JPH1159918A - Unloader, and its operating method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To operate the relative distance of a scraping part of an unloader to a hatch opening or a ship wall without using the ship type data or the prism by operating the relative positional relationship of the scraping part to the hatch opening or the ship wall based on the operation result by a hatch opening shape operating means or a ship wall shape operating means. SOLUTION: A graphic display device 36 to illustrate the operation result is displayed on a relative positional relationship operating means 35. A hatch opening shape operating means 33 calculates the shape of a hatch opening 15 based on the distance measurement result of a distance sensor 13 for measuring the hatch opening. A ship wall shape operating means 34 calculates the shape of a ship wall 16 based on the distance measurement result of a distance sensor 14 for measuring the ship wall. The relative positional relationship operating means 35 operates the relative positional relationship of a scraping part 9 to the hatch opening 15 or the ship wall 16 based on the operation result of the hatch opening shape operating means 33 or the ship wall shape operating means 34. The relative positional relationship operating means 35 is connected to an unloader control device 37.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an unloader for loading a cargo loaded on a ship, for example, a powdery or granular material such as charcoal chips or coal onto land.

[0002]

2. Description of the Related Art Such an unloader device includes a swivelable boom, and a scraping portion rotatably provided at a tip end of the boom. The endless bucket conveyor provided in the above is driven to scrape out the granular material and transport it to land.
In such an unloader device, a driver's cab is provided near the tip of the boom, and an operator gets into the driver's cab, and the operator visually checks the hatch opening and the ship wall in the hatch and manually operates the operating device. However, relying on manual operation by the operator places a heavy burden on the operator and entails a risk of collision with a ship wall or the like.

[0003] In order to assist the operation of the operator, there is an apparatus provided with an operation assisting device. As this operation assisting device, for example, a prism is installed at a fixed point of a ship,
The distance between the prism and the unloader side is measured by tracking the prism by an automatic tracking type optical wave distance meter provided on the unloader side, and the measured distance and ship shape data (for example, the position, size, number, Calculates the relative distance between the scraper of the unloader and the ship wall or hatch opening, and informs the operator when the unloader approaches the ship wall abnormally. There is something that announces.

[0004]

However, in the conventional operation assisting device, the prism must be installed on the ship side, and the hull form data must be obtained for each ship and the data must be input to the computer. It is very time-consuming and time-consuming.

The present invention has been made in view of the above circumstances, and provides an unloader device capable of calculating a relative distance between a scraping portion of an unloader, a hatch opening, and a ship wall without using boat shape data or a prism. The purpose is to provide.

Another object of the present invention is to provide an unloader having an easy-to-use driving support function which displays the relative distance between the scraper of the unloader and the hatch opening or the ship wall on a graphic display device and directly appeals to the operator's vision. It is to provide a device.

[0007]

SUMMARY OF THE INVENTION The present invention relates to an unloader apparatus having a swivelable boom and a scraper provided at the tip of the boom. A distance sensor is provided, the scraping unit is provided with a ship wall measuring distance sensor, and a hatch opening shape calculating means for calculating a hatch opening shape based on an output signal of the hatch opening measuring distance sensor; A hull shape calculating means for calculating the shape of the hull in the hatch based on an output signal of the hull measuring distance sensor; and the scraping based on a calculation result by the hatch opening shape calculating means or the hull shape calculating means. A relative positional relationship calculating means for calculating a relative positional relationship between the section and the hatch opening or the ship wall is provided.

It is preferable that the hatch opening measuring distance sensor includes a lateral direction measuring means for measuring a distance in a direction perpendicular to the boom, and a forward direction measuring means for measuring an axial distance of the boom. .

[0009] The ship wall measuring distance sensor includes a lateral direction measuring means for measuring a lateral distance of the scraping section, and a forward direction measuring means for measuring a forward distance of the scraping section. Preferably, it is provided.

