JPH09216736A - Control method of automatic tracking type relative position detector of unloader and device thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To automate an operation for orienting a position detector to a reflection mirror. SOLUTION: A controller 32 calculates the distance and direction upto the reflection mirror in the position coordinates system in which an unloader is standardized based on the installation position of the position detector 20-1 in the unloader informed in advance and the installation position of the reflection mirror 19-1 in a ship, a sea surface height, the stop position of the unloader and the berthing position information of the ship and orders a light wave irradiating direction for the position detector. This light wave irradiating direction is rendered to a visual reference point and the light wave of the position detector is scanned along a spiral rail around this visual reference point and the reflection light from the reflection mirror is caught by the position detector and when the reflection light is caught, thereafter the position detector is controlled so as to be transferred to an automatic tracking operation state.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control method and an apparatus for an automatic tracking relative position detecting device used for detecting the relative position of a ship with respect to an unloader for unloading a load such as bulk material loaded on the ship. .

[0002]

2. Description of the Related Art In the unloading work of a load loaded on a ship, it is necessary to move a part of the unloader, for example, a vertical transfer section, so as not to collide with a ship, for example, a rim of a hold during unloading work by the unloader. For this, it is necessary to accurately detect the position of the ship with respect to the unloader. As this detection method, a reflection mirror is installed at a predetermined position of the ship, and the position of the ship is detected by a position detector by an automatic tracking type distance sensor that is installed facing the unloader on the quay. Is known (JP-A-5-262432).

[0003]

However, in such a conventional position detecting method, before the position detector enters the automatic tracking state, the sighting point of the position detector is looked through the sighting device or the scope. , It was necessary to roughly match the position of the reflection mirror mounted on the ship. Since this operation is conventionally performed manually, the operation is complicated, and particularly at night, it is a work with great difficulty.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a control method for an automatic tracking type relative position detecting device which can automate the work for initially directing the position detector to the reflecting mirror. .

Another object of the present invention is to provide a control device for an automatic tracking relative position detecting device suitable for the above control method.

[0006]

According to a control method of an automatic tracking type relative position detecting device according to the present invention, an automatic tracking type position detector capable of turning and undulating is installed in an unloader traveling on a quay and the position detection is performed. The vessel emits a light wave toward a reflecting mirror installed at a predetermined position of the ship, detects the reflected light and tracks itself in the direction of strong reflection intensity, and the direction and distance to the reflecting mirror. In the method of detecting, the stop position of the unloader detected by the means for detecting the position of the unloader on the quay,
Based on the installation position of the position detector in the unloader and the installation position of the reflection mirror in the ship, the sea level, and the berth position information of the ship, which are known in advance, an optical wave is transmitted to the position detector. By calculating the direction to the reflection mirror in the position coordinate system with the unloader as a reference by the calculating means for instructing the emitting direction, the light wave emitting direction instructed by the calculating means is set as the visual point,
With this sighting point as the center, the light wave of the position detector is scanned along a spiral orbit to capture the reflected light from the reflection mirror by the position detector, and when the reflected light is captured, then Is to shift the position detector to an automatic tracking operation state.

Another control method for an automatic tracking type relative position detecting device according to the present invention is that a plurality of automatic tracking type position detectors capable of turning and undulating are installed in an unloader traveling on a quay, and the respective position detectors. Emits a light wave corresponding to a plurality of reflecting mirrors installed at different predetermined positions of the ship, detects reflected light from the corresponding reflecting mirrors, and tracks itself in the direction of strong reflection intensity, In the method of detecting the direction and distance to the corresponding reflection mirror, the stop position of the unloader detected by the means for detecting the position of the unloader traveling on the quay, and the position detection in the unloader known in advance. Corresponding based on the installation position of the vessel and the installation position of the reflection mirror in the ship, sea level, and berth position information of the ship. The calculation means for instructing the light emitting direction to the position detector calculates the direction to the reflection mirror in the position coordinate system with the unloader as a reference for each position detector, and is instructed by this calculation means. Reflection from the corresponding reflection mirror by scanning the light wave emitting direction of each of the reflection mirrors as a sighting point, and scanning the light wave of the corresponding position detector along the spiral trajectory around the sighting point. Light is captured by the position detector, and based on the detection result of the position detector that first captures the reflected light from the corresponding reflection mirror among the plurality of position detectors, with respect to the other position detector. It is characterized in that the calculation and the search for capturing the reflected light from the reflecting mirror corresponding thereto are performed.

