TW201936475A - Unloading apparatus - Google Patents

Abstract

An object of the present invention is to derive the relative position between an unloader apparatus and a ship. An unloading apparatus includes an edge detection unit for detecting an edge of an upper end of a hatch combing provided on an upper part of a warehouse of a ship, and a model arranging unit for arranging a three-dimensional model of at least a part of the unloading apparatus and a three-dimensional model of at least a part of the ship based on a detection result of the edge detection unit. The relative position between the unloading apparatus and the ship can be derived by arranging the three- dimensional model of at least a part of the unloading apparatus and the three-dimensional model of at least a part of the ship.

Description

 Unloading device  

The present invention relates to an unloading device.

The unloading device carries the goods already loaded in the boathouse out of the boathouse. As an example of the unloading device, there is an unloader device. In the unloading device, it is often difficult or impossible for the operator to directly visually check the state of the cargo or the distance from the wall surface of the boathouse. In the unloading device, a technique of attaching a sensor to a scooping portion for measuring the distance from the wall surface of the ship's garage has been developed (for example, Patent Document 1).

 (previous technical literature)    (Patent Literature)  

Patent Document 1: Japanese Laid-Open Patent Publication No. 8-012094

In the technique described in the above Patent Document 1, as described above, the distance between the scooping portion and the wall surface of the boathouse can be grasped. However, for example, it is difficult to derive the positional relationship between the elevator of the unloading device and the hatch coaming of the ship, and the relative position of the unloading device to the ship.

The present invention has been made in view of the above problems, and an object thereof is to provide an unloading device capable of guiding a relative position of a discharge device and a ship.

In order to solve the above problems, an unloading apparatus according to an aspect of the present invention includes: an edge detecting unit that detects an edge of an upper end of a hatch edge provided at an upper portion of a ship's ship's hull; and a model arranging unit A three-dimensional model of at least a part of the unloading device and a three-dimensional model of at least a part of the ship are arranged based on the detection result of the edge detecting unit.

The model arrangement unit may be configured to have a three-dimensional model of the vertical transport mechanism unit and a three-dimensional model of the hatch edge, and the vertical transport mechanism unit holds a scooping unit for scooping up the cargo in the ship's garage.

The model arrangement unit may be configured to: scoop the three-dimensional model of the scooping part of the cargo in the ship's garage, and the three-dimensional model of the ship's garage.

The method further comprises: deriving the edge edge information related to each edge of the edge according to the edge detected by the edge detection portion, and deriving the conversion of the coordinate system of the unloading device and the coordinate system of the ship library according to the derived edge edge information. The coordinate conversion unit of the parameter; and the model placement unit configures a three-dimensional model of at least a part of the unloading device and a three-dimensional model of at least a part of the ship using the conversion parameters derived by the coordinate conversion and derivation unit.

A state monitoring unit that derives a minimum distance between a three-dimensional model of at least a portion of the unloading device and a three-dimensional model of at least a portion of the ship, and a direction of a minimum distance; and limits unloading when the minimum distance is less than a threshold value A conflict prevention unit for the operation of the device.

A state monitoring unit that derives a minimum distance between a three-dimensional model of at least a portion of the unloading device and a three-dimensional model of at least a portion of the ship, and a direction of a minimum distance; and limits unloading when the minimum distance is less than a threshold value A collision preventing unit that operates the device in the direction of the minimum distance.

The display unit may be configured to display a cross section of the three-dimensional model of the vertical conveyance mechanism portion and the hatch edge disposed by the model arrangement portion, and a distance between the vertical conveyance mechanism portion and the hatch edge.

The measuring sensor can also be configured to measure the distance to a plurality of measuring points of the ship; and the edge detecting unit derives a plurality of measuring points by using a plurality of measuring points measured by the distance measuring sensor. In the direction of the distance, the direction between the measurement points is taken as the measurement point in the vertical direction, and the point on the uppermost side in the vertical direction is extracted as the edge point of the hatch edge.

The edge detection unit may also divide the plurality of measurement points into two groups on the basis of the vertical lower side, and extract the edge points of the hatch edge from the measurement points included in the group for each group.

The coordinate conversion and output unit may also establish a correspondence relationship between the straight line at the edge of the hatch edge and the edge at the upper end of the three-dimensional model of the hatch edge in the edge side information according to the posture of the unloading device. The positional relationship between the line of the edge and the edge of the upper end is used to derive the conversion parameters.

The coordinate conversion and output unit can also display a straight line of the edge of the hatch edge according to the edge information from the three-dimensional point group, and set the total distance of the three-dimensional point group and the edge of the upper end of the three-dimensional model around the hatch edge. To minimize, the conversion parameters are derived.

The coordinate conversion/exporting unit may correct the direction of the straight line at the edge of the hatch edge in the edge side information based on the information obtained from the sensor that detects the posture of the unloading device.

The distance measuring sensor may further include: a distance measuring sensor that can perform ranging from the upper portion of the vertical conveying mechanism portion toward the lower side; and a sense of distance measurement that can be measured toward the side and the lower side of the scooping portion Detector.

The coordinate conversion and derivation unit that converts the coordinate system of the coordinates of the coordinate system of the unloading device and the coordinate system of the shiphouse may be provided based on the measurement result of the distance measuring sensor that can be measured from the upper portion of the vertical transport mechanism portion toward the lower side; Moreover, the measurement result of the distance sensor that can be measured toward the side and the lower side of the scooping part is converted into a coordinate system of the boathouse by using the conversion parameter, and the coordinate system can be displayed toward the shovel by the coordinate system of the boathouse. A display unit that measures the measurement result of the distance measuring sensor on the side and the lower side of the taking portion.

Ability to derive the relative position to the ship.

1‧‧‧Unloading system

2‧‧‧ shore

3‧‧‧ Track

4‧‧‧ ship

5‧‧‧ Boathouse

6‧‧‧ goods

7‧‧‧ hatch edge

8‧‧‧ hatch cover

100‧‧‧Unloading device (unloading device)

102‧‧‧Travel body

104‧‧‧revolution

106‧‧‧cantilever

108‧‧‧Top rack

110‧‧‧Shiplift (Vertical Transport Mechanism Department)

112‧‧‧Shovel Department

112a‧‧‧Boiler

112b‧‧‧Chain

112c, 112d‧‧‧ side

114‧‧‧Cantilever conveyor

116‧‧‧ position sensor

118, 122‧‧‧ gyro angle sensor

120‧‧‧ tilt angle sensor

130 to 136‧‧‧Ranging sensor

140‧‧‧Discharge Control Department

142‧‧‧Memory Department

144, 240‧‧‧ communication devices

150‧‧‧Drive Control Department

152‧‧‧Edge Detection Department

154‧‧‧Coordinate Conversion and Export Department

156‧‧‧Model Configuration Department

158‧‧‧Status Monitoring Department

160‧‧‧Path Generation Department

162‧‧‧Automatic Operation Command Department

164‧‧‧Automatic operation end determination unit

166‧‧‧ Collision Prevention Department

200‧‧‧Control device

210‧‧‧Monitoring Control Department

212‧‧‧Remote operation switching unit

214‧‧‧Display switching section

216‧‧‧Status Judgment Department

220‧‧‧Operation Department

230‧‧‧Display Department

300‧‧‧The coordinates of the above-ground coordinates

310‧‧‧Top frame coordinate system

320‧‧‧ hatch edge coordinate system

400, 410, 420, 430‧‧‧3D models

500‧‧‧Top view image

510, 512, 514, 516‧‧‧ Surroundings

Figure 1 is a schematic diagram showing the unloader system.

Fig. 2 is a schematic view showing the configuration of the unloading device.

Figure 3 is a schematic diagram showing the measurement range of the ranging sensor.

Figure 4 is a schematic diagram showing the measurement range of the ranging sensor.

Figure 5 is a schematic diagram showing the measurement range of the ranging sensor.

Figure 6 is a schematic diagram showing the measurement range of the ranging sensor.

Figure 7 is a schematic diagram showing the electrical construction of the unloading system.

Figure 8A is a schematic view showing the coordinate system of the unloading device.

