjusted so that the cargo handling height is greater than the amount. The control unit 20 also compares the inclination in the width direction D2 acquired based on the detection result of the ship position detection unit 60 with a reference value set for the inclination, and controls the cargo handling unit based on the comparison result. Adjust the cargo handling height in step 7.

When suppressing the inclination in the width direction D2, it is preferable to maintain a balance between the amount of unloaded cargo on the sea side and the amount of unloaded cargo on the land side. However, it is preferable for the land-side end to sink than for the sea-side end to sink because the force applied to the mooring rope is suppressed. Therefore, the cargo handling section 7 first performs cargo handling along the sea side (trajectory TR1 in FIG. 3(a)), and then performs cargo handling along the land side (see FIG. 3(a)). trajectory TR2). The control unit 20 may control the cargo handling height so that when the cargo handling along the land side ends, the cargo handling height is the same as when cargo handling starts along the sea side. Next, the control unit 20 lowers the cargo handling height of the cargo handling unit 7 before carrying out cargo handling along the sea side edge, but compares the amount of reduction with the reference value of the inclination in the width direction D2. determined by feedback control.

Note that the inclination in the rotational direction when the ship 100 is viewed from above is not affected by the way the bulk cargo M is taken, so no control is required to reduce the inclination in the rotational direction. At this time, the control unit 20 performs control by tilting the trajectories TR1 to TR4 depending on the tilted state in the rotation direction.

With reference to FIG. 5, the details of control by the control unit 20 will be explained. FIG. 5 is a flowchart showing the details of control by the control unit 20. The process shown in FIG. 5 begins when the cargo handling section 7 attempts to start moving along the trajectory TR1 in FIG. 3(a).

As shown in FIG. 5, first, the position detection processing section 22 of the control section 20 detects at least the inclination of the ship 100 in the longitudinal direction D1 (step S10). Next, the calculation unit 23 calculates the height of the cargo handling unit 7 to be controlled at each position in the longitudinal direction D1 based on the inclination detected in step S10 (step S20 ). Next, the operation control unit 21 executes the movement and unloading of the cargo handling unit 7 by transmitting a control signal to the drive unit 52 so as to execute the control content calculated in step S20 (step S30).

Next, the control unit 20 determines whether unloading of the bulk cargo M in the hold 103 has been completed for all layers (step S40). Here, since the first layer of cargo handling on the trajectory TR1 (see FIG. 3(a)) has only been completed, the control unit 20 determines that unloading has not been completed. The control unit 20 prepares the direction change of the cargo handling unit 7 so that cargo handling can be performed along the trajectory TR1 to the trajectory TR2 (step S50). In the subsequent processing, similar processing of steps S10 to S50 is repeated for the trajectories TR2 to TR4. When the unloading of the plurality of layers is completed and the unloading of the bulk cargo M in the hold 103 is completed, the control unit 20 determines that the unloading is completed in step S40, and ends the process shown in FIG. 5.

Next, the functions and effects of the unloader 1 according to this embodiment will be explained.

The unloader 1 according to the present embodiment can detect at least the inclination of the ship 100 with respect to the horizontal direction using the ship position detection section 60. Therefore, the control unit 20 can control the operation of the cargo handling unit 7 based on the detection result of the ship position detection unit 60, that is, the inclination of the ship 100. Here, when the cargo handling section 7 unloads the bulk cargo M while moving in the movement direction relative to the ship 100, the control section 20 controls the position of each of the cargoes M in the movement direction based on the detection result of the ship position detection section 60. Adjust the cargo handling height of the cargo handling section 7. By adjusting the cargo handling height of the cargo handling section 7 in this way, the amount of unloaded cargo at each position in the movement direction is adjusted. Therefore, the cargo handling section 7 can unload cargo while suppressing the inclination of the ship 100. With the above, it is possible to suppress the inclination of the ship 100 during cargo handling.

When the cargo handling section 7 unloads the bulk cargo M while moving in the longitudinal direction, the control section 20 controls the cargo handling height of the cargo handling section 7 at each position in the longitudinal direction D1 based on the inclination in the longitudinal direction D1. You can adjust the Since the rear side of the ship 100 tends to be heavier than the front side, the inclination of the ship 100 in the longitudinal direction D1 tends to increase during cargo handling. Therefore, when the cargo handling section 7 moves in the longitudinal direction D1, the control section 20 adjusts the cargo handling height of the cargo handling section 7 based on the inclination in the longitudinal direction D1, thereby controlling the inclination of the ship 100 in the longitudinal direction D1. It can be suppressed.

The control unit 20 may adjust the cargo handling height of the cargo handling unit 7 so that the cargo handling height of the cargo handling unit 7 on the rear side of the vessel 100 is lower than the cargo handling height of the cargo handling unit 7 on the front side of the vessel 100. . The ship 100 is heavy at the rear and tends to sink. Therefore, the inclination of the ship 100 in the longitudinal direction D1 can be suppressed by lowering the cargo handling height on the rear side and increasing the amount of unloaded cargo to make it lighter.

In the moving direction, when one end of the ship 100 is sunk compared to the other end, the control unit 20 controls the cargo handling unit so that the amount of unloaded cargo at the one end is greater than the amount of unloaded cargo at the other end of the ship 100. You may adjust the cargo handling height of 7. In this case, by increasing the amount of unloaded cargo on the one end side of the cargo handling section 7, the one end side that was sunken can be made lighter. Thereby, sinking of one end side of the ship 100 can be reduced and tilting can be suppressed.