The relative positional relationship between the scraping portion and the hatch opening or the ship wall is graphically displayed based on the calculation result of the relative positional relationship between the scraping portion and the hatch opening or the ship wall by the relative position relationship calculating means. What is displayed as a diagram on the device is preferred.

According to the method of operating the unloader device of the present invention, a distance sensor for measuring a hatch opening is provided near a tip end of a boom, a distance sensor for measuring a ship wall is provided at a scraping portion, and an output of the distance sensor for measuring a hatch opening is provided. The shape of the hatch opening is calculated based on the signal, the shape of the ship wall in the hatch is calculated based on the output signal of the ship wall measuring distance sensor, and the scraping part and the hatch opening or It is characterized in that the relative positional relationship with the ship wall is calculated.

A collision between the scraper of the unloader and the hatch opening and the ship wall is automatically monitored, and when a relative distance between the scraper and the hatch opening and the ship wall becomes smaller than a predetermined distance. Alternatively, the operation of the unloader device may be automatically stopped.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an unloader device according to an embodiment of the present invention will be described with reference to the accompanying drawings.

The unloader of the present embodiment is shown in FIG.
As shown in (a), the quay 1 can run along the quay 1.
, A turning base 5 rotatably mounted on the upper part of the running frame 3, a boom 4 extending from the turning base 5 toward a ship 6 floating on the sea 2, and a boom 4 Frame 8 supporting the rotating base 5, a scraping portion 9 provided to be able to swivel with respect to a holding portion 11 provided near the tip of the boom 4, and an anti-scraping portion 9 side of the supporting frame 8. It is schematically configured to include a balance weight 10 provided at the end and an operator cab 12 provided at the tip of the boom 4.

The scraping section 9 has a known structure. For example, a plurality of buckets are attached to an endless chain (not shown) at predetermined intervals, and the bucket is attached to the outer periphery of the scraping section 9. In this case, the transported material is scraped off and transported to the land side.

In this unloader apparatus, a hatch opening measuring distance sensor 13 is provided on the bottom outer surface of the cab provided near the tip of the boom 4, and a ship wall measuring distance sensor 14 is provided in the middle of the scraping section 9. Is provided. The hatch opening measuring distance sensor 13 measures the shape of the hatch opening 15 of the ship 6 by measuring the distance to the hatch opening 15, and the ship wall measuring distance sensor 14 measures the distance to the ship wall 16. Is used to measure the shape of the ship wall 16 in the hatch 15.

As shown in the block diagram of FIG. 1B, the hatch mouth measuring distance sensor 13 is
The distance sensor 14 for measuring the ship wall is connected to the ship wall shape calculating means 34. The hatch opening shape calculating means 33 and the ship wall shape calculating means 34 are connected to the relative positional relationship calculating means 35, respectively. A graphic display device (for example, a CRT device or a liquid crystal display) 36 showing the calculation result is connected to the relative positional relationship calculation means 35. Here, the hatch opening shape calculating means 33 calculates the shape of the hatch opening 15 based on the distance measurement result of the hatch opening measuring distance sensor 13 by calculation.
The hull shape calculating means 34 calculates the shape of the hull 16 based on the distance measurement result of the hull measuring distance sensor 14, and the relative positional relationship calculating means 35 includes the hatch opening shape calculating means 33 or the ship. The relative positional relationship between the scraping unit 9 and the hatch opening 15 or the ship wall 16 is calculated based on the calculation result of the wall shape calculation unit 34. The relative position relationship calculating means 35 is connected to the unloader control device 37 and outputs a stop signal to the unloader control device 37 to prevent a collision when approaching a predetermined distance based on the calculation result of the relative position. It is supposed to.

As shown in FIG. 2, the hatch mouth measuring distance sensor 13 includes a side direction measuring means 18 for measuring a distance in a direction orthogonal to the boom 4 inside the cover 13a,
And a forward direction measuring means 19 for measuring the distance in the axial direction.

