JPH08258994A - Method of grasping shape of hold - Google Patents

Abstract

PURPOSE: To provide a method of easily and quickly grasping the shape of a hold required for the automatic operation of a continuous unloader at initial manual operation. CONSTITUTION: When the load of goods is carried by the manual operation of a continuous unloader, the tip position of a dig-out part 11 from a base point on a quay is computed from the position of a travel frame 2, the swivel angle and the elevation angle of a boom 4, the swivel angle of a bucket elevator 5, the expansion quantity of a dig-out part 11 and the like and the tip position of the dig-out part 11 is corrected from the relative position of a ship S with respect to the continuous unloader. The closest position of the tip position of the dig-out part 11 to the wall of a hold 20 within a divided zone at the time of diging operation of one layer is adopted as the maximum reach position to seek a plane shape in the hold by connecting the maximum reach position in the lateral direction at the time of diging operation of every layer. It is repeated at every time of cutting-in and the maximum reach position of a vertically continuous zone is connected in the direction of a depth to seek a profile shape inside the hold. The three-dimensional shape inside the hold is computed from both shapes.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of grasping the shape of a hold necessary for automatically operating the continuous unloader when loading and unloading a continuous unloader for continuously scraping and carrying out a load in the hold. Is.

[0002]

2. Description of the Related Art In a bucket elevator type continuous unloader, a swing frame is swingably supported on a traveling frame movable along a quay, and a tip end portion of a boom projecting laterally from the swing frame. Bucket elevators are supported. In addition, this bucket erator is provided with a chain bucket that moves endlessly inside the elevator shaft to orbit. This chain bucket is constituted by attaching a plurality of buckets to a chain that circulates while moving upward at least from the lower side along a plurality of sprockets, for example, a supporting portion protruding from a pin of the chain, and most of them are Due to the size and weight of the bucket and the chain, the bucket is mounted so as to be suspended between two chains, and in particular, an excavation portion is formed in the lower part thereof.

Then, when the chain bucket is moved and circulated in a state where the bucket elevator is erected in the hold, the bulk load such as coal or ore in the hold is scraped into the bucket in the excavation section, As it is, it is carried along the inside of the column member constituting the elevator shaft to the uppermost part of the bucket elevator, and then it is rotated along with the chain rotating along the sprocket at the uppermost part. By the turning of the bucket, the load in each bucket is discharged to the rotary feeder arranged on the outer periphery of the uppermost part of the bucket elevator via the discharging chute provided on the uppermost part of the bucket elevator. The load discharged to the rotary feeder is transferred to the belt conveyor installed on the boom via the rotary feeder, is transported to the chute section of the swing frame, and is directly transferred by the chute section to the conveyor inside the machine. It is carried out to the equipment on the ground side.

The excavation part of this bucket elevator is relatively large, but if it is fixed at one place, it is impossible to scrape out all the cargo in the vast cargo hold and carry it out. Therefore, this cargo handling work will be briefly described with reference to FIG. Each map-1 in the figure is a cross-sectional view of the hold, each map-2 is a vertical cross-section of the hold, each map-3 is a plan view of the inside of the hold, and each map -1, 2 shows the packing appearance before the start of scraping and unloading with a broken line, the trajectory of scraping and unloading and the packing appearance after scraping and carrying out with a solid line, and the cross section of scraping and unloading for one layer is shown with diagonal lines, In Fig. 3, the surface of the load to be scraped out is indicated by diagonal lines. And in this cargo handling work,
For example, as shown in FIGS. 5a-1 to 3a-3, first, the excavation part 11 of the bucket elevator 5 is lowered into the hold 20 from the upper end opening of the hold 20, and the load M in the moving direction of the bucket is scraped and carried out. Thereafter, while moving the entire bucket elevator 5 in a horizontal direction different from the moving direction of the bucket (hereinafter, this direction is also simply referred to as a lateral direction), the load M for one layer is moved.
Is carried out, the bucket elevator 5 and the excavating portion 11 thereof are further lowered, and the next layer of the load M is scraped out and carried out, and this is repeated to carry out the load M at the upper end of the hold 20. Then, when the load M at the upper end of the hold 20 is scraped out to a certain extent, the excavation part 11 of the bucket elevator 5 is moved toward the barb wall side from the upper end opening of the hold 20, as shown in FIGS. While pushing, the load M is moved in the lateral direction and swiveled as necessary to scrape and carry out one layer of the load M, and by repeating this, the load M of the barb wall portion formed so as to spread diagonally above the hold 20. Scrape out. Further, when the load M above the inside of the hold 20 is scraped out and carried out, as shown in FIGS. 5C-1 to 5C-3, the barbs of the barrage 20 are almost vertical as a whole, so that the bucket collides with the barbs. The bucket elevator 5 and the excavation part 11 thereof are separated from each other by separating the tip end of the excavation part 11 facing the barb wall from the barb wall so that they are not damaged.
Is laterally moved and swiveled as necessary to scrape and carry out one layer of the load M, and this is repeated to scrape and carry out the load M on the vertical barb wall in the center of the hold 20. Further, when the load M in the center of the hold 20 is scraped and carried out, FIG.
As shown in 1-3, the excavator 1 of the bucket elevator 5
While moving 1 backward, it is moved in the lateral direction and swiveled as needed to scrape and carry out one layer of the load M, and by repeating this, a barb wall portion formed so as to narrow diagonally below the hold 20. Scrap the load M and carry it out. Then, when the load M is carried out to such an extent that the excavation unit 11 of the bucket elevator 5 cannot sufficiently scrape and carry it out, as shown in FIGS. 5e-1 to 5e-3, a scraping work vehicle such as a bulldozer is shown. Is put into the hold 20, and all the loads M remaining in the hold 20 are carried out by the scraping work vehicle.