Further, according to the present invention, a light wave is emitted toward a reflection mirror installed on an unloader traveling on a quay and installed at a predetermined position of a ship, and the reflected light is detected to thereby obtain a reflection intensity. While tracking itself in the strong direction of, the automatic tracking type position detector capable of turning and undulating to detect the direction and distance to the reflection mirror, means for detecting the position of the unloader on the quay, in advance, The unloader is based on known installation positions of the position detector in the unloader and installation positions of the reflection mirrors in the ship, sea level, stop positions of the unloader, and berth position information of the ship. Calculating means for calculating the distance and direction to the reflection mirror in a position coordinate system with reference to, and instructing the position detector of the light wave emission direction , The light wave emitting direction instructed by the calculating means is set as a sight point, and the light wave of the position detector is caused to scan along a spiral trajectory around the sight point, and reflected light from the reflection mirror is obtained. And a control unit having a search means for shifting the position detector to an automatic tracking operation state after the reflected light is captured by the position detector. A control device of a tracking type relative position detection device is obtained.

Further, according to the present invention, a light wave is emitted corresponding to a plurality of reflection mirrors installed in an unloader traveling on the quay and installed in different predetermined positions of the ship, and the corresponding reflection mirrors are emitted. While tracking itself in the direction of strong reflection intensity by detecting the reflected light from, a plurality of swivel and undulating automatic tracking type position detector that detects the direction and distance to the corresponding reflection mirror, and Means for detecting the position of the unloader traveling on the quay, the installation position of the position detector in the unloader and the installation position of the reflection mirror in the ship known in advance, the sea level, and the stop position of the unloader And the berth position information of the ship, the distance to the reflection mirror in the position coordinate system with the unloader as a reference for each position detector. Computation means for computing the direction and instructing the corresponding position detector of the light wave emission direction, and the light wave emission direction of each of the reflecting mirrors instructed by this operation means is set as a visual point, and this visual point Centering on, the light wave of the corresponding position detector is scanned along a spiral orbit to capture the reflected light from the corresponding reflection mirror by the position detector, and when the reflected light is captured, And a control unit having a search means for shifting the captured position detector to an automatic tracking operation state, and the control unit first detects from the corresponding reflection mirror among the plurality of position detectors. An unloader characterized by causing the other position detector to perform calculation and search for capturing the reflected light from the corresponding reflection mirror based on the detection result of the position detector capturing the reflected light of of Control apparatus for dynamic tracking type relative position detection device can be obtained.

It is preferable that the spiral scanning orbit is a substantially rectangular spiral orbit.

Further, the rectangular spiral scanning orbit may be a vertically long rectangular orbit.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below in detail with reference to the drawings. 1 and 2 are a plan view and a side view showing the positional relationship between a plurality of reflecting mirrors (two here) installed on a ship to which the present invention is applied and an unloader traveling on a quay. An unloader 14 that travels on a travel rail 13 is provided on the quay 12 on which the ship 11 docks and anchors. The unloader 14 includes a traveling platform 15 traveling on the traveling rail 13, a swing frame 16 installed on the traveling platform 15, a boom 17 installed on the traveling frame 15.
The boom 17 includes a vertical transport unit 18 provided at the tip of the boom 17. The unloader 14 is also provided with a traveling position detector (see FIG. 5) for knowing its current position.