The lateral direction measuring means 18 drives a mirror (not shown) for reflecting the laser light to rotate the mirror to reflect the laser light reflected by the mirror to the cover 13 as shown by an arrow 20.
The light is radiated outward from a window 13b provided in a. The rotation of the mirror causes the trajectory of the laser light to draw a substantially semicircle orthogonal to the axis of the boom 4 (see FIG. 4).

The forward direction measuring means 19 has substantially the same configuration as the side direction measuring means 18, and radiates the laser beam reflected by the mirror outward from a window 13c provided on the cover 13a as shown by an arrow 21. It is supposed to.
The rotation of the mirror causes the trajectory of the laser beam to draw a semicircle in a vertical plane including the axis of the boom 4 (see FIG. 5).

As shown in FIG. 3, the hull measuring distance sensor 14 includes a lateral direction measuring means 28 for measuring a lateral distance of the scraping portion 9 inside the cover 14a, and the scraping portion. And a forward direction measuring means 29 for measuring the distance in the forward direction.

The side direction measuring means 28 drives a mirror (not shown) for reflecting a laser beam in the same manner as the hatch mouth measuring distance sensor 13 to rotate the laser beam reflected by the mirror into an arrow 30. The light is radiated outward from the window 14b provided in the cover 14a as shown in FIG. The rotation of the mirror causes the trajectory of the laser beam to draw a substantially semicircle orthogonal to the forward direction of the scraping section 9 (see the arrow A in FIG. 6) (FIG. 6A,
(C)).

The forward direction measuring means 29 has substantially the same structure as the side direction measuring means 28, and radiates the laser beam reflected by the mirror outward from a window 14c provided on the cover 14a as indicated by an arrow 31. It is supposed to.
Then, in the forward direction measuring means 29, the mirror is
Are provided corresponding to the orthogonal X-axis and Y-axis, respectively, on the virtual plane in the forward direction, and the trajectory of the laser beam intersects the virtual plane in the forward direction of the scraping unit 9 by the rotation of each mirror. Move in a plane in the X-axis direction and the Y-axis direction (see FIGS. 6A and 6B).

Next, the operation method and control operation of the unloader device according to the present embodiment will be described with reference to flowcharts shown in FIGS. 17 and 18, screen display states of the CRT device shown in FIGS. 19 to 24, and FIGS. Description will be made based on the auxiliary diagrams shown.

(1) Input of Hold Data First, hold data necessary for monitoring the operation of the unloader is input to a computer mounted on the unloader. The hold data input by the operator is transmitted from the upper surface of the hatch cover 40 shown in FIG.
And the height Hb of the hopper section (step 1 in the flowchart of FIG. 17 (S
Described as 1. The same applies hereinafter)). Hh is a distance h between the bottom of the hold (ship bottom 41) and the bottom surface 9a of the scraping section 9.
This is necessary to measure b. Distance hb
Is necessary to output an alarm indicating that the hopper has become the hopper during the lower layer scraping operation, and the distance hb is:
Using the dimensions shown in FIG. 7, hb = (lh + Hh)-(L
be + Lα).

Other hold data to be input include the hatch opening measuring distance sensor 13 and the hatch cover 4.
0 and the distance (Lbe + Lα) from the installation position of the hatch opening measuring distance sensor 13 to the bottom surface 9a of the scraping unit 9. As the distance lh, a measured value actually measured using the hatch mouth measuring distance sensor 13 is input to the computer. The distance Lbe at the distance (Lbe + Lα) indicates the mechanical length when the expansion and contraction of the scraping unit 9 is the maximum stroke (the scraping unit 9 shown by a solid line in the figure),
It is input to the computer in advance corresponding to the unloader device to be used. The distance Lα indicates a holding height for an arbitrary expansion / contraction stroke st (in the case of the scraping unit 9 indicated by a dotted line in the figure), and Lα = α · st + β (α and β are specific constants of a specific unloader device). Is calculated. The telescopic stroke st is constantly measured by a sensor (not shown) provided in the scraping unit 9 of the unloader device, and the distance Lα is calculated based on the measured value and automatically input to the computer. Incidentally, the distance Lα is 0 at the time of the maximum expansion / contraction stroke.