In such a cargo handling operation, when the bucket elevator and the excavating section are laterally moved, the turning frame is turned, the traveling frame is run, or the bucket elevator itself is turned with respect to the boom. When the bucket elevator and the excavation unit are moved in the height direction (hereinafter, also referred to as vertical movement), the tilt (depression angle) of the boom is changed. If necessary, the length of the excavation part itself in the scraping direction may be expanded or contracted.

Various methods have been developed for automatically operating and operating this continuous unloader, one of which is described in Japanese Patent Publication No. 5-17130 previously proposed by the applicant. is there. The automatic operation method of this continuous unloader calculates the distance from the current position of the excavation part of the bucket elevator to the target position, and the excavation part has moved by a distance equal to or greater than this distance, so that the target position of the excavation part is It is a simple and reliable decision to reach. Also, Japanese Patent Application No. 6-5841 previously proposed by the applicant of the present invention.
The automatic operation method of the continuous unloader described in No. 6 is
Based on the moving distance / speed / position during manual operation and the data storage necessary for its operation, the correction according to the cargo hold / mountain shape etc. is set by expanding or contracting the moving path during playback operation, and the moving speed is determined by the correction rate. With constant,
The safety is enhanced by correcting the travel distance / driving position data of the excavation section for each land / land / quay direction. In addition, Japanese Patent Laid-Open No. 60-197, which was also previously proposed by the applicant of the present invention.
In the automatic operation method of the continuous unloader described in Japanese Patent No. 535, the excavator tip movement distance of the bucket elevator that connects the start point and the set target point is divided into constant distances, and each operation position calculated during automatic operation is calculated. The bucket is moved along a desired locus by linearly moving the tip of the excavation portion while realizing.

[0007]

By the way, when the automatic operation of the continuous unloader is carried out, the relative position between the continuous unloader and the ship is detected, and the data of each hold shape is stored in the continuous unloader. It is realistic to input the data into the automatic operation control device and correct the movement trajectory (including the movement speed) of the excavation part of the bucket elevator obtained from the hold shape data while correcting the movement trajectory with the relative position with the ship. Is. However, the shape of the inside of the hold is extremely complicated due to the inclined portion of the barb wall as shown in FIG. 5 and obstacles such as stairs. Further, as shown in FIG. 6, the bow wall shape of the bow and stern in the hold has a curved structure in which the width in the land and sea direction becomes narrower toward the bow or stern direction. The shape of the interior of the hold is further complicated by the influence of obstacles.

On the other hand, in general, such a large cargo ship does not have an overall view of each hold, and in order to grasp the overall shape of each hold, a huge number of partial views purchased at a huge cost are combined. Since there is only one, it takes a lot of labor to draw the overall shape of the hold, and even if the work is performed, all obstacles in the hold cannot be extracted. Further, in particular, for a foreign national ship for which it is difficult to obtain even a partial view of the hold as described above, it is not possible to even recognize the shape of the hold, so there is a problem that the automatic operation range is limited.