The control unit 20 compares the inclination acquired based on the detection result of the ship position detection unit 60 with a reference value set for the inclination, and adjusts the cargo handling height of the cargo handling unit 7 based on the comparison result. You can adjust it. Thereby, the cargo handling section 7 can adjust the unloaded amount so as to eliminate the difference from the reference value, such as when the slope is larger than the reference value. Thereby, the control section 20 can adjust the cargo handling height of the cargo handling section 7 by feeding back the actual inclination of the ship 100.

Next, with reference to FIG. 4 and FIGS. 6 and 7, a comparison will be made between the unloader 1 according to the present embodiment and the unloader according to a comparative example. FIG. 6 is a schematic diagram showing the operation of the cargo handling section 7 of the unloader according to the comparative example. FIG. 7 is an enlarged view showing the positional relationship between the cargo handling section 7 and the bulk cargo M. In addition, in FIG. 7, in order to facilitate understanding, the inclination of the interface of the bulk material M is emphasized. The unloader according to the comparative example performs cargo handling while keeping the cargo handling height constant without adjusting the cargo handling height of the cargo handling section 7. Therefore, as shown in FIG. 6(a), the cargo handling section 7 unloads the cargo while moving in the front-rear direction D1 without changing the cargo handling height. As a result of such operations, it is assumed that the cargo handling unit 7 was able to unload the bulk cargo M in the same unloading amount on the front side and the rear side in the first layer (see FIG. 7(a)). Since the ship 100 itself is heavier on the rear side, when the weight of the bulk cargo M in the hold 103 decreases overall, the influence of the weight on the rear side increases. Therefore, the rear side of the ship 100 sinks slightly. As a result, as shown in FIG. 7(b), the bulk cargo M also tilts slightly toward the rear. As shown in Fig. 7(c), when the cargo handling section 7 moves at a constant cargo handling height for the second layer, the amount of unloaded cargo will naturally be higher at the slightly sunken rear side than at the front side. It becomes less. For example, the depth of the cargo handling section 7 relative to the bulk cargo M shown by the solid line in FIG. . Then, the bulk cargo M on the rear side becomes heavier, and the ship 100 sinks further to the rear side. If such an operation is repeated, the inclination of the ship 100 to the rear side will further increase.

On the other hand, in the unloader 1 according to the present embodiment, the control section 20 adjusts the cargo handling height of the cargo handling section 7 based on the inclination of the ship 100, as shown in FIG. 4(a). Therefore, as shown in FIG. 4(b), since the bulk cargo M on the rear side can be greatly reduced, sinking of the ship 100 to the rear side can be suppressed. In this state where the inclination is small, the control section 20 repeats cargo handling by adjusting the cargo handling height of the cargo handling section 7 so that the amount of cargo unloaded on the rear side increases. Thereby, as shown in FIG. 4(c), the bulk cargo M can be reduced from the rear side, and the bulk cargo M can be unloaded while maintaining a balance between the front side and the rear side of the ship 100.

The invention is not limited to the embodiments described above.

For example, in FIG. 4, the cargo handling section 7 moves linearly so that the cargo handling height changes. Alternatively, the cargo handling height may be adjusted so as to draw a curved trajectory.

Furthermore, the control section 20 does not necessarily have to control the cargo handling section 7 so that the cargo handling height is lower on the rear side than on the front side. For example, depending on the situation, the cargo handling height may be controlled to be constant.

The trajectory of the cargo handling section 7 when viewed from above the ship 100 is not limited to that shown in FIG. 3(a), and a trajectory in which the cargo handling section 7 circles in the opposite direction may be adopted. Further, the start position at which the rotation is started is not limited to the trajectory TR1, but may be started from any of the trajectory TR2 to TR4. Further, the trajectory does not need to be a circular trajectory as shown in FIG. 3(a), and a meandering trajectory may be drawn.

In addition, although the amount by which the cargo handling part 7 penetrates in the depth direction with respect to the interface of the bulk material|goods M was demonstrated as cargo handling height, it is not restricted to this. For example, the height of the cargo handling section in the vertical direction in the absolute coordinate system may be set as the cargo handling height.

DESCRIPTION OF SYMBOLS 1... Unloader, 7... Cargo handling part, 20... Control part, 22... Position detection processing part (ship position detection part), 51... Measurement part (ship position detection part), 60... Ship position detection part, M... Bulk cargo ( Object).

Claims (5)

An unloader that unloads objects loaded on a ship from the ship,
a cargo handling section that unloads the object from the ship;
a ship position detection unit that detects the inclination of the ship with respect to at least a horizontal direction;
A control unit that controls the operation of the cargo handling unit,
When the cargo handling unit unloads the object while moving in a moving direction with respect to the ship, the control unit is configured to suppress the inclination of the ship based on the detection result of the ship position detection unit. , an unloader that adjusts the cargo handling height of the cargo handling section at each position in the moving direction. When the cargo handling section unloads the object while moving in the longitudinal direction as the movement direction, the control section controls the cargo handling section of the cargo handling section at each position in the longitudinal direction based on the inclination in the longitudinal direction. The unloader according to claim 1, wherein the unloader is height adjustable. The control unit adjusts the cargo handling height of the cargo handling section so that the cargo handling height of the cargo handling section on the rear side of the ship is lower than the cargo handling height of the cargo handling section on the front side of the ship. The unloader according to item 2. In the moving direction, when one end side of the ship is sunken compared to the other end side,
According to any one of claims 1 to 3, the control unit adjusts the cargo handling height of the cargo handling unit so that the amount of unloaded cargo at the one end side is larger than the amount of unloaded cargo at the other end side of the ship. Unloader as described. The control unit compares the inclination acquired based on the detection result of the ship position detection unit with a reference value set for the inclination, and adjusts the cargo handling height of the cargo handling unit based on the comparison result. The unloader according to any one of claims 1 to 4, wherein the unloader adjusts the height.

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