Figure 8B is a schematic view showing the coordinate system of the unloading device.

Figure 9 is a schematic diagram showing the measurement points of the ranging sensor.

Figure 10 is a schematic diagram showing the state of detecting an edge point.

11A to 11C are diagrams illustrating the configuration of a three-dimensional model.

Fig. 12 is a schematic view showing an image of an upper viewpoint.

Figure 13 is a schematic view showing an image of the periphery of the scooping portion.

Figures 14A and 14B are schematic views illustrating an automatic path.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. The dimensions, materials, other specific numerical values, and the like shown in the embodiments are merely examples that are easy to understand, and the present invention is not limited unless otherwise specified. In the present specification and the drawings, elements having substantially the same functions and configurations are denoted by the same reference numerals, and the description thereof will not be repeated, and the description of the elements not directly related to the present invention will be omitted.

Fig. 1 is a schematic view showing the unloading system 1. As shown in Fig. 1, the unloading system 1 includes a discharge device 100 as an example of an unloading device and a control device 200. Further, although an example in which four unloading devices 100 are provided is described, the number of the unloading devices 100 may be several.

The unloading device 100 is capable of walking along a direction in which the track 3 extends in a pair of rails 3 laid along the bank 2. Further, in the first drawing, a plurality of unloading devices 100 are disposed on the same rail 3, but a plurality of unloading devices 100 may be disposed on different rails 3.

The unloading device 100 is connected in a manner communicable with the control device 200. Furthermore, the communication method of the unloading device 100 and the control device 200 may be wired or wireless.

The unloading device 100 carries out the goods 6 loaded in the ship's 5 of the ship 4 parked on the bank 2 to the outside. The cargo 6 series assumes bulk cargo, and coal is exemplified.

Fig. 2 is a schematic view showing the configuration of the unloading device 100. Further, in Fig. 2, the bank 2 and the ship 4 are shown in cross section. As shown in FIG. 2, the unloading device 100 includes a traveling body 102, a revolving body 104, a boom 106, a top frame 108, an elevator 110, a scooping portion 112, and a cantilever conveyor. (boom conveyor) 114 is composed.

The traveling body 102 is driven by an actuator (not shown), thereby being able to travel on the rail 3. A position sensor 116 is provided in the traveling body 102. The position sensor 116 is, for example, a rotary encoder. The position sensor 116 measures the position of the traveling body 102 on the horizontal plane of the predetermined origin position based on the number of rotations of the wheel of the traveling body 102.

The revolving body 104 is rotatably provided on the upper portion of the traveling body 102 around the vertical axis. The revolving body 104 is driven by an actuator (not shown), thereby being rotatable relative to the traveling body 102.

The cantilever 106 is provided on the upper portion of the revolving body 104 so as to be able to change the inclination angle. The cantilever 106 is driven by an actuator (not shown), whereby the inclination angle based on the revolving body 104 can be changed.

A swing angle sensor 118 and a tilt angle sensor 120 are provided in the swing body 104. The swing angle sensor 118 and the tilt angle sensor 120 are, for example, rotary encoders. The swing angle sensor 118 measures the angle of rotation of the swing body 104 with respect to the traveling body 102. The tilt angle sensor 120 measures the tilt angle of the cantilever 106 to the swing body 104.

The top frame 108 is disposed at the front end of the cantilever 106. An actuator that swings the elevator 110 is provided at the top frame 108.

The elevator 110 is formed into a substantially cylindrical shape. The elevator 110 is rotatably supported by the top frame 108 centering on the center axis. A swing angle sensor 122 is provided at the top frame 108. The swing angle sensor 122 is, for example, a rotary encoder. The swing angle sensor 122 measures the angle of rotation of the lifter 110 relative to the top frame 108.

The scooping portion 112 is disposed at the lower end of the elevator 110. The scooping unit 112 is rotated integrally with the elevator 110 in accordance with the rotation of the elevator 110. In this manner, the scooping unit 112 is rotatably held by the top frame 108 and the elevator 110 that function as the vertical transport mechanism unit.

The scooping unit 112 is provided with a plurality of buckets 112a and chains 112b. A plurality of buckets 112a are continuously disposed on the chain 112b. The chain 112b is mounted inside the scooping unit 112 and the elevator 110.

The scooping unit 112 is provided with a link mechanism (not shown). The link mechanism is movable, whereby the length of the bottom of the scooping portion 112 is variable. Thereby, the scooping unit 112 makes the number of the buckets 112a that are in contact with the cargo 6 in the boathouse 5 variable. The scooping unit 112 shovels the cargo 6 in the boathouse 5 by the bottom bucket 112a by rotating the chain 112b. Further, the bucket 112a after the cargo 6 is picked up moves to the upper portion of the elevator 110 in accordance with the rotation of the chain 112b.

The cantilever conveyor 114 is disposed below the cantilever 106. The boom conveyor 114 carries the goods 6 moved to the upper portion of the elevator 110 by the bucket 112a to the outside.

The unloading device 100 configured as described above moves in the extending direction of the rail 3 by the traveling body 102, and adjusts the relative positional relationship with the longitudinal direction of the ship 4. Further, the unloading device 100 revolves the cantilever 106, the top frame 108, the elevator 110, and the scooping portion 112 by the revolving body 104, and adjusts the relative positional relationship with the ship 4 in the short-side direction. Further, the unloading device 100 moves the top frame 108, the elevator 110, and the scooping unit 112 in the vertical direction by the boom 106, and adjusts the relative positional relationship between the top frame 108 and the ship 4 in the vertical direction. Further, the unloading device 100 rotates the elevator 110 and the scooping portion 112 by the top frame 108. Thereby, the unloading device 100 can move the scooping unit 112 to an arbitrary position and angle.

Here, the ship 4 is divided into a plurality of shiphouses 5. The boathouse 5 is provided with a hatch edge 7 at the upper portion. The hatch rim 7 is a wall having a predetermined height in the vertical direction. Further, the opening area of the hatch edge 7 is smaller than the horizontal section near the center of the boathouse 5. In other words, the boathouse 5 forms a shape in which the opening is narrowed due to the hatch edge 7. Further, above the hatch rim 7, a hatch cover 8 for opening and closing the hatch rim 7 is provided.

As described above, since the opening is narrowed by the hatch edge 7, the operator can hardly visually check the condition in the boat 5 when the operator picks up the cargo 6 by the scooping portion 112. Thus, in the unloading device 100 of the present invention, ranging sensors 130 to 136 are provided. Moreover, the unloading system 1 of the present invention displays the positional relationship between the unloading device 100 and the boathouse 5 or the cargo 6 based on the distance measured by the ranging sensors 130 to 136, thereby allowing the operator to grasp the boathouse 5 The situation inside.

The ranging sensors 130 to 136 are, for example, laser sensors capable of ranging, and can be applied to VLP-16 manufactured by Velodyne Co., Ltd., VLP-32, M8 manufactured by Quanergy, and the like. The ranging sensors 130 to 136 are provided on the side of, for example, a cylindrical body portion, and are provided with sixteen laser irradiation portions partitioned along the axial direction. The laser irradiation unit is provided on the main body unit so as to be rotatable by 360 degrees. The laser irradiation unit is disposed such that the difference between the emission angles of the laser beams in the axial direction of the laser irradiation portions disposed adjacent to each other is 2 degrees. In other words, the ranging sensors 130 to 136 are capable of illuminating the laser in a range of 360 degrees in the circumferential direction of the body portion. Further, the distance measuring sensors 130 to 136 are capable of emitting lasers in a range of ±15 degrees with a plane orthogonal to the axial direction of the body portion as a reference. Further, the distance measuring sensors 130 to 136 are provided with a receiving portion that receives the laser at the body portion.

The distance measuring sensors 130 to 136 irradiate the laser at every predetermined angle while rotating the laser irradiation unit. The ranging sensors 130 to 136 receive the lasers that are irradiated (projected) from the plurality of laser irradiation portions and reflected at the object (measurement point), respectively, by the receiving portion. And, the ranging sensors 130 to 136 derive the distance to the object based on the time from the irradiation of the laser to the reception.