Reflecting mirrors 19-1 and 19-2 are fixed on the ship 11 at two predetermined positions. The reflection mirrors 19-1 and 19-2 are configured by prisms that return the reflected light in the direction in which the light rays enter. Two automatic tracking type position detectors 20-1 and 20-2 are also installed on the traveling platform 15 of the unloader 14. These automatic tracking type position detectors 20-1 and 20-2 have two
It is associated with each of the reflection mirrors 19-1 and 19-2. Then, in a state where the unloader 14 is stopped at a predetermined position, it emits a light wave toward the corresponding reflection mirror, detects the reflected light, and tracks itself in the direction having a high reflection intensity, and reaches the corresponding reflection mirror. Detects the direction and distance of. Such an automatic tracking type position detector is well known.

3 and 4 are a plan view and a side view showing the configuration of the automatic tracking type position detectors 20-1 and 20-2 used in the present invention. The detector body 21 includes a light transmitting lens 22 and a light receiving lens 23, and is installed on the undulating portion 24.
The undulating portion 24 is rotatably installed on the turning portion 25 by an undulating motor 26. The swivel unit 25 is rotatably mounted on a base 28 via a swivel shaft 27 driven by a motor (not shown).
It is installed in.

FIG. 5 is a block diagram showing a configuration for realizing the control system according to the present invention. Two reflection mirrors 1
The two automatic tracking type position detectors 20-1 and 20-2 associated with 9-1 and 19-2, respectively,
Information indicating the direction of the emitted light wave and the corresponding reflection mirror 19
-1, 19-2 is output as distance information, and these pieces of information are supplied to coordinate correction calculators 31-1, 31-2, respectively. The information indicating the direction of the emitted light wave is expressed by the undulation angle and the turning angle of the position detectors 20-1 and 20-2.

The coordinate correction calculators 31-1 and 31-2 are for correcting the installation error of the position detectors 20-1 and 20-2, and are for the unloader 14 calculated by the control unit 32 described later. The relative position of the ship 11 is the position detector 20.
-1 and 20-2 are provided to eliminate the influence of the installation error. That is, the position detector 20-
1, 20-2, the base 28 is in a horizontal state,
The reference state is a state in which a light wave can be emitted horizontally at an undulation angle of 0 ° and a light wave can be emitted at a turning angle of 0 ° at a right angle to the traveling direction of the unloader 14, but due to distortion of the traveling platform 15 of the unloader 14, This is because the above reference state may not always be obtained. Since this installation error can be known in advance, the coordinate correction calculators 31-1 and 31-2 correct the information obtained by correcting the information indicating the distance and direction from the position detectors 20-1 and 20-2. To 32.

The controller 32 is further provided with stop position information from the traveling position detector 33 of the unloader 14 and the unloader 14.
Position information of the position detectors 20-1 and 20-2 for the ship, predetermined berth position information of the ship 11,
The mounting position information of the reflection mirrors 19-1 and 19-2 on the ship 11 and the height information of the sea surface are supplied. Control unit 3
2 is the estimated position of the reflection mirrors 19-1 and 19-2 in the position coordinate system with the unloader 14 as a reference from these information,
That is, the distance and direction from the position detectors 20-1 and 20-2 to the reflection mirrors 19-1 and 19-2 are calculated. The positions of the reflection mirrors 19-1 and 19-2 are set to the ship 11
However, the control unit 32 uses the above information to calculate the positions of the reflecting mirrors 19-1 and 19-2 as the estimated positions, although the position changes depending on the berthing position deviation, the tide level, and the amount of the load loaded on the ship 11. In this way, the controller 32 controls the position detector 2
Each of the reflection mirrors 19 viewed from 0-1 and 20-2
1, 19-2 are estimated, and each position detector 20-1,
The light wave emission direction command information of 20-2 is generated and supplied to the position detectors 20-1 and 20-2. The light wave emission direction command information is information that specifies the direction of the light wave transmitted from the position detector, and is represented by the turning angle and the undulation angle of the position detector.