The present invention was developed in view of these problems, and it is an object of the present invention to provide a method capable of easily grasping the shape of a cargo hold to enable automatic operation of a continuous unloader. To do.

[0010]

In order to solve the above problems, a method of grasping the shape of a hold according to claim 1 of the present invention is a traveling method which constitutes at least a continuous unloader when loading and unloading the continuous unloader. Based on the position information of the frame and boom and bucket elevator and excavation unit,
Obtaining the maximum reach position of the excavation portion for each of the land and sea direction and the bow-stern direction in the hold of the ship being loaded, and connecting the maximum reach position to obtain the planar shape in the hold, It is characterized in that the shape of the hold necessary for automatic operation of the continuous unloader is calculated by obtaining the cross-sectional shape of the hold by adding the depth information of the maximum reach position of the excavation part.

According to a second aspect of the present invention, the method for grasping the shape of a hold detects the relative position between the ship and the continuous unloader, and based on the relative position information, maximum reachable position information of the excavation section. It is characterized in that

[0012]

Therefore, in the method of grasping the shape of the hold according to claim 1 of the present invention, when loading and unloading for the first time by manual operation of the continuous unloader in each hold of the first ship,
Obtaining a plane shape and a cross-sectional shape of the hold by connecting the maximum reach positions of the excavated parts of the bucket elevator for each specific interval, and calculating the hold shape from them, it requires a huge amount of cost and a lot of labor. It is possible to grasp the shape of the hold without having to carry out the automatic operation by the continuous unloader at the time of the next cargo loading and unloading of the hold of the ship.

According to a second aspect of the present invention, in the method of grasping the shape of a hold, the maximum reachable position information of the excavation section is corrected based on the relative position information of the ship and the continuous unloader. The shape of the hold grasped by the calculation can be made absolute by removing the relative position variation between the ship and the continuous unloader, and the relative position information between the ship and the continuous unloader is used during the subsequent automatic operation. However, it is possible to implement a complete or nearly complete automatic operation of the continuous unloader.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a cargo handling work by a continuous unloader which develops the method of grasping the shape of a hold according to the present invention will be described below with reference to the drawings. First, the structure of the continuous unloader of this embodiment will be described. The basic schematic configuration of this machine is the same as the conventional one, and as shown in FIG. 1, by two rails 1a laid parallel to the quay 1, on a traveling frame 2 that can move along the quay 1. A revolving frame 3 is rotatably supported, and a bucket elevator 5 is supported at the tip of a boom 4 protruding laterally from the revolving frame 3. The bucket elevator 5 of the present embodiment is configured to hold the boom 4 vertically by the balancing lever 6 and the counterweight 7 regardless of the hoisting angle of the boom 4. In the figure, 14 is a cylinder for adjusting the hoisting angle of the boom 4. When the cylinder 14 is extended, the boom 4 is directed upward, the bucket elevator 5 rises, and when the cylinder 14 is contracted, the boom 4 is extended. Is oriented downward and the bucket elevator 5 is lowered.

Further, in the bucket elevator 5, a chain bucket constituted by attaching a plurality of buckets 9 to a chain 12 connected endlessly in a column member 8 constituting an elevator shaft 8a moves in the arrow direction. Although a plurality of sprockets are arranged so as to orbit around a predetermined locus, the upper sprocket 1 provided on the uppermost part 5a of the bucket elevator 5 is here for convenience of description.
0a, a lower front sprocket 10b in front of the excavation part 11 of the side excavation system provided on the lower part of the bucket elevator 5 (to the left in FIG. 1) and behind the excavation part 11 (FIG. 1).
Only the lower rear sprocket 10c (to the right) is assigned a reference numeral. As a result, the chain 12 and the bucket 9 circulate while moving around the upper sprocket 10a of the uppermost portion 5a of the bucket elevator 5 and the excavating portion 11 while moving around. A cylinder 13 is interposed between the lower front sprocket 10b and the lower rear sprocket 10c, and the cylinder 13 is expanded and contracted to change the axial distance between the sprockets 10b and 10c. The moving orbit of the bucket 9 can be changed.