If data on the hull form of the ship from which the load is to be scraped and discharged is known in advance, the input operation by the operator can be omitted. That is, the hold data is input and registered in advance in correspondence with the ship name and the hold number, and when starting the scraping operation, when the operator inputs the ship name and the hold number, the hold data corresponding to the hole is held. Is automatically loaded on the computer.

(2) Measurement of Position and Size of Hatch Opening At the start of the scraping operation, first, the position and size of the hatch opening 15 of the hold to be scraped are measured by the hatch opening measuring distance sensor 13. .

In the unloader according to the present embodiment, when the scraping section 9 is located inside the edge line of the hatch opening 15 when viewed in a plan view, the distance and direction to three points on the edge line of the hatch opening 15 are different. Detection is possible, and based on this, the position and size of the hatch opening can be measured and calculated as shown in (I) and (II) below.

The three points on the edge line of the hatch opening 15 are measured as follows. As shown in FIGS. 4 and 5, a laser beam is emitted from the hatch mouth measuring distance sensor 13 (forward direction measuring means 19) in the direction of the arrow 21 and is reflected on the upper surface of the hatch cover 40. Hatch mouth measurement distance sensor 13
The reflected light is detected by the (forward direction measuring means 19), and the distance between the hatch opening measuring distance sensor 13 and the reflection point a of the hatch cover 40 is detected based on the time from emission to light reception. Similarly, by slightly changing the emission angle of the laser light, the distance between the hatch mouth measuring distance sensor 13 and the reflection point (for example, point b) of the hatch cover 40 is detected. The distance and direction to the edge point c of the hatch opening 15 can be obtained by calculation based on the group of distance data thus obtained.

Similarly, the laser beam is emitted in the direction of arrow 20 from the distance sensor 13 for measuring the hatch opening (lateral direction measuring means 18) while changing the emission angle to reach the side edge points d and e of the hatch opening 15. Distance and direction can be obtained.

In the present unloader, the four edge lines of the hatch opening cannot be measured at the same time.
At two points, a point (hereinafter referred to as a measurement point (1)) and one point on the land side (hereinafter referred to as a measurement point (2)), the distance and direction to three points on the edge line are measured and are rectangular. Hatch mouth 1
The position and the size of the hatch opening are calculated by calculating four edge lines of No. 5. For this calculation, the following measurement points (1),
This will be described specifically in (2).

(I) In case of measuring point (1) The operator moves the scraping section 9 of the unloader device toward the measuring point (1) (step 2). Here, FIG.
As shown in (2), the scraping unit 9 is moved above the hatch cover 40 so as to be located at a height L (about 2 m in the present embodiment). Then, as shown in FIG. 8, when the scraping section 9 reaches the measurement point (1), the operation monitoring start button is pressed to start detection of the hatch opening (step 3). As a result, the hatch opening measuring distance sensor 13 is operated, and the distances and directions to the three points A, B, and C on the edge line of the hatch opening are obtained. From these results, the coordinates A on the plane of the three points A, B, and C
(X1, y1), B (x2, y2), C (x3, y3)
Is obtained by calculation. Since the hatch opening 15 is rectangular,
By calculating the two expressions x = xmin and y = ymax, the positions of the two sides of the edge line of the hatch can be calculated.
As shown in FIG. 19, the two sides 50 with respect to the scraping portion 9 are C
It is displayed on the RT screen (step 4). As shown in FIG. 8, when the edge line of the hatch opening 15 is parallel to the reference axes x and y, x = xmin = x1, y = ymax = y2, or y3
Becomes At this time, the side 50 is displayed and the scraping unit 9 is displayed.
These relative positional relationships are visually displayed by displaying the projected figure of.