3 and 4 are schematic views illustrating the measurement ranges of the ranging sensors 130 to 132. Fig. 3 is a view showing the measurement range of the distance measuring sensors 130 to 132 when the unloading device 100 is viewed from above. Fig. 4 is a view showing the measurement range of the distance measuring sensors 130 to 132 when the unloading device 100 is viewed from the side. In FIGS. 3 and 4, the measurement ranges of the distance measuring sensors 130 to 132 are displayed with a little chain line.

The ranging sensors 130 to 132 are mainly used when detecting the edge of the upper end of the hatch edge 7. As shown in FIGS. 3 and 4, the ranging sensors 130 to 132 are mounted on the side of the top chassis 108. Specifically, the distance measuring sensors 130 to 132 are arranged in such a manner as to be separated from each other by 120 degrees in the circumferential direction with reference to the central axis of the elevator 110. Further, the distance measuring sensors 130 to 132 are disposed in such a manner that the central axis of the body portion is along the radial direction of the elevator 110. Furthermore, the distance measuring sensors 130 to 132 cover the upper half of the vertical direction with a cover (not shown).

Therefore, as shown in FIGS. 3 and 4, the ranging sensors 130 to 132 can measure: in terms of the measurement direction, the position is lower than the horizontal plane, and is tangent to the side of the top chassis 108. The tangent is the distance of the object that exists in the range of ±15 degrees.

5 and 6 are schematic views illustrating the measurement ranges of the distance measuring sensors 133 to 136. Fig. 5 is a view showing the measurement range of the distance measuring sensors 133 to 136 when the scooping portion 112 is viewed from above. In addition, in FIG. 5, only the scooping part 112 among the unloading apparatuses 100 is shown. Further, in Fig. 5, a horizontal cross section in which the ship 4 is located at the same position as the vertical direction of the scooping portion 112 is displayed. Fig. 6 is a schematic view showing the measurement ranges of the distance measuring sensors 133 to 136 when the unloading device 100 is viewed from the side. In the fifth and sixth figures, the measurement ranges of the distance measuring sensors 133, 134 are displayed with a single chain line. Further, in the fifth and sixth figures, the measurement ranges of the distance measuring sensors 135, 136 are displayed by two-dot chain lines.

The ranging sensors 133 to 136 are mainly used when detecting the cargo 6 in the boathouse 5 and the wall surface of the boathouse 5. As shown in FIGS. 5 and 6, the distance measuring sensors 133 and 134 are attached to the side surface 112c and the side surface 112d of the scooping unit 112, respectively. The distance measuring sensors 133 and 134 are disposed such that the central axes of the main body portions are orthogonal to the side faces 112c and 112d of the scooping portions 112, respectively. The distance measuring sensors 133 and 134 cover the upper half of the vertical direction by a cover (not shown).

Therefore, the distance measuring sensors 133 and 134 can measure the position of the measuring unit 133 and 134 on the lower side of the side surface 112c and the side surface 112d of the scooping unit 112, and are opposite to the side surface 112c and the side surface 112d of the scooping unit 112. The parallel position is the distance of the object whose range exists within ±15 degrees. More specifically, the distance measuring sensors 133, 134 can measure the distance of the object (goods 6) which is located on the bottom side of the scooping portion 112 and is present in the scooping portion 112. side. Further, the distance measuring sensors 133 and 134 are arranged such that at least a range of the maximum length of the bottom portion of the scooping portion 112 can be measured on a plane on which the scooping portion 112 is located.

The distance measuring sensors 135 and 136 are attached to the side surface 112c and the side surface 112d of the scooping unit 112, respectively. The distance measuring sensors 135 and 136 are disposed such that the central axis of the body portion is orthogonal to the bottom surface of the scooping portion 112.

Therefore, the distance measuring sensors 135 and 136 are measurable sides: in the measurement direction, outside the scooping portion 112, and based on the horizontal plane orthogonal to the side surface 112c and the side surface 112d of the scooping portion 112. The distance of an object that exists in the range of ±15 degrees.

Fig. 7 is a schematic view showing the electrical configuration of the unloading system 1. As shown in Fig. 7, the unloading device 100 is provided with a discharge control unit 140, a storage unit 142, and a communication device 144.

The discharge control unit 140 is coupled to the position sensor 116, the swing angle sensor 118, the tilt angle sensor 120, the swing angle sensor 122, the ranging sensors 130 to 136, and the communication device 144. The unloading control unit 140 is composed of a semiconductor integrated circuit including a CPU (Central Processing Unit) (central processing unit). The unloading control unit 140 reads a program or a parameter for operating the CPU itself from a ROM (Read Only Memory). Further, the unloading control unit 140 operates and controls the entire unloading device 100 in cooperation with a RAM (Random Access Memory) or other electronic circuit as a work area. Further, the discharge control unit 140 functions as the drive control unit 150, the edge detection unit 152, the coordinate conversion/derivation unit 154, the model arrangement unit 156, the state monitoring unit 158, the route generation unit 160, the automatic operation command unit 162, and the automatic operation end. The function of the determination unit 164 and the collision prevention unit 166. The details of the discharge control unit 140 will be described later.

The memory unit 142 is a memory medium such as a hard disk or a non-volatile memory. The memory unit 142 is a material that memorizes the three-dimensional model of the unloading device 100 and the ship 4. The data of the three-dimensional model of the unloading device 100 is at least voxel data of the outer shape of the elevator 110 and the scooping unit 112. The data of the three-dimensional model of the ship 4 refers to the three-dimensional pixel data of the shape of the hatch edge 7 and the three-dimensional pixel data of the wall shape of the shipyard 5 and the internal space. Further, the data of the three-dimensional model may be any material that can grasp the three-dimensional shape of the unloading device 100 and the ship 4, and even a polygon data, a contour (straight line), or a point group can be used in combination. Further, the data of the three-dimensional model of the ship 4 is set in accordance with the type of each type of ship 4.

The data of the three-dimensional model of the unloading device 100 can be based on: shape information at the time of design, the position sensor 116 of the unloading device 100, the swing angle sensor 118, the tilt angle sensor 120, and the swing angle sensing. The measurement result of the device 122 is calculated. In addition, the data of the three-dimensional model of the ship 4 may use the design data of the ship or the data measured in the past when entering the port. The measurement at the time of entry can be measured using a device such as a laser sensor that can generate data of a three-dimensional model. Moreover, the data of the three-dimensional model can also accumulate information from the ranging sensors 133 to 136 to restore the shape.

The communication device 144 communicates with the control device 200 by wire or wirelessly.

The control device 200 includes a monitoring control unit 210, an operation unit 220, a display unit 230, and a communication device 240. The monitoring control unit 210 is constituted by a semiconductor integrated circuit including a CPU (Central Processing Unit). The monitoring control unit 210 reads a program, a parameter, and the like for operating the CPU itself from the ROM. Further, the monitoring control unit 210 cooperates with a RAM or another electronic circuit as a work area, and integrates management and control of a plurality of unloading devices 100. Further, the monitoring control unit 210 functions as the remote operation switching unit 212, the display switching unit 214, and the status determination unit 216. In addition, the details of the monitoring control unit 210 will be described later.

The operation unit 220 receives an input operation for operating the unloading device 100. As will be described in detail later, the display unit 230 displays an image in which the operator can grasp the relative positional relationship between the unloading device 100 and the boat magazine 5 and the cargo 6. The communication device 240 communicates with the unloading device 100 by wire or wirelessly.

8A and 8B are schematic views showing the coordinate system of the unloading device 100. Fig. 8A is a schematic view of the unloading device 100 as seen from above. Fig. 8B is a schematic view of the unloading device 100 viewed from the side. As shown in Figures 8A and 8B, the unloading device 100 has three coordinate systems, namely an above-ground coordinate system 300, a top frame coordinate system 310, and a hatch edge coordinate system 320.

The above-ground coordinates system 300 uses the initial position of the unloading device 100 set in advance as the origin. The above-ground coordinate system 300 is a direction orthogonal to the extending direction of the rail 3 and the vertical direction, and is set to the X-axis direction. The above-ground coordinates system 300 sets the direction in which the rails 3 extend in the Y-axis direction. The above-ground coordinate system 300 has a vertical direction of the Z-axis direction.