Each of the buckets 9 is mounted so as to be suspended between two chains 12, and specifically, two types of links constituting each chain 12 are connected and rollers are covered. Two kinds of left and right brackets are extended from the inner protruding end of the pin to be fitted, and the shaped steel connecting portion provided on the outside of the bucket 9 and the left and right brackets are connected by a connecting tool such as a bolt and a nut. It is connected and fixed.

Further, at the uppermost portion 5a of the bucket elevator 5, the chain 12 is turned around from the upper sprocket 10a to a downward direction, and the opening of the bucket 9 attached to the chain 12 is turned downward. However, when it is further moved downward as it is, a discharge chute (not shown) is formed at a position vertically opposed to the downward opening, and the lower end opening of this discharge chute is the uppermost part of the bucket elevator 5. It faces the rotary feeder 14 arranged on the outer periphery of the upper portion 5a. The rotary feeder 14 conveys the load carried out from the discharging chute to the boom 4 side. Further, a boom conveyor 15 is arranged on the boom 4, and the boom conveyor 15 can supply a load to the hopper 16. Below the hopper 16 is a belt feeder 1 in the machine.
7 and an in-machine conveyor 18 are arranged.

In the continuous unloader having the above structure,
The excavation part 11 at the lower end of the bucket elevator 5 is held in the hold 20.
By excavating and scraping bulk goods M such as coke and ore one after another with the bucket 9 which is located at the excavation section 11 and is moved by orbiting by moving the chain 12 in a predetermined direction indicated by an arrow. To take. Then, the load M scraped off by these buckets 9 is vertically conveyed to the uppermost portion 5a of the bucket elevator 5 as the chain 12 rises, and then the buckets 9 turn around to fall from the buckets 9. . The dropped load M falls into the unloading chute and is discharged to the rotary feeder 14 side, is further transferred to the boom conveyor 15 and is conveyed to the hopper 16, and is further transferred to the ground side equipment 19 via the belt feeder 17 and the in-machine conveyor 18. Be delivered to. By repeating this for each of the buckets 9, the cargo M in the hold 20 is continuously unloaded. Since the procedure of the cargo handling work using this bucket elevator is the same as or almost the same as the conventional procedure using FIG. 5, detailed description thereof will be omitted.

On the other hand, on the traveling frame 2, the ship S
Two automatic tracking type ultrasonic distance sensors 22a and 22b for detecting relative position information with respect to are attached, and each of these distance sensors 22a and 22b detects the distance in the angular direction with respect to the vertical line. Angle sensors 23a and 23b for detecting whether or not they are attached are also attached. Further, on the ship S, reflecting prisms 24a and 24b are attached at positions near the bow and the stern thereof.

The automatic tracking non-contact type distance sensor 22
As shown in FIG. 2, a and 22b automatically track the corresponding reflecting prisms 24a and 24b, and emit ultrasonic waves or laser light to the reflecting prisms 24a and 24b. The distance between the two is detected from time. Therefore, as shown in FIG. 2, the distance between the distance sensor and the reflecting prism detected by the non-contact type distance sensors 22a and 22b, that is, the hypotenuse lengths L ₁ and L ₂
Also, in the control unit to be described later, in which the angles θ ₁ and θ ₂ formed by the hypotenuse and the bottom detected by the angle sensors 23a and 23b are input, the reflection prism 24a of each of the non-contact type distance sensors 22a and 22b is calculated from the cosine value thereof. , 24b
Can be calculated in the vertical direction, and the horizontal distance can be calculated from their sine values. The distance between the non-contact type distance sensors 22a and 22b and the reflection prism 24a,
Since the distance between 24b is preset, these can be used to calculate the relative position of the ship S with respect to the traveling frame 2. The non-contact type distance sensors 22a, 22
When b is a laser beam, accurate distance detection is possible even in a dusty place, and when the non-contact distance sensors 22a and 22b use ultrasonic waves, it is inexpensive. There is a merit that

Further, the traveling frame 2 is provided between the traveling frame 2 and the reflecting prism 26 set on the quay 1.
An auto-tracking non-contact distance sensor 25 for detecting a distance L ₃ equal to the traveling distance of is attached. The principle of the non-contact type distance sensor 25 is the same as that described above, but in the control unit described later, the traveling frame 2 with respect to the fixed point on the quay 1, that is, the reflection prism 26.
It is provided to calculate the position of, and an angle sensor or the like may be provided together if necessary. Further, instead of this non-contact type distance sensor, it is also possible to use, for example, a moving distance sensor or the like that detects the rotation of the running wheels of the running frame 2 by a pulse generator or the like and converts the number of rotations into a distance.