Here, depending on the orientation of the scraping portion 9 with respect to the edge line of the hatch opening 15, the calculation of the two sides 50 may not be possible and the display may not be possible, so the operator may display the two sides of the hatch opening. It is confirmed by the CRT device whether or not the two sides are displayed (step 5). If the two sides are not displayed, the position is changed by slightly turning the scraping unit 9 until the two sides are displayed (step 6). .

When the two sides are displayed, the operator moves the scraping section 9 of the unloader device toward the measurement point (2) (Step 7). At this time, as shown in FIGS. 9 and 11, the scraping portion 9 has a height L above the hatch cover 40.
Move while holding.

(II) In case of measuring point (2) When the scraping section 9 reaches the measuring point (2) as shown in FIG. 10, the hatch mouth measuring distance sensor 13 is operated,
Distances and directions to three points D, E, and F on the edge line of the hatch opening are obtained. From these results, the coordinates A (x4, y4), B (x5, y5), and C (x
6, y6) is calculated. x = xmax, y = y
The position of the other two sides of the edge line of the hatch opening is calculated by obtaining the two expressions of min. As shown in FIG. 20, the other two sides 51 of the scraping section 9 are displayed on the screen of the CRT (step 8). The other two sides 51 are displayed, and the two sides 50 displayed in the previous step are extended and intersected with the other sides 51 to display a square corresponding to the edge line of the hatch opening 15. Here, if the edge line of the hatch opening 15 is parallel to the reference axes x and y as shown in FIG. 10, x = xmax = x
6, y = ymin = y4.

As in the case of the measurement point (1), the scraping section 9
Depending on the orientation of the hatch opening 15 with respect to the edge line, the other two sides 51 may not be calculated and cannot be displayed. Therefore, the operator determines whether the other two sides 51 of the hatch opening are displayed on the CRT device. Check with other two sides 51
Is not displayed, the position is changed by slightly turning the scraper 9 until two sides are displayed (step 9).

As shown in FIG. 21, four sides 5
The projected figure of the scraping unit 9 is always displayed together with the display of 0 and 51. Thereby, the operator can visually confirm the relative positional relationship between the hatch opening and the scraping unit 9.

When the other two sides 51 are displayed, the operator then determines whether or not to automatically follow the hatch opening (step 10). If it is determined that tracking is to be performed automatically, the hatch-mouth tracking button is pressed (step 11).

(3) Indication of the distance between the scraping section, the hatch opening and the bottom of the ship When the hatch opening tracking button is pressed, the front section 9c, the rear end 9d, and the hatch opening of the scraping section 9 in plan view. 15, the distance to each side 50, 51 and the front surface 9c of the scraping unit 9,
The distance between the rear end 9d and the ship bottom 41 is calculated and digitally displayed on the CRT device (step 12). In addition, 4 sides 5
After 0 and 51 are displayed, the hatch mouth measuring distance sensor 1 is displayed.
The distance measurement with the four sides 50 and 52 is calculated by calculation based on the calculated equations of the sides 50 and 51 without performing the distance measurement by 3.

Here, since the relative position with respect to the hatch opening 15 is gradually changed by the traversing or turning of the scraping unit 9, the display of the distance to the hatch opening 15 is gradually updated and displayed. Also,
Since the distance from the bottom portion 9a of the scraping section 9 to the ship bottom 41 also changes due to the change in the expansion / contraction stroke st of the scraping section 9, the display of the distance to the ship bottom 41 is also gradually updated based on measurement data by a stroke sensor or the like. indicate. Furthermore, since the projected figure expands and contracts by changing the expansion / contraction stroke st of the scraping unit 9, the projection figure on the CRT device is displayed in an expanded / contracted manner based on measurement data from a stroke sensor or the like, and the rearward end 9d after the expansion / contraction Four sides 50,
The display of the distance to 51 is gradually updated and displayed.