The top frame coordinate system 310 is originated at the lower end of the top frame 108 in the vertical direction on the central axis of the elevator 110. The top frame coordinate system 310 sets the direction in which the cantilever 106 extends to the X-axis direction. The top frame coordinate system 310 is a Y-axis direction in a direction orthogonal to the extending direction and the vertical direction of the cantilever 106. The top frame coordinate system 310 has a vertical direction set to the Z-axis direction.

The hatch edge coordinate system 320 is the origin of the hatch edge 7 at the center position of the wall surface of the stern side in the hatch edge 7 of the ship 4. The hatch edge coordinate system 320 sets the longitudinal direction of the ship 4 to the X-axis direction, in other words, the direction in which the hatch edge 7 of the ship 4 extends is the X-axis direction. The hatch edge coordinate system 320 sets the short side direction (width direction) of the ship 4 to the Y-axis direction. The hatch edge coordinate system 320 is a Z-axis direction in a direction orthogonal to the upper end surface of the hatch edge 7.

Here, the above-ground coordinate system 300 and the top frame coordinate system 310 can be converted according to the shape of the unloading device 100 and the movement of the unloading device 100.

For example, since the distance measuring sensors 133 to 136 are attached to the scooping portion 112, the position with respect to the scooping portion 112 is known in advance. Also, the position of the top frame coordinate system 310 can be derived based on the angle of rotation of the elevator 110.

Also, since the ranging sensors 130 to 132 are mounted to the top chassis 108, the position of the top chassis coordinate system 310 is known in advance.

Here, the top frame coordinate system 310 and the hatch edge coordinate system 320 change relative positional relationship as the discharge device 100 and the ship 4 move. For example, due to the swing of the ship, or the movement of the tide or the loading of the cargo 6, the ship 4 is moved in the vertical direction, and the relative positional relationship between the top frame coordinate system 310 and the hatch edge coordinate system 320 is changed. .

Therefore, the edge detecting portion 152 detects the edge of the upper end of the hatch rim 7 based on the measurement points measured by the distance measuring sensors 130 to 132. Further, the coordinate conversion/derivation unit 154 derives conversion parameters of the top frame coordinate system 310 and the hatch edge coordinate system 320 based on the detected edge of the upper end of the hatch rim 7 .

First, the edge detecting unit 152 derives the position in the top frame coordinate system 310 based on the positions of the ranging sensors 130 to 132 and the distances measured by the ranging sensors 130 to 132. The three-dimensional position of the measurement point.

Fig. 9 is a view showing the measurement points of the distance measuring sensors 130 to 132. Further, in Fig. 9, the measurement ranges of the distance measuring sensors 130 to 132 on the hatch rim 7 are indicated by thick lines. As shown in FIG. 9, the ranging sensors 130 to 132 can measure: the position is lower than the horizontal plane, and the self-ranging sensors 130 to 132 are based on the plane that is tangent to the top chassis 108. The distance of an object that exists in the range of ±15 degrees. Therefore, the distance measuring sensors 130 to 132 are based on the vertical lower side of the distance measuring sensors 130 to 132 (the center of rotation of the elevator 110), and the hatch edges 7 of the front side and the rear side are different. The edge falls into the measurement range. In addition, the front side refers to the measurement range measured in the first half of the measurement in one measurement. Further, the term "rear side" refers to a measurement range measured in the second half of the measurement in one measurement.

Here, the measurement points measured by the distance measuring sensors 130 to 132 are divided into two sides on the front side and the rear side with reference to the vertical lower side of the distance measuring sensors 130 to 132 as a reference.

Figure 10 is a schematic diagram showing the appearance of detecting edge points. Further, in Fig. 10, the measurement points are displayed in black circles. In Fig. 10, the measurement points reflected from the laser beams irradiated by the laser irradiation portions of the ranging sensors 130 to 132 at predetermined angles are shown.

The edge detecting unit 152 performs the following processing for each of the measurement point groups (on the front side and the rear side) measured by one laser irradiation unit. The edge detecting unit 152 derives a vector (direction) of each of the measured points measured by one of the laser irradiation units. Further, regarding the vector of the measurement points, the measurement point of the next measurement point among the successive measurement points is derived as a vector of the one measurement point with respect to the direction (vector) of one measurement point.

Further, the edge detecting unit 152 extracts the vector of the measurement points into a measurement point in the vertical direction. This is because the wall surface of the hatch edge 7 measured by the distance measuring sensors 130 to 132 extends substantially in the vertical direction. Therefore, in the case where the wall surface of the hatch edge 7 has a measurement point, the measurement point is The vector will become the vertical direction.

Further, when there are a plurality of measurement points that are continuously extracted among the extracted measurement points, the edge detection unit 152 extracts the uppermost point in the vertical direction. This is because, in order to detect the edge of the upper end of the hatch rim 7, the uppermost point among the measured points of the measured points may be the edge of the upper end of the hatch rim 7.

Next, the edge detecting unit 152 extracts the measurement point closest to the origin in the X-axis direction and the Y-axis direction of the top frame coordinate system 310 among the extracted measurement points. This is because the hatch edge of the 7-series ship 4 is located closest to the elevator 110 in each of the structures.

Further, the edge detecting unit 152 extracts the measurement points existing in the X-axis direction and the Y-axis direction in the top frame coordinate system 310 by a predetermined range (for example, a range of several tens of cm). Here, the measurement points on the hatch edge 7 are extracted.

Further, the edge detecting unit 152 extracts the measurement point of the re-extracted point, that is, the measurement point at the top in the vertical direction among the measurement points on the hatch edge 7, as the edge point of the hatch edge 7.

The edge detecting unit 152 extracts the edge points of the front side and the rear side with respect to each of the measurement point groups measured by the one of the laser irradiation units of the distance measuring sensors 130 to 132.

Then, when all the edge points are extracted, the edge detecting portion 152 detects a straight line at the edge of the hatch edge 7. Specifically, the edge detecting unit 152 sets the edge points extracted on the front side of the distance measuring sensor 130 as a group. Similarly, the edge detecting unit 152 sets the edge points extracted on the rear side of the distance measuring sensor 130 as one group. Further, the edge detecting unit 152 sets each of the edge points extracted on the front side and the rear side of the distance measuring sensors 131 and 132 as a group.

Here, as shown in FIG. 9, in the case where the corner portion of the hatch rim 7 is included, the upper end of the hatch rim 7 measured on the square side and the rear side before the distance measuring sensors 130 to 132, respectively. The straight line of the edge is measured two.

Therefore, the edge detecting unit 152 derives, as a candidate vector, a line segment having the most similar line segment among the line segments between the extracted edge points for each group. Further, the edge detecting unit 152 extracts an edge point existing within a range set in advance for the candidate vector. Further, the edge detecting unit 152 recalculates the straight line using the extracted edge points.

Next, the edge detecting unit 152 repeats the above-described processing using the edge points that have not been extracted. However, when the number of extracted edge points is less than the threshold set in advance, the straight line is not derived. Thereby, the straight line of the two edges can be derived even in the case where the corner portion of the hatch edge 7 is included.

The edge detecting unit 152 repeats the above-described processing for each group, thereby extracting a straight line of the edge.

In this way, since the straight line of the edge detects up to two straight lines in one part, a maximum of 12 lines can be detected.

Further, the edge detecting unit 152 extracts an angle between the straight lines among the detected straight lines. Further, the edge detecting unit 152 is integrated as the same straight line when the included angle is equal to or smaller than the threshold value determined in advance. Specifically, the edge point of the straight line whose angle is equal to or less than the threshold determined in advance is used, and the straight line is re-extracted by the least square approximation.

Next, the edge detecting unit 152 derives the edge side information including the three-dimensional direction vector of each side, the three-dimensional center of gravity coordinates of each side, the length of each side, and the coordinates of the end points of the respective sides from the straight line of the detected edge. In this way, the edge sensors 7 to 132 disposed above the ship 4 are used to derive the edge edge information of the hatch edge 7 provided at the upper portion of the ship's garage 5, whereby the boathouse 5 can be easily and accurately derived. Position (posture).