The position detectors 20-1 and 20-2 direct the light wave emitting directions toward the corresponding reflecting mirrors 19-1 and 19-2 according to the light wave emitting direction command information, and observe the light waves in that direction. Send as a point. In particular, at the time of light transmission, the position detector 20-1 (20-2) causes the square spiral locus 42 to center around the sighting point 41 by a search command from the control unit 32, as shown in FIG. A search for the reflection mirror 19-1 (19-2) is performed by transmitting light along the line. This search gradually expands outward from the center, and planarly expands the direction of light transmission. As a result of this search, the position detectors 20-1 and 20-2
When the reflected light from the reflection mirror 19-1 (19-2) is captured, the search is stopped, and thereafter, the known automatic tracking operation is started.

Since the light waves transmitted from the position detectors 20-1 and 20-2 have a certain width, the search interval W is set to be narrower than the width of the light waves so that the entire search range is reached. Can be covered. Further, as the sea level information, the highest tide level and the lowest tide level may be measured in advance and the average value between them may be used as a fixed value. Alternatively, if the tide level is measured and input each time the ship 11 is docked, the error is reduced. Furthermore, in addition to such tide level information, the sea surface and the reflection mirrors 19-1, 19-
The accuracy can be further improved by measuring and inputting the height difference information between the two. Further, since the ship 11 is made to berth at a predetermined position, the berth position information has a fixed value. However, when there are a plurality of berth positions, the berth position information is input each time. It

In the above-mentioned embodiment, two position detectors and two reflecting mirrors are installed. However, by providing the reflecting mirrors at two positions apart from each other, the position of the ship 11 can be grasped at two points, which is more accurate. This is because the effect of preventing the unloader 14 from colliding with the ship 11 at the time of unloading work is improved by knowing the position of the ship 11, and if there is no consideration for this, one may be provided for each. In the above embodiment, each position detector 20-
1, 20-2 are corresponding reflection mirrors 19-1, 19-
The position detector 20 calculated by the control unit 32 is used for the second search.
Although it was performed based on the data on the distances and directions from -1, 20-2 to the reflection mirrors 19-1, 19-2, another method may be used. For example, when one of the position detectors 20-1 and 20-2, for example, the position detector 20-1 first captures the reflected light from the reflection mirror 19-1, the control unit 32 causes the position detector 20-1. The relative position between the unloader 14 and the ship 11 is calculated based on the light wave emission direction and the distance. Subsequently, the control unit 32 performs a backward calculation from the relative position between the unloader 14 and the ship 11 to calculate the distance and direction from the other position detector 20-2 to the corresponding reflection mirror 19-2 and newly detects the position detector. It is also possible to supply the lightwave emission direction command information to 20-2 and search the reflection mirror 19-2.

The reflection mirror 1 obtained by the controller 32
The positions of 9-1 and 19-2 change depending on the change in the tide level and the amount of load loaded on the ship, and the positions are estimated positions. In anticipation of that, the spiral search is shown in FIG.
The reflected light can be quickly captured by forming the vertically long rectangular spiral locus 43 as shown in FIG.

As another search method, the spiral search is performed for a certain period of time or within a range of ± several degrees, or a certain number of layers (number of spiral turns), and the reflection mirror 19- If 1 and 19-2 are not found, the spiral search is stopped, the search start point is moved upward (or downward) with respect to the estimated position of the search, and the spiral search is performed again. The movement distance of the search start point with respect to the estimated position of the search is, for example, a distance smaller than the vertical movement width of the first search. The spiral search after the movement is performed in the same manner as the initial search.
Even in this spiral search, the reflection mirrors 19-1, 19-
If 2 is not found, the search start point is moved in the opposite direction to the second search with respect to the first searched base point, and the third search is performed. Of course, the search start point may be moved in the left-right direction.