(4) Ship Wall Display Start Judgment As described above, the operator operates the unloader device to scrape the load while looking at the screen of the CRT device, and causes the scraper 9 to enter the hold (step). 1
3). Here, the hull measuring distance sensor 14 is constantly measuring, but the measurement object is maintained until the scraping unit 9 penetrates deeply into the hold and the hull measuring distance sensor 14 faces the hull 16. Since the object is not in the measurement range, the position, shape, and the like of the ship wall 16 cannot be calculated. Therefore, FIG.
As shown in FIG. 5, a graphic indicating the hatch opening 15 and the scraping portion 9 is displayed on the screen of the CRT device, and the character "Wall wall measurement is impossible" is displayed (step 14).

When the ship wall measuring distance sensor 14 faces the ship wall 16, the position of the ship wall 16 of the hold is measured by the ship wall measuring distance sensor 14. This measuring method is almost the same as that of the hatch opening measuring distance sensor 13.

That is, as shown in FIG. 12, a laser beam is emitted from the ship wall measuring distance sensor 14 (forward direction measuring means 29) in the direction of the arrow 31 (see FIG. 3), and the laser light is emitted from the ship wall 16 of the hold. reflect. Ship wall measurement distance sensor 14
(Forward direction measuring means 19) detects reflected light, and based on the time from emission to light reception, the ship wall measuring distance sensor 1
The distance between the point 4 and the reflection point a of the ship wall 16 is detected. The emission angle of the laser light is slightly changed, and the distance between the ship wall measuring distance sensor 14 and the reflection point (for example, point b) of the ship wall 16 is similarly detected. Since the emission angle of the laser beam is changed so that the point intersecting the virtual plane in the forward direction of the scraping unit 9 moves in a plane in the X-axis direction and the Y-axis direction, a group of the group obtained in this manner is obtained. The three-dimensional shape of the ship wall 16 can be calculated based on the distance data.

Similarly, a laser beam is emitted in the direction of arrow 30 (see FIG. 3) from the ship wall measuring distance sensor 14 (lateral direction measuring means 28) while changing the firing angle, and is directed to the side of the scraping section 9. The distance to the points d and e (see FIG. 13) of the located ship wall 16 is calculated.

The hull 16 is displayed on the CRT device together with the projected figure of the scraping unit 9 on the basis of the data such as the shape of the hull 16 calculated in this way (step 15). This display method differs between the upper, middle and lower layers of the hold. Each of the following cases will be described.

(5) Display of the ship's wall at the time of scraping the upper layer (Step 16) The ship wall measuring distance sensor 14 measures only the front and side of the scraping section 9 and does not measure the rear. Until the scraping section 9 enters the hold to a predetermined depth to be able to turn, the front and side three ship walls are shown and the rear wall surface is not displayed.

In the scraping operation of the upper layer of the hold, FIG.
As shown in FIG. 2, since the vertical portion of the ship wall 16 is covered and hidden by the load 17, the exposed ship wall portion is displayed. That is, as shown in FIG. 13, a dotted line 62 indicates a line connecting the highest position (the position of the horizontal distance lw1) in the ship wall data obtained from the calculation result of the ship wall shape. The position of the farthest distance (the position of the horizontal distance lw2) is indicated by a solid line 61. The positions of the longest horizontal distance on the side of the scraping portion 9 are indicated by points d and e. In the CRT device, the ship wall 16 is substantially rectangular in plan view similarly to the hatch opening, and therefore, a solid line 61 and three sides 63 passing through points d and e are displayed.

Since the exposed portion of the ship wall 16 increases as the scraping operation proceeds to the scraper 9, the distance lw2 to the farthest position increases until the vertical portion of the ship wall 16 is measured. Based on the calculated data, lines 61 and 62 indicating the farthest positions are gradually enlarged outward.