Next, the coordinate conversion and derivation unit 154 reads the three-dimensional model information previously stored in the hatch rim 7 of the storage unit 142 from the storage unit 142. The three-dimensional model information includes a three-dimensional direction vector of the edge of the upper end of the hatch edge 7, three-dimensional center of gravity coordinates of each side, the length of each side, and the coordinates of the end points of each side. Moreover, the three-dimensional model information is represented by the hatch edge coordinate system 320. Further, the coordinate conversion deriving unit 154 derives the top frame coordinate system 310 and the hatch edge coordinates based on the read three-dimensional model information and the edge edge information (detection result) expressed by the top frame coordinate system 310. The conversion parameters of the 320.

The coordinate conversion/derivation unit 154 performs a rough correction by rotating the direction of the straight line of the detected edge of the hatch edge 7 up to the swing angle of the cantilever 106. Further, the coordinate conversion and derivation unit 154 associates the straight lines in which the directions of the edges are closest to each other, the straight line of the detected edge of the hatch edge 7, and the edge of the upper end of the hatch edge 7 in the three-dimensional model information. relationship. Thereby, since the correct correspondence can be established, the conversion parameters close to the correct answer can be stably obtained. In addition, in the corresponding relationship, a three-dimensional point group may also be used to display the detected straight line at the edge of the hatch edge 7, and the three-dimensional point group and the upper end of the hatch edge 7 in the three-dimensional model information The average of the shortest distances is relatively close to each other. Further, it is also possible to establish a correspondence relationship by considering both the direction of the edge and the average value of the shortest distance.

Here, the coordinate conversion/derivation unit 154 obtains the rotation angles α, β, γ, and the travel vector t=(tx, ty) around the X-axis, the Y-axis, and the Z-axis as conversion parameters by, for example, the LM method. Tz). In the LM method, for example, the sum of squares of the difference between the edge point and the distance from the edge of the upper end of the hatch edge 7 based on the three-dimensional model information is used as an evaluation function, and a conversion parameter that minimizes the evaluation function is obtained. Specifically, the sum of the distance between the edge point and the edge of the upper end of the hatch edge 7 according to the three-dimensional model information, or the edge of the upper end of the hatch edge 7 according to the information of the three-dimensional model The conversion parameters are obtained by minimizing the area of the formed curved surface. Further, the method of obtaining the conversion parameter is not limited to the LM method, and may be other methods such as the steepest descent method and the Newton ring method.

As described above, the coordinate conversion and derivation unit 154 derives conversion parameters for converting the top frame coordinate system 310 into the hatch edge coordinate system 320.

Thereby, the unloading device 100 can grasp the elevator machine 110 and the scooping unit 112 represented by the top frame coordinate system 310, and the shipyard 5 and the hatch edge represented by the hatch edge coordinate system 320. 7 relative positional relationship.

Further, the unloading device 100 can easily derive the unloading device 100 and the boathouse by simply using the distance measuring sensors 130 to 132 which are disposed on the side of the top frame 108 so as to be able to face the lower side. 5 positional relationship.

Moreover, the unloading device 100 can estimate the position and posture of the hatch rim 7 represented by the hatch rim coordinate system 320 by the top frame coordinate system 310.

Further, in the case of the two distance measuring sensors, there are cases where the two edge edges of different directions cannot be measured by the posture of the unloading device 100 except for the hatch edge 7 of the square. However, in the case where the distance measuring sensors 130 to 132 are arranged to change directions in the circumferential direction of the elevator 110 by 120 degrees, the unloading is performed as long as the aspect ratio of the edge side is 1.73:1 or less. Regarding the position and posture of the material device 100, it is possible to detect two edge edges having different directions. Therefore, it is possible to detect two edge edges having different directions.

Next, the processing of arranging the three-dimensional model of the elevator 110, the scooping unit 112, the boathouse 5, and the hatch rim 7 will be described.

11A to 11C are diagrams illustrating the configuration of a three-dimensional model. As shown in FIGS. 11A to 11C, the model placement unit 156 firstly arranges the three-dimensional model 400 of the elevator 110 and the scooping unit 112 already stored in the storage unit 142 on the hatch edge coordinate system 320. The three-dimensional model 400 of the elevator 110 and the scooping unit 112 is represented by a top frame coordinate system 310. Therefore, the model placement unit 156 converts the three-dimensional model 400 of the elevator 110 and the scooping unit 112 into the hatch edge coordinate system 320 using the conversion parameters derived by the coordinate conversion deriving unit 154.

Further, the model arrangement unit 156 is configured such that the lifter 110 and the scooping unit 112 move relative to the top frame 108, and according to the position sensor 116 of the unloading device 100, the swing angle sensor 118, and the sense of inclination angle The measurement results of the detector 120 and the swing angle sensor 122 reflect the rotation of the elevator 110 or the length of the scooping portion 112 to the three-dimensional model 400.

Further, regarding the three-dimensional model 400, the model after the noise or the moving object is filtered out from the cumulative result of the measured values in the scooping of the cargo 6, or the model obtained by accumulating the measured value at the end of the scooping is added. Or the model of the design drawing, or the model can be temporarily brought into the shipyard for measurement.

Further, the model arrangement unit 156 arranges the three-dimensional model 400 of the elevator 110 and the scooping unit 112 that has been converted into the hatch edge coordinate system 320 on the hatch edge coordinate system 320 (FIG. 11A).

Next, the model placement unit 156 superimposes the three-dimensional model 410 stored in the hatch rim 7 of the storage unit 142 on the three-dimensional model 400 of the elevator 110 and the scooping unit 112 (FIG. 11B). In addition, since the three-dimensional model 410 of the hatch rim 7 is represented by the hatch rim coordinate system 320, it is directly arranged without coordinate conversion.

Further, the model placement unit 156 is a three-dimensional model 400 in which the three-dimensional model 420 of the boat magazine 5 stored in the storage unit 142 is superimposed on the three-dimensional model 400 of the elevator 110 and the scooping unit 112, and a three-dimensional model 410 of the hatch rim 7 (Fig. 11C).

Thereby, the model arrangement unit 156 can easily grasp the elevator 110 and the scooping unit 112 which are a part of the unloading device 100, and the hatch edge 7 and the shipyard 5 which are a part of the ship 4 using the three-dimensional model. relative position.

In particular, a three-dimensional model of the elevator 110 having a possibility of colliding with the hatch rim 7 and a three-dimensional model of the hatch rim 7 are provided, whereby the elevator 110 can be easily grasped for the hatch edge The position of the 7th.

Further, the three-dimensional model of the scooping unit 112 and the three-dimensional model of the boathouse 5, which are likely to collide with the shipyard 5, are arranged, whereby the position of the scooping unit 112 with respect to the boathouse 5 can be easily grasped.

Next, the state monitoring process performed by the state monitoring unit 158 will be described. The state monitoring unit 158 derives the three-dimensional model 410 of the hatch edge 7 disposed on the hatch edge coordinate system 320 by the model arrangement unit 156, and the three-dimensional model 420 of the shipyard 5, and the elevator 110 and The distance (distance information) of each voxel of the three-dimensional model 400 of the scooping unit 112.

Further, the state monitoring unit 158 derives the state within the boathouse 5 based on the measurement points measured by the distance measuring sensors 133 to 136. Specifically, the state monitoring unit 158 derives the top chassis coordinate system 310 based on the distance from the measurement points measured by the ranging sensors 133 to 136 and the positions of the ranging sensors 133 to 136. The three-dimensional position of the measurement point.

Further, the state monitoring unit 158 converts the three-dimensional position of the measurement point in the top frame coordinate system 310 into the hatch edge coordinate system 320 using the conversion parameters. Then, using the position of each measurement point and the three-dimensional model 420 of the boathouse 5, it is determined that each measurement point is the wall surface of the boathouse 5 or the cargo 6. Here, the measurement point of the relationship between the position of each measurement point and the position of the three-dimensional model 420 of the boathouse 5 in the previously set range is determined as the wall surface of the boathouse 5, and the other measurement points are determined. For the goods 6.