The control unit 32 also functions as a control unit for unloading work, that is, a control unit for the unloader drive unit 36.
When the relative position of the ship 11 with respect to the unloader 14 is detected as described above, the control unit 32 causes the unloader 14 to operate.
While receiving information from the swing angle detector 34 and the undulation angle detector 35 (see FIG. 5) of the boom 17, the vertical transport unit 18 prevents the vertical transport unit 18 from colliding with a part of the ship 11, for example, the edge of the hold. Control 36.

[0024]

According to the present invention described above, the complicated work of manually directing the tracking type distance detector to the reflecting mirror on the ship side by using the conventional collimator, scope, etc. is automatically performed. This makes it easier to work, especially at night.

[Brief description of drawings]

FIG. 1 is a plan view showing a positional relationship between a plurality of reflecting mirrors installed in a ship to which the present invention is applied and an unloader traveling on a quay.

FIG. 2 is a side view showing a positional relationship between a plurality of reflecting mirrors shown in FIG. 1 and an unloader traveling on the quay.

FIG. 3 is a plan view showing a configuration of an automatic tracking type position detector used in the present invention.

FIG. 4 is a side view showing the configuration of an automatic tracking type position detector used in the present invention.

FIG. 5 is a diagram showing a configuration for realizing a control method of an automatic tracking unloader relative position detection device according to the present invention.

FIG. 6 is a perspective view showing a search operation of the automatic tracking type position detector used in the present invention.

FIG. 7 is a diagram showing another search operation of the automatic tracking type position detector used in the present invention.

[Explanation of symbols]

 11 Vessel 12 Quay 13 Traveling rail 14 Unloader 15 Traveling platform 16 Swivel frame 17 Boom 18 Vertical transport part 19-1, 19-2 Reflecting mirror 20-1, 20-2 Position detector 21 Detector body 22 Light transmitting lens 23 Light receiving lens

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Kenji Hirata 2109, Yashima Nishimachi, Takamatsu City, Kagawa Prefecture 8 Shikoku Research Institute, Inc. (72) Inventor Masao Isshiki 5-2, Sokaimachi, Niihama-shi, Ehime Sumitomo Heavy Industries Industrial Co., Ltd. Niihama Works (72) Inventor Takeshi Nakagawa 5-2 Sokai-cho, Niihama-shi, Ehime Sumitomo Heavy Industries, Ltd. Niihama Works

Claims (8)