(6) Display of the ship's wall at the time of scraping the middle part (step 17) As in the case of the upper part, the ship's wall is measured by the ship's wall measuring distance sensor 14, and the ship's wall is scraped by the CRT device. It is displayed together with the projection figure of the taking section 9. In the middle layer scraping, as shown in FIG. 14, a part of the vertical portion of the ship wall is exposed,
Since there is almost no difference in the measurement distance to the point, the dotted line 6
The display corresponding to 2 is not performed. Further, as shown in FIG. 5, the scraping section 9 can be turned in the hold, so that the scraping section 9 can be turned to measure the ship wall 16 located therearound over the entire circumference. Therefore, as shown in FIG. 23, a line 64 is displayed in addition to the line 63 corresponding to the ship wall.

The operator visually confirms the relative positional relationship among the displayed lines 50 and 51 indicating the hatch opening, the lines 63 and 64 indicating the ship wall, and the projected figure of the scraping section 9. Can be. If the check of the CRT device is used together with the visual driving operation, the burden of the driving operation is greatly reduced.

The steps 16 and 17
In the unloader according to the present embodiment, when the scraping unit 9 is likely to collide with the hatch opening 15 and the ship wall 16,
In step 20, a signal for automatically stopping the operation of the unloader is issued.

(7) Indication of ship wall during lower layer scraping operation The middle layer scraping operation proceeds to reach the hopper 16a of the hold, but the hopper 16a is hidden under the load 17 and the hopper 16 16a cannot be measured. Therefore, the distance hb between the bottom 9a of the scraping unit 9 and the bottom 41 of the ship calculated from the detection results of the distance sensor 13 for measuring the hatch opening and the stroke sensor of the unloader device is added to the height Hb of the hopper 16a input in advance. When it reaches, a warning is issued to the operator that the hopper height has been reached (step 18). This warning sounds a buzzer and a warning sound as shown in FIG.
Is displayed on the CRT device as shown in FIG. In consideration of the warning and the display, the operator takes into account the fact that the bottom of the ship wall 16 is narrowed, performs an operation operation so that the scraping section 9 and the hopper section do not collide with each other, and performs a lower layer scraping operation (step 19).

[0054]

As described above, the unloader of the present invention can calculate the relative distance between the scraper of the unloader, the hatch opening and the ship wall without using the ship shape data or the prism.

Further, if the relative positional relationship between the scraper and the hatch opening or the ship wall is displayed on the graphic display device, the operator can directly confirm the relative positional relationship visually, and is easy to use. Function.

Further, by automatically stopping the unloader device when the scraping portion of the unloader device is too close to the hatch opening or the ship wall, it is possible to avoid these collisions beforehand, and to provide easy-to-use driving support. Function.

[Brief description of the drawings]

FIG. 1A is a schematic configuration diagram illustrating an unloader device according to an embodiment of the present invention, and FIG. 1B is a block diagram illustrating a device for monitoring the operation of the unloader device.

FIG. 2 is a diagram schematically illustrating a hatch opening measuring distance sensor used in the unloader device of FIG. 1;

FIG. 3 is a diagram schematically illustrating a ship wall measuring distance sensor used in the unloader device of FIG. 1;

FIG. 4 is a plan view showing an operation of a hatch opening measuring distance sensor of the unloader device of FIG. 1;

FIG. 5 is a side view of FIG. 4;

FIG. 6 is a diagram showing an operation of a ship wall measuring distance sensor of the unloader device of FIG. 1;

FIG. 7 is an auxiliary diagram for describing input of hold data for performing operation monitoring.

FIG. 8 is an auxiliary diagram for describing measurement of a position and a size of a hatch opening at a measurement point (1).

FIG. 9 is a side view of FIG.

FIG. 10 is an auxiliary diagram for describing measurement of a position and a size of a hatch opening at a measurement point (2).

FIG. 11 is a side view of FIG. 10;

FIG. 12 is an auxiliary view showing a state in which the upper layer of the hold is being scraped.

FIG. 13 is an auxiliary view showing a display method of the CRT device at the time of scraping the upper layer of the hold.

FIG. 14 is an auxiliary view showing a state during a scraping operation in the middle layer of the hold.

FIG. 15 is an auxiliary view showing a display method of the CRT device at the time of scraping the middle layer of the hold.