Further, the state monitoring unit 158 includes the three-dimensional pixels determined as the measurement points of the goods 6 as the three-dimensional pixels of the goods 6 among the three-dimensional pixels in the internal space of the three-dimensional model 420 of the shiphouse 5, and also determines that the ratio is The three-dimensional pixel of the cargo 6 is further reduced to the three-dimensional pixel below the vertical as the three-dimensional pixel of the cargo 6. The model arrangement unit 156 is a three-dimensional model in which the three-dimensional pixels of the three-dimensional pixels of the cargo 6 are determined among the three-dimensional pixels in the internal space of the three-dimensional model 420 of the ship's garage 5, and are arranged as a three-dimensional model of the cargo 6. Thereby, the condition of the goods 6 in the boathouse 5 can be grasped.

Further, in the unloading device 100, a three-dimensional model of the hatch rim 7 and the unloading device 100 at the exact relative positions is used. Therefore, even if the unloading device 100 cannot detect all the edge edges of the hatch rim 7 by the distance measuring sensors 130 to 132, it is possible to detect and prevent collision and proximity with all sides of the hatch rim 7 .

Further, the distance measuring sensors 133 and 135 are provided on the side surface 112c of the scooping unit 112. The distance measuring sensors 134, 136 are disposed on the side 112d of the scooping portion 112. Further, the scooping unit 112 scoops up the cargo 6 while moving from the side surface 112d side to the side surface 112c side. Therefore, the unloading device 100 can grasp the condition of the cargo 6 on the traveling direction side of the scooping portion 112 by the distance measuring sensors 133 and 135. Further, the unloading device 100 can grasp the state of the goods 6 on the opposite side to the traveling direction of the scooping unit 112 by the distance measuring sensors 134 and 136.

Each of the processes performed by the coordinate conversion deriving unit 154, the model arrangement unit 156, and the state monitoring unit 158 described above is repeated every predetermined interval. The communication device 144 transmits the data of the three-dimensional model arranged by the model arrangement unit 156 and the distance information derived by the state monitoring unit 158 to the control device 200.

Fig. 12 is a schematic view showing the upper viewpoint image 500. Fig. 13 is a schematic view showing the image 510 around the scooping portion. The monitoring control unit 210 of the control device 200 receives the data of the three-dimensional model transmitted from the unloading device 100 and the distance information by the communication device 240. The monitoring control unit 210 displays the upper viewpoint video 500 and the scooping peripheral image 510 on the display unit 230 based on the received data.

As shown in Fig. 12, in the upper viewpoint image 500, a three-dimensional model 410 having a hatch rim 7 and a three-dimensional model 400 of the elevator 110 having the same position in the Z-axis direction as the hatch rim 7 are displayed. . In other words, in the upper viewpoint image 500, a section perpendicular to the Z-axis direction of the position where the three-dimensional model 410 of the hatch edge 7 exists is displayed (parallel to the top surface of the hatch edge 7 or a section parallel to the horizontal).

Further, in the upper viewpoint video 500, the three-dimensional model 400 of the scooping unit 112 and the three-dimensional model 420 of the boathouse 5 and the three-dimensional model 430 of the cargo 6 in the same position as the scooping unit 112 in the Z-axis direction are displayed. . In other words, in the upper viewpoint video 500, a cross section perpendicular to the Z-axis direction at the position where the three-dimensional model 400 of the scooping unit 112 exists is displayed.

In other words, the upper viewpoint video 500 superimposes the XY cross section of the position where the three-dimensional model 410 of the hatch rim 7 exists and the XY section of the position where the three-dimensional model 400 of the scooping unit 112 exists.

Further, the upper viewpoint video 500 is displayed outside the three-dimensional model 420 of the boathouse 5, and the distance between the hatch edge 7 and the elevator 110 ("hatch ○m"), and the scooping portion 112 and the boathouse are displayed. The distance between the wall of 5 ("ship ○m"). The distance between the hatch rim 7 and the elevator 110 shown here is displayed only if it is below the first threshold (here 1.5 m) set in advance. More specifically, when the distance is equal to or less than the first threshold and is equal to or smaller than the first threshold (here, 1.0 m), a yellow background is displayed. Moreover, when the distance is less than the second threshold, a red background is displayed. Further, the distance between the scooping portion 112 and the wall surface of the boathouse 5 is displayed only when it is equal to or less than a third threshold (here, 1.5 m) set in advance. More specifically, when the distance is equal to or less than the third threshold and is greater than the third threshold (here, 1.0 m) or less, a yellow background is displayed. Moreover, when the distance is less than the fourth threshold, a red background is displayed.

Thus, by displaying the distance between the hatch edge 7 and the elevator 110 and the distance between the scooping portion 112 and the wall surface of the boat magazine 5, it is possible to quantitatively grasp whether or not there is a collision or the like.

Further, by displaying the distance of the position which becomes the first threshold or the third threshold, the distance between the hatch edge 7 and the elevator 110 or the distance between the scooping portion 112 and the wall surface of the boat 5 can be easily grasped. Further, by displaying the distance in a different display state when the first threshold value is equal to or lower than the second threshold value and the second threshold value is not satisfied, the sense of distance can be easily grasped. Similarly, by displaying the distance in a different display state than the third threshold value and the fourth threshold value or less and the fourth threshold value, the sense of distance can be easily grasped. Further, the distance between the hatch edge 7 and the elevator 110, and the distance between the scooping portion 112 and the wall surface of the boathouse 5 can be derived from the distance information transmitted from the unloading device 100.

Thereby, the upper viewpoint image 500 can easily grasp the positional relationship between the hatch rim 7 and the elevator 110 having the possibility of collision, and the shovel portion 112 and the wall surface of the boat 5 having the possibility of collision. Positional relationship. Therefore, the operator can detect the collision of the hatch edge 7 with the elevator 110 or the collision of the scooping portion 112 with the wall surface of the boat 5 by visually observing the upper viewpoint image 500. Further, since the commander who commands the operation of the unloading device 100 can be omitted in the shiphouse 5 or on the ship 4, it is possible to reduce the number of people required for the picking up of the cargo 6. Further, since only the portion having the possibility of collision is extracted and displayed, the amount of information to the operator does not become excessive, and the operator can make an appropriate judgment. Moreover, the upper viewpoint image 500 can easily grasp the state of the goods 6 in the height in which the scooping unit 112 exists.

As shown in Fig. 13, the image 510 of the scooping portion is displayed side by side with the image 512 of the scooping portion viewed from the side of the side surface 112c of the scooping portion 112, and the image of the scribing portion of the scooping portion 112 viewed from the front side. 514. The scooping portion peripheral image 516 viewed from the side 112d side of the scooping portion 112.

The three-dimensional model 400 of the scooping unit 112, the three-dimensional model 430 of the cargo 6, and the three-dimensional model 420 of the boathouse 5 (only the bottom surface) are respectively displayed in the scribing portion peripheral images 512, 514, and 516.

Here, the scooping unit 112 scoops up the cargo 6 while moving from the side surface 112d side to the side surface 111c side. Therefore, in the scooping portion peripheral image 512, the three-dimensional model 430 of the unloaded cargo 6 is displayed. On the other hand, in the scooping unit peripheral image 516, the three-dimensional model 430 of the cargo 6 scooped by the scooping unit 512 is displayed. Further, in the image 514 of the scooping portion, the cargo 6 on which the side surface 112c side is not scooped and the side surface 112d side is scooped is displayed. Thereby, the state of the shovel of the cargo 6 can be easily grasped. For example, the operator can grasp the traveling direction of the scooping portion 112 and the height of the cargo 6 in the direction opposite to the traveling direction by observing the scooping portion peripheral image 514 or comparing the scooping portion peripheral images 512 and 516. The difference, or the height of the cargo 6 in the direction of travel. Thereby, the operator can appropriately pick up the cargo 6 by the scooping portion 112. Moreover, even if the operator is in the boathouse 5, it is possible to quantitatively grasp the extent to which the cargo 6 is being scooped up. Further, since the commander who commands the operation of the unloading device 100 is not disposed in the shiphouse 5 or on the ship 4, it is possible to reduce the number of people required for the picking up of the cargo 6. Further, since the image 510 around the scooping portion is displayed by the hatch edge coordinate system 320, the cargo 6 and the scooping portion 112 in the boathouse 5 can always be presented at a viewpoint fixed to the ship 4, making the operator easy. Master the situation.

