JPS643041Y2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a hatch position detection device, and more particularly to a device for detecting the hatch corner position of a ship relative to a cargo handling machine such as a ship unloader.

When loading or unloading cargo from a ship's hatch using a loading or unloading device such as a ship unloader or bucket elevator, the hatch position must be accurately grasped. Since a contact or proximity type detection device was used to detect the hatch position, there was a great risk of collision between the cargo handling machine and the ship's hatch. Although it is possible to obtain the hatch position of a target ship such as a ship unloader based on the specifications of the target ship, it is difficult to obtain it in advance because the target ships are diverse. In addition, the actual work position cannot be calculated unless information on the ship's stopping position is measured and input each time and the values are converted to the reference coordinate system.

In view of the above-mentioned conventional problems, the present invention visually confirms the hatch position, calculates the hatch corner position from the position data of the cargo handling machine at that time, and thereby allows the hatch to handle cargo to its maximum capacity. An object of the present invention is to provide a hatch position detection device that can automate cargo handling work.

The gist of the present invention is to attach a television camera or the like to the loading section of a cargo handling machine, move the loading section to a hatch corner when the ship is stopped, and while confirming this on a television monitor, the loading section is moved at that position. Position of,
The horizontal position of the load lifting section with respect to a predetermined origin position is calculated by inputting the data of the turning or luffing angle into a calculation device.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a side view of a ship unloader employing the hatch position detection device of the present invention, and FIG. 2 is a partial plan view of FIG. 1. There are multiple hatches 6, 7, 8 on the target ship 1, which has stopped close to the quay 9.
A boom 4 is attached to the ship unloader 2 that travels on the quay 9 and is capable of turning in a horizontal plane and raising and lowering in a vertical plane. A television camera 5 facing vertically downward is installed near the loading section 3 at the tip of the boom to show the hatch of the target ship 1, and although not shown, the image of the camera is installed in the operator's cabin of the ship unloader 2. A video display device such as a television receiver that displays signals is installed. In addition, the lifting angle θ ₂ of the boom 4 with respect to the horizontal plane, and the turning angle θ ₁ of the boom 4 within the horizontal plane
An angle detection device for detecting the position of the ship and a position detection device for detecting the travel distance of the ship unloader from the reference position are provided. Incidentally, a synchro motor and its signal converter are suitable as these detection devices, but it goes without saying that the detection device is not necessarily limited to this. Furthermore, a calculation device is provided which inputs the detection signal from the detection device and calculates the position of the boom tip load lifting section on a horizontal plane with respect to the reference position (original position).

Next, the operation of the hatch position detection device of the present invention will be explained.

In order to detect the safe limit position of the ship unloader 2 with respect to the hatch corner of the target ship 1, for example, the No. 2 hatch 7, first, the ship unloader 2 is run and traversed, and its lifting section 3 is rotated or raised and lowered. and move it to the vicinity of one corner B of No. 2 hatch 7. Next, as shown in FIG. 3, while looking at the television receiver 10 in the driver's cabin,
The load lifting section 3 is further slightly moved so that the corner B of the No. 2 hatch coincides with the corner B of the No. 2 hatch. When the hatch corner B coincides with the center marker 11 of the television receiver, the turning angle θ ₁ of the boom from the normal direction of the quay, the luffing angle θ ₂ , and the travel origin C of the ship unloader 2 (the fourth
The travel distance y ₁ from FIG. The arithmetic device is configured to measure the length of the boom 4.
l ₀ , distance from the boom tip to the center of the lifting section l ₁ ,
From the turning angle θ ₁ and the undulating angle θ ₂ , the distance x ₁ from the center of the loading section to the traveling origin position in the normal direction of the quay is calculated as: x ₁ = (l ₁ + l ₀ cos θ ₂ ) sin θ ₁ ……( 1), and further calculate the camera position x ₂ , x ₂ = x ₁ − x ₀ ...(2), and thereby move from the travel origin (boom rotation, undulation center) in the normal direction of the quay to the hatch corner. Find the shortest distance x ₂ to B, and then find the distance y ₂ from the travel origin to hatch corner B in the tangential direction of the quay, as follows: y ₂ = y ₁ − (l ₁ + l ₀ cosθ ₂ ) cosθ ₁ − y ₀ ……(3 ) is calculated. Note that x ₀ and y ₀ are the camera position correction amounts shown in FIGS. 4 and 5, and y ₁ is the distance from the traveling origin C to the unloader 2. The other three hatch corners A, C, and D of No. 2 hatch 7 can be easily calculated by the same operation.

In actual loading automation, if the hatch side in the longitudinal direction of the ship is sufficiently parallel to the quay normal, the diagonal, that is, A, D (or B, C) in
It is sufficient to calculate the position of each hatch corner at two points, and if the dimensions of the opening of the hatch can be obtained in advance, it is sufficient to input only one of the four corners of each hatch and perform the above-mentioned operation. Note that the distance l ₁ from the tip of the boom to the center of the load lifting section and the camera position correction amounts x ₀ and y ₀ can be removed from equations (2) and (3) depending on the camera mounting position. In the above embodiment, a television camera and a television receiver were used, but it could also be done by projecting light in the direction of the hatch using a projector or by installing a telescope or the like in the driver's cab pointing in the direction of the hatch. can also be implemented. It is applicable not only to ship unloaders but also to all machines that insert the tip into a ship's tank and handle cargo.

As described above, according to the device of the present invention, the hatch position of the target ship can be detected visually and with a simple calculation device, making it easy to automate the loading work of the ship unloader.

[Brief explanation of the drawing]

Fig. 1 is a side view of a ship unloader employing the hatch position detection device of the present invention, Fig. 2 is a partial plan view of Fig. 1, and Fig. 3 shows the hatch corner being imaged on a television receiver. 4 and 5 are a plan view and a side view, respectively, showing the positional relationship between the hatch corner and the ship unloader when calculating the hatch position according to the present invention. 1...Target ship, 2...Ship unloader, 3...
...Loading section, 4...Boom, 5...TV camera, 6, 7, 8...Hatch, 9...Wharf, A,
B, C, D...hatch corner.

Claims (1)

[Scope of utility model registration request] A camera attached vertically downward to the loading section at the tip of the boom of a marine cargo handling machine, a video display device that inputs the video signal of the camera and displays the video, and the angle of the boom with respect to the horizontal line and the turning with respect to the normal line of the quay. a detection device that detects an angle and a travel distance of the cargo handling machine from a predetermined origin position; and a calculation device that receives a detection signal from the detection device and calculates the position of the load lifting section on a horizontal plane with respect to the travel origin position. A hatch position detection device for a ship, characterized in that the calculating device performs calculations when the hatch corner position of the ship is at a predetermined mark position on the video display device by moving the cargo lifting section.