FIG. 16 is an auxiliary view showing a scraping operation of a lower layer portion of the hold.

FIG. 17 is a flowchart showing an operation in the unloader device of FIG. 1;

FIG. 18 is a flowchart showing an operation in the unloader device of FIG. 1;

FIG. 19 is a diagram showing an image of a CRT device.

FIG. 20 is a diagram showing an image of a CRT device.

FIG. 21 is a diagram showing an image of a CRT device.

FIG. 22 is a diagram showing an image of a CRT device.

FIG. 23 is a diagram showing an image of a CRT device.

FIG. 24 is a diagram showing an image of a CRT device.

[Explanation of symbols]

 Reference Signs List 4 boom 9 scraping section 13 hatch mouth measuring distance sensor 14 ship wall measuring distance sensor 18 lateral direction measuring means (hatch opening measuring distance sensor) 19 forward direction measuring means (hatch opening measuring distance sensor) 28 lateral Direction measurement means (Wall wall measurement distance sensor) 29 Forward direction measurement means (Wall wall measurement distance sensor) 33 Hatch opening shape calculation means 34 Ship wall shape calculation means 35 Relative positional relationship calculation means 36 Graphic display device 37 Unloader control device

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Masami Ishii 3-1-1-15 Toyosu, Koto-ku, Tokyo Ishikawajima-Harima Heavy Industries Co., Ltd. Tojin Technical Center (72) Inventor Yutaka Hisamitsu 3-Toyosu Toyosu, Koto-ku, Tokyo No. 1-15 Ishikawajima Harima Heavy Industries, Ltd. Toji Technical Center

Claims (6)

[Claims] 1. An unloader device comprising a rotatable boom and a scraper provided at a tip of the boom, a hatch opening measuring distance sensor is provided near a tip of the boom, and A hull measuring distance sensor is provided in the taking part, a hatch opening shape calculating means for calculating a hatch opening shape based on an output signal of the hatch opening measuring distance sensor, and an output of the hull measuring distance sensor. A hull shape calculating means for calculating the shape of the hull in the hatch based on the signal, and the scraping unit and the hatch opening or the hull based on the calculation result by the hatch opening shape calculating means or the hull shape calculating means. An unloader device provided with a relative positional relationship calculating means for calculating the relative positional relationship of the unloader. 2. The hatch opening measuring distance sensor includes a lateral direction measuring unit that measures a distance in a direction orthogonal to the boom, and a forward direction measuring unit that measures a distance in an axial direction of the boom. The unloader device according to claim 1. 3. A lateral direction measuring means, wherein the ship wall measuring distance sensor measures a lateral distance of the scraping section;
The unloader device according to claim 1, further comprising: a forward direction measuring unit that measures a forward distance of the scraping unit. 4. A relative positional relationship between the scraping portion and the hatch opening or the ship wall based on a calculation result of the relative positional relationship between the scraping portion and the hatch opening or the ship wall by the relative positional relationship calculating means. The unloader device according to claim 1, wherein the unloader device is displayed as a diagram on a graphic display device. 5. An unloader operating method for operating an unloader device having a swivelable boom and a scraper provided at the tip of the boom, wherein a hatch opening measuring distance is provided near the tip of the boom. A sensor is provided and a hull measuring distance sensor is provided in the scraping unit, a hatch opening shape is calculated based on an output signal of the hatch opening measuring distance sensor, and an output signal of the hull measuring distance sensor is calculated. A method of operating an unloader device, comprising: calculating a shape of a ship wall in a hatch based on the calculation result; and calculating a relative positional relationship between the scraper and a hatch opening or a ship wall based on the calculation results. 6. A collision between the scraper of the unloader device, the hatch opening and the ship wall is automatically monitored, and a relative distance between the scraper, the hatch opening and the ship wall becomes smaller than a predetermined distance. The method of operating an unloader device according to claim 5, wherein the operation of the unloader device is automatically stopped when the operation is stopped.