Further, in the scooping portion peripheral image 514, the difference between the scooping depth of the scooping portion 112 and the interval between the scooping portion 112 and the bottom surface of the boat magazine 5 are displayed. Further, regarding the shovel depth, the side surface 112c side and the side surface 112d side are respectively displayed. The depth of the shovel and the distance between the shovel portion 112 and the bottom surface of the hull 5 can be derived from the distance information transmitted from the unloading device 100.

As described above, the above-described upper viewpoint video 500 and the scooping peripheral image 510 are updated and displayed every time the data of the three-dimensional model and the distance information are transmitted from the unloading device 100.

Next, the processing of the route generation unit 160, the automatic operation command unit 162, and the automatic operation completion determination unit 164 of the unloading device 100 will be described.

Figures 14A and 14B are schematic views illustrating an automatic path. Here, when the cargo 6 is scooped by the unloading device 100, there are roughly three steps. When the cargo 6 in the boathouse 5 is not scraped once, the cargo 6 is stacked in the boathouse 5 into a mountain shape. Therefore, as a first step, the cargo 6 in the boathouse 5 is made flat. The first step is performed by the operator operating the unloading device 100 via the operating portion 220. More specifically, when a signal corresponding to the operation of the operation unit 220 is transmitted to the unloading device 100, the drive control unit 150 activates the various actuators, thereby causing the unloading device 100 to respond to the operation unit 220. Drive by operation.

Thereafter, when the surface of the cargo 6 stacked in the boathouse 5 is substantially flat, as a second step, the scooping portion 112 is moved to the center once after moving the plurality of turns along the wall surface of the boat 5. In the second step, since the path of the scooping portion 112 is simple, and the scooping amount of the cargo 6 is also stabilized, it can be automated.

Thereafter, when the cargo 6 in the boathouse 5 is reduced, as a third step, the remaining cargo 6 is scooped by the scooping portion 112. In this third step, the scooping portion 112 must be moved to the position of the cargo 6 remaining in the boathouse 5. Further, in the third step, the scooping portion 112 must be moved in the vicinity of the bottom surface of the boat 5. Therefore, the third step is performed by the operator operating the unloading device 100 via the operating portion 220. Here, also when the signal corresponding to the operation of the operation unit 220 is transmitted to the unloading device 100, the drive control unit 150 activates the various actuators, thereby causing the unloading device 100 to operate in accordance with the operation unit 220. And drive.

Thus, among the three steps when the unloading device 100 is used to shovel the cargo 6, the second step enables automation of the unloading device 100.

Therefore, the path generation unit 160 displays the position determined in advance by the scooping unit 112 in a solid line in FIG. 14A, and causes the scooping unit 112 to translate along the side wall of the boat 5 as an automatic path. Then, the scooping unit 112 is moved to the scooping position by the center axis of the elevator 110. Thereafter, the scooping portion 112 is rotated 90 degrees along the side wall of the boathouse 5. Further, the scooping portion 112 is translated along the side wall of the boat 5. The above steps are repeated, whereby the scooping portion 112 is moved 360 degrees along the side wall of the boathouse 5. Also, change the shovel depth and move it a few more turns.

Finally, as shown in FIG. 14B, after the scooping portion 112 is rotated 90 degrees at the center of the boathouse 5, it is moved along the center of the boathouse 5. Thereby, the scraping unit 112 scoops up the cargo 6 remaining in the center.

Here, the control device 200 is capable of controlling a plurality of unloading devices 100 in parallel. Further, the operator of the operation unit 220 of the operation control device 200 selects one unloading device 100 as the object of the remote operation, and performs the first step and the third of the above three steps for the selected unloading device 100. step. Further, the unloading device 100 capable of performing the second step selects the unloading device 100 that is the target of the automatic operation, and automatically operates the unloading device 100 for the automatic operation.

In the case of the unloading device 100 that becomes the object of the remote operation of the first step and the third step, the operator operates the operating portion 220 to select the unloading device 100 that is the object of the remote operation. The remote operation switching unit 212 determines the unloading device 100 to be the object of the remote operation in response to the operation of the operation unit 220. Further, the remote operation switching unit 212 establishes the two-way communication via the communication device 240 with respect to the unloading device 100 that is the target of the remote operation. However, the monitoring control unit 210 continues to receive data and distance information from the three-dimensional model of the unloading device 100 that is not the object of remote operation.

The display switching unit 214 displays on the display unit 230 the image of the three-dimensional model received from the unloading device 100 that is the target of the remote operation and the image of the distance information (the upper viewpoint video 500 and the scooping peripheral image 510). ). Thereby, the condition of the unloading device 100 which is the object of the remote operation can be easily grasped.

Further, when there is a discharge device 100 that is the target of the automatic operation in the second step, the operator operates the operation unit 220 to select the discharge device 100 to be automated. The remote operation switching unit 212 determines the unloading device 100 to be automatically operated in response to the operation of the operation unit 220. Further, the remote operation switching unit 212 transmits an automatic instruction command to the unloading device 100 that is the target of the automatic operation. When the unloading device 100 receives the automatic instruction command, the automatic operation command unit 162 causes the path generation unit 160 to generate an automatic path. Then, the drive control unit 150 drives the unloading device 100 in accordance with the automatic path.

The automatic operation end determination unit 164 stops (restricts) the driving of the unloading device 100 when the automatic operation end condition is satisfied or when an error has occurred. The automatic operation end condition means that the position of the scooping unit 112 is lower than the position determined by the automatic path, or the amount of scooping of the cargo 6 exceeds the amount set in advance.

The display switching unit 214 displays only the minimum information required for the automatic operation on the display unit 230 based on the data of the three-dimensional model received from the unloading device 100 during automatic operation and the distance information.

Further, the state determination unit 216 predicts the target of the dumping unit 112 for each of the unloading devices 100 for the unloading device 100 during the automatic operation, by the change in the height of the scooping unit 112 or the average of the scooping amount. The height or the time the target is scooping up the cumulative amount. Further, since there is a case where the unloading device 100 is close to the end time of the second step, the timing of the remote manipulation overlaps, and the situation determining unit 216 issues a predetermined warning.

Further, the state monitoring unit 158 derives the hatch edge 7 and the wall surface of the boathouse 5, and the elevator 110 and the scooping unit 112 based on the data of the three-dimensional model transmitted from the unloading device 100 and the distance information. The smallest distance and its direction. Further, the collision preventing unit 166 restricts (stops) the operation of the unloading device 100 (collision prevention function) when the derived minimum distance is equal to or smaller than a predetermined threshold value. Further, the collision preventing unit 166 may restrict the movement of the elevator 100 and the scooping unit 112 in the direction in which the derived minimum distance is equal to or less than a predetermined threshold. Thereby, the automatic operation of the unloading device 100 can be performed more safely.

For example, the operator performs the second step of the remaining three unloading devices 100 during the first step for one unloading device 100. Further, the operator transmits the automatic instruction command via the operation unit 220 to the unloading device 100 that has completed the first step. Further, the operator performs the third step on the unloading device 100 that has completed the second step.

Thus, in the unloading system 1, a plurality of unloading devices 100 can be controlled by one control device 200 by partially automating one of the plurality of steps. Thereby, the unloading system 1 can reduce personnel. Further, the state monitoring unit 158 may also drive the control unit when the distance between the hatch edge 7 and the elevator 110 and the distance between the scooping portion 112 and the wall surface of the boat 5 are less than the collision distance. The automation of 150 stops.

Although the embodiments have been described above with reference to the drawings, the present invention is of course not limited by the above embodiments. It is to be understood that various modifications and alterations can be conceived in the scope of the invention as claimed in the appended claims. Within the scope.