The turning frame 3 has a turning angle sensor 2 for detecting a turning angle θ ₃ of the turning frame 3.
7 is attached. The turning angle sensor 27 is composed of a so-called rotary potentiometer or the like,
The control unit, which will be described later, is provided to calculate the existing position of the bucket elevator 5 from a preset turning angle θ ₃ of the boom 4 with respect to the traveling frame 2.

Further, the boom 4 has
Depression angle θ with respect to the horizontal direction_FourDepression angle sensor to detect
The servicer 28 is attached. This elevation angle sensor 28
Is also composed of the rotary potentiometer, etc.
The control unit to be described later
The elevation angle θ of the boom 4 with respect to the determined traveling frame 2
_FourFrom the position of the excavation section 11 of the bucket elevator 5
It is provided to calculate the position (mainly the vertical position).
Have been.

A swing angle sensor 29 for detecting the swing angle θ ₅ of the column member 8 and the excavation section 11 of the bucket elevator 5 is attached to the uppermost portion 5a of the bucket elevator 5. This turning angle sensor 29 also
In the control unit described later, which is composed of the rotary potentiometer or the like, the existing position (mainly its direction) of the excavation part 11 is determined based on the preset turning angle θ ₅ of the column member 8 and the excavation part 11 with respect to the boom 4. It is provided to calculate.

Further, the excavation unit 11 of the bucket elevator 5 is provided with an expansion / contraction amount sensor 30 for detecting the expansion / contraction amount L ₄ of the cylinder 13. The expansion / contraction amount sensor 30 is composed of a so-called linear potentiometer or the like, and in a control unit described later, the length in the scraping direction of the excavating portion 11 equivalent to the expansion / contraction amount L ₄ of the cylinder 13 from a predetermined position set in advance. It is provided in order to detect the tip position of the excavation section 11 from the change in the height.

On the other hand, the above-mentioned control unit 31
As shown in FIG. 3, it is configured, for example, in a computer in a driver's cab of a continuous unloader, and mainly includes an excavation part tip position calculation device 32 and a ship position correction amount calculation device 3.
3, a control device 34, a storage device 35, and an operating device 36. Of these, the ship position correction amount calculation device 33
Is the relative position of the ship S with respect to the traveling frame 2 that changes due to the influence of tide level, wave, unloading amount, ballast amount, etc., to the distances L ₁ and L ₂ from the non-contact type distance sensors 22a and 22b, and the angle sensor 23a, Angle from 23b
Detected from ₁ , ₂
The ship position correction amount δ _S for correcting the tip position of the excavation section 11 calculated by the excavation section tip position calculation device 32 described later is calculated.

Further, the excavator tip position calculating device 32.
Calculates the predetermined position on the quay 1, that is, the position of the traveling frame 2 with the reflecting prism 26 as a base point, using the distance L ₃ from the non-contact type distance sensor 25, and the turning angle sensor 27 turns. Travel frame 2 using angle θ ₃
The tip position of the boom 4 with respect to, ie, the existing position of the bucket elevator 5, is calculated, and the existing height of the excavated portion 11 of the bucket elevator 5 with respect to the traveling frame 2 is calculated using the elevation angle θ ₄ from the elevation angle sensor 28. , The boom 4 using the turning angle θ ₅ from the turning angle sensor 29.
The direction of the excavation unit 11 with respect to the ship is calculated, the extension position L ₄ from the expansion amount sensor 30 is used to calculate the tip position of the excavation unit 11 with respect to the bucket elevator 5, and in addition to these, the ship position correction amount calculation device 33. The vessel position correction amount δ _S calculated in step 1 is read, and these are integrated to calculate the tip position of the excavation portion 11 with respect to the predetermined position on the quay 1.