[Claims] 1. An automatic tracking type position detector capable of turning and undulating is installed on an unloader traveling on a quay, and the position detector is a light wave directed toward a reflection mirror installed at a predetermined position of a ship. In the method of detecting the direction and distance to the reflection mirror while detecting the reflected light and tracking itself in the direction of strong reflection intensity, by means of detecting the position of the unloader on the quay. Based on the detected unloader stop position, the installation position of the position detector in the unloader and the installation position of the reflection mirror in the ship known in advance, the sea level, and the berth position information of the ship. , A direction to the reflection mirror in a position coordinate system with the unloader as a reference by a calculation means for instructing the position detector of a light wave emission direction The light wave emission direction instructed by the calculation means is defined as a sighting point, and the light wave of the position detector is scanned along the spiral orbit with the sighting point as the center to scan from the reflection mirror. A method of controlling an automatic tracking relative position detecting device of an unloader, characterized in that reflected light is captured by the position detector, and when the reflected light is captured, the position detector is then shifted to an automatic tracking operation state. . 2. A plurality of automatic tracking type position detectors capable of turning and undulating are installed on an unloader traveling on the quay,
Each position detector emits a light wave corresponding to a plurality of reflection mirrors installed at different predetermined positions on the ship, detects the reflected light from the corresponding reflection mirrors, and detects itself in the direction of strong reflection intensity. In the method of detecting the direction and the distance to the corresponding reflecting mirror while tracking the unloader, the unloader stop position detected by the means for detecting the position of the unloader traveling on the quay, and the previously known Based on the installation position of the position detector in the unloader, the installation position of the reflection mirror in the ship, the sea level, and the berth position information of the ship, the light emitting direction is instructed to the corresponding position detector. The calculation means calculates the direction to the reflection mirror in the position coordinate system with the unloader as a reference for each position detector, and this calculation The light wave emitting direction of each of the reflection mirrors commanded by the means is set as a sight point, and the light wave of the corresponding position detector is scanned along the spiral orbit with the sight point as the center to correspond to the light wave. The reflected light from the reflection mirror is captured by the position detector, and based on the detection result of the position detector that first captures the reflected light from the corresponding reflection mirror among the plurality of position detectors, the other one. A control method of an automatic tracking type relative position detecting device of an unloader, characterized by causing a position detector to perform calculation and search for capturing reflected light from a corresponding reflection mirror. 3. The control method for an automatic tracking relative position detection device for an unloader according to claim 1, wherein the spiral scanning track is a substantially rectangular spiral track. 4. The control method of an automatic tracking relative position detecting device for an unloader according to claim 3, wherein the rectangular spiral scanning orbit is a vertically long rectangular orbit. 5. A light wave is emitted toward a reflection mirror installed on an unloader traveling on the quay, which is installed at a predetermined position of a ship, and the reflected light is detected and the reflected light is reflected in a strong reflection direction. While tracking, the automatic tracking type position detector capable of turning and undulating to detect the direction and distance to the reflection mirror, means for detecting the position of the unloader on the quay, and the known in advance A position based on the unloader based on the installation position of the position detector in the unloader, the installation position of the reflection mirror in the ship, the sea level, the stop position of the unloader, and the berth position information of the ship. A calculating means for calculating a distance and a direction to the reflecting mirror in a coordinate system, and instructing the position detector of a light wave emitting direction, and the calculating means. The light wave emission direction instructed is set as a sighting point, and the light wave of the position detector is scanned along a spiral trajectory around the sighting point to detect the reflected light from the reflection mirror. Automatic tracking-type relative position of the unloader, characterized in that it has a control unit having a search means for shifting the position detector to an automatic tracking operation state after the reflected light is captured by the scanning device. Control device of the detection device. 6. A light wave is emitted corresponding to a plurality of reflecting mirrors installed in an unloader traveling on the quay and installed in different predetermined positions of a ship, and reflected light from the corresponding reflecting mirrors is emitted. A plurality of turning and undulating automatic tracking type position detectors that detect the direction and distance to the corresponding reflection mirror while tracking themselves in the direction of strong reflection intensity detected, and run on the quay. Means for detecting the position of the unloader, the installation position of the position detector in the unloader and the installation position of the reflection mirror in the ship known in advance, the sea level, the stop position of the unloader, and the ship Based on the berthing position information, the distance and direction to the reflection mirror in the position coordinate system with the unloader as a reference are calculated for each position detector, and Computation means for instructing the light emitting direction to the position detector, and the light emission direction for each of the reflecting mirrors instructed by the computing means is set as a visual point, and the visual point is the center of the visual point. The light wave of the position detector is scanned along a spiral orbit and the reflected light from the corresponding reflection mirror is captured by the position detector, and when the reflected light is captured,
And a control unit having a search means for shifting the captured position detector to an automatic tracking operation state, and the control unit is the first of the plurality of position detectors and the corresponding reflection mirror. Based on the detection result of the position detector that captures the reflected light from the other position detector, the other position detector is caused to perform calculation and search for capturing the reflected light from the corresponding reflection mirror. Control device of automatic tracking type relative position detection device of unloader. 7. The control device for an automatic tracking relative position detecting device for an unloader according to claim 5, wherein the spiral scanning track is a substantially rectangular spiral track. 8. The control device for an automatic tracking relative position detecting device for an unloader according to claim 7, wherein the rectangular spiral scanning orbit is a vertically long rectangular orbit.