For example, in the above embodiment, a plurality of unloading devices 100 are controlled by one control device 200. However, a control device 200 can also be provided for one unloading device 100. In this case, the discharge control unit 140 and the monitoring control unit 210 may be integrated into one. Further, the communication device 144 and the communication device 240 may not be provided.

Further, in the above-described embodiment, the discharge control unit 140 functions as the drive control unit 150, the edge detection unit 152, the coordinate conversion/derivation unit 154, the model arrangement unit 156, the state monitoring unit 158, the path generation unit 160, and the automatic operation. The function of the command unit 162, the automatic operation end determining unit 164, and the collision preventing unit 166. However, the monitoring control unit 210 may function as the drive control unit 150, the coordinate conversion/export unit 154, the model arrangement unit 156, the state monitoring unit 158, the route generation unit 160, the automatic operation command unit 162, the automatic operation end determination unit 164, and the collision. Some or all of the functions of the portion 166 are prevented.

Further, in the above embodiment, the distance measuring sensors 130 to 132 are disposed in the top chassis 108. However, the ranging sensors 130 to 132 may also be configured in the elevator 110. Further, in the above embodiment, the distance measuring sensors 133 to 136 are disposed in the scooping unit 112. However, the ranging sensors 133 to 136 may also be disposed on the half side of the elevator 110 that is adjacent to the scooping portion 112.

Further, in the above-described embodiment, a part (section) of the three-dimensional model is displayed as the upper viewpoint video 500, but the measurement result (measurement point) measured by the distance measuring sensors 130 to 132 may be directly used. As a video, the straight line of the edge detected by the edge detecting unit 152 can be displayed as a video. In other words, at least a portion of the elevator 110 and the scooping portion 112, the boathouse 5, and the hatch rim 7 are displayed based on the measurement results measured by the ranging sensors 130 to 132. The upper viewpoint image 500 can be.

Further, in the above-described embodiment, a part (section) of the three-dimensional model is displayed as the scribing unit peripheral image 510, but the measurement result measured by the distance measuring sensors 133 to 136 may be directly measured (measurement) Point) is displayed as an image. In other words, the image of the periphery of the scooping portion for indicating at least a part of the elevator 110, the scooping unit 112, and the boat magazine 5 is displayed based on the measurement results measured by the distance measuring sensors 133 to 136. 510 can be.

Further, in the above embodiment, the series of unloading and unloading devices 100 will be described as an example of an unloading device. However, the unloading device may also be a mechanism with a crane scooping, or a continuous unloading device (bucket type, belt type, screw conveyer type, etc.), grab ( Grab) unloading device, pneumatic unloader, etc.

Further, in the above-described embodiment, three distance measuring sensors 130 are provided so as to be separated by 120 degrees in the circumferential direction of the elevator 100 and measured in a range of a range from a plane tangential to the cylinder. To 132. However, the number of the distance measuring sensors may be three or more. Further, the distance measuring sensor is not required to be set in such a manner as to measure in a direction tangential to the cylinder, and may be set to be inclined from the plane. As long as at least one ranging sensor is set such that its orientation differs from other ranging sensors by more than 45 degrees in the circumferential direction. Also, the ranging sensor can be set to have different measurement ranges.

Further, in the above-described embodiment, the vertical conveyance mechanism portion exemplified by the elevator 110 or the like is a mechanism that mainly conveys the cargo upward from the scooping portion 112, but is not strictly shown as being vertical.

Claims (14)

 An unloading device includes: an edge detecting unit that detects an edge of an upper end of a hatch edge provided at an upper portion of a ship's ship's hull; and a model arranging unit that configures an unloading device according to a detection result of the edge detecting unit At least a portion of the three-dimensional model, and a three-dimensional model of at least a portion of the vessel.    The unloading device according to claim 1, wherein the model arrangement portion is configured to: a three-dimensional model of the vertical transport mechanism portion and a three-dimensional model of the hatch edge, the vertical transport mechanism portion being held for shovel Take the scooping part of the cargo in the aforementioned shipyard.    The unloading device according to claim 1 or 2, wherein the model arrangement unit is configured to: scoop a three-dimensional model of a scooping portion of the cargo in the shipyard; and a three-dimensional model of the shipyard.    The unloading device according to any one of claims 1 to 3, further comprising a coordinate conversion/exporting unit that derives an edge from the edge detected by the edge detecting unit The edge edge information related to each side, and based on the derived edge edge information, the conversion parameters of the coordinate system of the unloading device and the coordinate system of the ship library are derived; the model configuration part is derived by using the coordinate conversion and export unit The conversion parameter includes a three-dimensional model of at least a portion of the unloading device and a three-dimensional model of at least a portion of the ship.    The unloading device according to any one of claims 1 to 4, further comprising: a state monitoring unit that derives between a three-dimensional model of at least a part of the unloading device and a three-dimensional model of at least a part of the ship The minimum distance and the direction of the minimum distance; and the conflict prevention unit limit the operation of the unloading device when the minimum distance is less than or equal to the threshold.    The unloading device according to any one of claims 1 to 4, further comprising: a state monitoring unit that derives between a three-dimensional model of at least a part of the unloading device and a three-dimensional model of at least a part of the ship The minimum distance and the direction of the minimum distance; and the collision preventing unit restricts the operation of the unloading device in the direction of the minimum distance when the minimum distance is equal to or less than the threshold.    The unloading device according to claim 2, further comprising: a display unit that displays a cross section of the three-dimensional model of the vertical conveyance mechanism portion and the hatch edge disposed by the mold placement portion, and the vertical conveyance The distance between the mechanism part and the edge of the hatch.    The unloading device according to any one of claims 1 to 7, further comprising: a distance measuring sensor that measures a distance to a plurality of measurement points of the ship, wherein the edge detecting unit is Deriving a direction between the plurality of measurement points by using the plurality of measurement points measured by the distance measuring sensor, and extracting a direction between the measurement points to be a measurement point in a vertical direction, and an uppermost position in a vertical direction The point is extracted as the edge point of the aforementioned hatch edge.    The unloading device according to claim 8, wherein the edge detecting unit divides the plurality of measurement points into two groups based on a vertical lower side, and each of the groups is included in the foregoing The edge points of the aforementioned hatch edge are extracted from the measurement points of the group.    The unloading device according to claim 4, wherein the coordinate conversion/exporting portion is a straight line at an edge of the hatch edge in the edge information according to the posture of the unloading device, and the hatch edge After the corresponding relationship is established in the upper end of the three-dimensional model, the conversion parameter is derived according to the positional relationship between the straight line of the edge of the corresponding relationship and the edge of the upper end.    The unloading device according to claim 10, wherein the coordinate conversion and derivation unit displays a straight line of an edge of the hatch edge according to the edge edge information in a three-dimensional point group, and the three-dimensional point is The total of the distances between the group and the side of the upper end of the three-dimensional model of the hatch edge is set to be the smallest, thereby deriving the aforementioned conversion parameters.    The unloading device according to claim 10, wherein the coordinate conversion/exporting portion corrects the hatch edge in the edge information according to information obtained from a sensor that detects a posture of the unloading device The direction of the line at the edge.    The unloading device according to claim 8, wherein the distance measuring sensor includes: a distance measuring sensor that can perform ranging from an upper portion of the vertical conveying mechanism portion toward a lower side; and a shovel A distance measuring sensor for measuring the side side and the lower side of the taking portion.    The unloading device according to claim 13 of the present invention, comprising: a coordinate conversion/export unit that derives the aforementioned result from a measurement result of a distance measuring sensor that can perform ranging from the upper portion of the vertical transport mechanism portion toward the lower side a conversion parameter of the coordinate system of the unloading device and the coordinate system of the ship's hull; and the unloading device includes: a display unit that performs distance sensing of the distance measurement toward the side and the lower side of the scooping portion by using the conversion parameter The measurement result of the device is converted into the coordinate system of the shipyard, and the measurement result of the distance sensor that can be measured toward the side and the lower side of the scooping portion is displayed by the coordinate system of the ship library.