Further, the control device 34 controls the center of manual / automatic operation of the continuous unloader and has various additional functions. Here, only the function of grasping the shape of the hold will be described in detail. In that case, the maximum reached position of the excavation tip position calculated by the excavation tip position calculation device 32 is stored in, for example, the buffer for each zone described later, and at the time of completion of excavation for one layer, each of the maximum values is stored. The arrival position is connected to obtain the planar shape of the inside of the hold related to the excavation work for the one layer, and this is performed for each layer, and at the same time, the maximum arrival position is set in the longitudinal direction (depth direction) in each continuous zone in the longitudinal direction. The cross-sectional shape of the inside of the hold in the depth direction is obtained by connecting the two to three-dimensionally grasp the shape of the inside of the hold from both, and during automatic operation of the continuous unloader,
This is for controlling the excavation amount, the excavation speed, the excavation direction, etc. of the scraping and carrying-out work by the continuous unloader so that the optimal unloading work can be efficiently carried out by using this hold shape.

Further, the storage device 35 stores various kinds of information necessary for automatic operation by the control device 34, but here, only the function for grasping the shape of the hold will be described in detail. The plane shape and the cross-sectional shape in each hold of each ship obtained by the control device 34 are stored as a three-dimensional hold shape, and when the continuous unloader automatically operates, the three-dimensional shape of the hold of the ship. The shape is given to the controller 34.

The operation device 36 switches the automatic operation / manual operation of the continuous unloader to the control device 34.
In addition to inputting to, the operation command of each actuator of the continuous unloader is input during manual operation. Next, the operation of the method for grasping the shape of the hold by the control unit 31 will be described. Here, it is assumed that the hold 20 of the ship S is loaded and unloaded for the first time by the continuous unloader. Since the shape of the hold has not been grasped yet, the loading and unloading work is performed by manually operating the continuous unloader. Be present.

Now, it is assumed that the plane shape at a certain excavation height in the hold 20 is as shown in FIG. 4a. In the figure, T represents an obstacle. Since the planar shape in the hold 20 has not been recognized yet, first, as shown in FIG. 4B, the tip position of the excavation part 11 of the bucket elevator 5 recognized by the excavation part tip position calculation device 32 and the control device 34 is determined. As reference points, for example, reference lines at equal intervals are drawn in the land and sea direction and the bow-stern direction to divide into zones. Then, in the manual operation of the continuous unloader, the position of the tip of the excavating portion 11 is the closest to the barge wall side of the hold 20 during the excavation work accompanying the lateral movement of one layer as shown in FIG. Is set as the maximum reaching position, and this is set between the reference lines as shown in FIG.
That is, the coordinates of the maximum landing position in the land and sea direction represented by the point x in each zone and the coordinates of the maximum landing position in the bow-stern direction represented by the point o are defined in the controller 34 or the storage device 35. The maximum reach position coordinates are stored at the end of the excavation work for the one layer, or interpolated between them, if necessary, to obtain the planar shape of the hold 20, and the stored shape is stored in the storage device 35. To be stored in the memory area.

Further, without changing the above-mentioned reference line and zone division, the same planar shape recognition as described above is performed for each cut in the excavation cargo handling of FIG. The maximum reached position coordinates are tied in the vertical direction, that is, the depth direction, or the space between them is interpolated as necessary to obtain the cross-sectional shape of each vertical division zone of the hold 20. Store in the area.

Then, the plane shape and the cross-sectional shape of the hold 20 are converted into a three-dimensional hold shape as required, and the information together with the names of the hold 20 of the ship S is converted into a predetermined storage area of the storage device 35. To memorize. Note that FIG.
As for the interval between the reference lines, the accuracy of the hold shape that is grasped is improved as the distance is smaller. However, there is practically no problem if the width of the excavation part 11 is about 2 m, and for example, the barb wall has a curved structure. Taking the plane of the ship (sea-land direction width: 29.6 m on the bow side, 40.6 m on the stern side, 22.3 m in the bow-stern direction) as an example, divide this into 10 to obtain the above-mentioned hold shape. When it is performed, the difference between the barb wall of the curved surface portion and the approximate shape of the hold by linear interpolation is about 10 cm, which is not a practical problem.

Therefore, at the time of loading and unloading by the continuous operation of the continuous unloader in the hold 20 of the ship S from the next time onward, simply input the name of the hold 20 of the ship S into the operating device 36 and the storage device 35. The shape of the hold stored in the table is called, and the control device 34 calculates the amount of excavation, the speed of excavation, the excavation trajectory, etc. that achieves the optimum cargo handling work according to the shape of the hold, and the continuous unloader operates accordingly. It is automatically driven.

[0035]

As described above, according to the method of grasping the shape of a hold according to the present invention, when the cargo is loaded for the first time in each hold of a ship for which the shape of the hold is not yet recognized, the excavating portion of the bucket elevator at specific intervals. By calculating the hold shape from the plan shape and cross-sectional shape of the hold by connecting the maximum reach positions of the hold, it is possible to grasp the hold shape without enormous cost and labor. The automatic operation can be implemented by the continuous unloader at the next cargo loading and unloading in the hold.

Further, by correcting the maximum arrival position information of the excavation section based on the relative position information of the ship and the continuous unloader, the hold shape grasped by the calculation can be made absolute. Therefore, at the time of the automatic operation after the next time, it is possible to implement the complete or almost complete automatic operation of the continuous unloader while using the relative position information between the ship and the continuous unloader.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of a continuous unloader.

FIG. 2 is an operation explanatory view of each sensor of the continuous unloader of FIG.

FIG. 3 is an explanatory diagram of a control unit of the continuous unloader of FIG.

FIG. 4 is an explanatory diagram of a method of grasping a hold shape performed by the control unit of FIG.

FIG. 5 is an explanatory diagram of cargo handling for scraping and carrying out cargo in a hold.

FIG. 6 is an explanatory view of the shape of the hold.

[Explanation of symbols] 1 is a quay 2 is a traveling frame 3 is a swing frame 4 is a boom 5 is a bucket elevator 6 is a balancing lever 7 is a counterweight 8 is a column member 9 is a bucket 10a, 10b, 10c is a sprocket 11 is an excavation part 12 Is a chain 13 is a cylinder 14 is a cylinder 15 is a boom conveyor 16 is a hopper 17 is a belt feeder 18 is an onboard conveyor 20 is a hold 22a, 22b is an automatic tracking non-contact distance sensor 23a, 23b is an angle sensor 24a, 24b is a reflecting prism 25 is an automatic tracking type non-contact type distance sensor 26 is a reflection prism 27 is a turning angle sensor 28 is a depression / elevation angle sensor 29 is a turning angle sensor 30 is an expansion / contraction amount sensor 31 is a control unit 32 is an excavation tip position calculation device 33 is a ship position Correction amount calculation device 34 is controlled Location 35 storage device 36 the operating device

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Masamichi Ogami, 1st Mizushima Kawasaki Dori, Kurashiki City, Okayama Prefecture (no address) Inside the Mizushima Works, Kawasaki Steel Co., Ltd. (72) 1Hiroaki Ishikawa, Kawashima Dori, Kurashiki City, Okayama Prefecture Chome (No house number) Kawasaki Steel Co., Ltd. Mizushima Steel Works (72) Inventor Jie Ida 1 Oshima, Mizushima Kawasaki Dori, Kurashiki City, Okayama Prefecture (No house number) Kawasaki Steel Co., Ltd. Mizushima Works (72) Inventor Tomoki Ishikawa Okayama Prefecture Mizushima Kawasaki Dori 1-chome, Kurashiki City (No.) Mizushima Steel Works Ltd. (72) Inventor Masao Fujita 1-Mizushima Kawasaki Dori, Kurashiki City, Okayama Prefecture (No house number) Kawashima Steel Co., Ltd. Mizushima Works (72) Inventor Nobuhiro Kaneda 1-chome, Mizushima Kawasaki-dori, Kurashiki City, Okayama Prefecture (without street number) Kawasaki Steel Works Mizushima Works

Claims (2)

[Claims] 1. When loading and unloading a continuous unloader, based on the position information of at least a traveling frame, a boom, a bucket elevator, and an excavating part that form the continuous unloader, the sea-land direction and the bow-stern direction in the hold of the ship being loaded. The maximum reach position of the excavation section is obtained for each of the above, and the plane shape inside the hold is obtained by connecting the maximum reach positions, while the depth information of the maximum reach position of the excavation section along with the progress of cargo handling is added to the hold. By obtaining the cross-sectional shape of
A method of grasping the shape of a hold, which comprises calculating the shape of the hold required for automatic operation of a continuous unloader. 2. The relative position between the ship and the continuous unloader is detected, and the maximum reached position information of the excavation unit is corrected based on the relative position information.
The method of grasping the shape of the cargo hold described in.