TWI719402B - Unloading apparatus - Google Patents

Abstract

An objective of the present invention is to derive the relative relationship with a ship.

An unloading apparatus includes a vertical transport mechanism that holds at a lower end a scraping unit 112 for scraping off a load 6 in a warehouse 5, and distance measuring sensors 130 to 132 that disposed on the vertical transport mechanism and enable downward measurement of distance. Thereby, the unloading apparatus can derive the relative position between the unloader apparatus and a hatch combing 7 and the warehouse based on the distance measured by the distance measuring sensors.

Description

Uninstall device

The present invention relates to an unloading device.

The unloading device is to move the cargo that has been loaded in the boathouse out of the boathouse. As an example of an unloader device, there is an unloader device. In most unloading devices, it is difficult or impossible for operators to directly visually inspect the condition of the cargo or the distance from the wall of the shipyard. In the unloading device, a technology has been developed to install a sensor on the scooping part to measure the distance from the wall surface of the boathouse (for example, Patent Document 1).

(Prior technical literature) (Patent Document)

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

In the technique described in 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 elevator of the unloading device (elevator) and other vertical transport mechanism and the ship’s hatch coaming (hatch coaming) position relationship, etc., the relative relationship between the unloading device and the ship.

The present invention is in view of the above-mentioned problems and aims to provide an unloading device capable of deriving a relative relationship with a ship.

In order to solve the above-mentioned problems, the unloading device of one aspect of the present invention is provided with: a vertical transport mechanism part, which is a shoveling part that holds the cargo in the boathouse at the lower end; and a distance measuring sensor, which is arranged vertically Transport mechanism part, and can measure the distance downward.

Three or more range-finding sensors can be installed in different measuring ranges, or three or more range-finding sensors can be installed in a manner that includes one measuring direction that is not parallel to the measuring direction of other range-finding sensors.

It may also be provided with a display unit that displays an image for displaying at least a part of the boathouse, the vertical transport mechanism unit, and the scooping unit based on the measurement result measured by the distance sensor.

The display unit may display the cross-section of the scooping unit and the cross-section of the hatch rim provided on the upper part of the boathouse as images.

The section may also be a section parallel to the top surface of the hatch rim or parallel to the horizontal.

The display unit can also display the distance between the vertical conveying mechanism unit and the hatch rim based on the measurement result measured by the distance measuring sensor.

The display unit may only display the distance between the vertical conveying mechanism and the hatch rim only when the distance between the vertical conveying mechanism and the hatch rim is less than the first threshold set in advance.

It can also be used when the distance between the vertical transport mechanism and the hatch margin is below the first threshold and is greater than the second threshold, which is smaller than the first threshold, and when the distance between the vertical transport mechanism and the hatch margin is not When the second threshold is full, the display unit displays the distance between the vertical transport mechanism unit and the hatch rim in a different manner.

The display unit may also display the distance between the scooping unit and the boathouse based on the measurement result measured by the distance sensor.

The display unit may display the distance between the scooping portion and the boathouse only when the distance between the scooping portion and the boathouse is less than the third threshold set in advance.

It can also be used when the distance between the scooping part and the boathouse is below the third threshold and is greater than the fourth threshold value smaller than the third threshold, and when the distance between the scooping part and the boathouse is less than the fourth threshold Below, the display unit displays the distance between the shoveling unit and the boathouse in different ways.

Able to derive the relative relationship with the ship.

1‧‧‧Uninstall the system

2‧‧‧quay wall

3‧‧‧Orbit

4‧‧‧Ship

5‧‧‧Boathouse

6‧‧‧Cargo

7‧‧‧Hatchway Fringe

8‧‧‧Hatch cover

100‧‧‧Unloading device (unloading device)

102‧‧‧Walking body

104‧‧‧Gyrotron

106‧‧‧Cantilever

108‧‧‧Top Rack

110‧‧‧Lifting machine (vertical transport mechanism department)

112‧‧‧Shoveling Department

112a‧‧‧ Bucket

112b‧‧‧Chain

112c, 112d‧‧‧ side

114‧‧‧Cantilever conveyor

116‧‧‧Position Sensor

118、122‧‧‧Swivel angle sensor

120‧‧‧Tilt angle sensor

130 to 136‧‧‧Range sensor

140‧‧‧Unloading Control Department

142‧‧‧Memory Department

144、240‧‧‧Communication device

150‧‧‧Drive Control Department

152‧‧‧Edge Detection Department

154‧‧‧Coordinate conversion export part

156‧‧‧Model Configuration Department

158‧‧‧Condition Monitoring Department

160‧‧‧Path generation section

162‧‧‧Automatic operation command unit

164‧‧‧Automatic operation end judging section

166‧‧‧Collision Prevention Department

200‧‧‧Control device

210‧‧‧Monitoring and Control Department

212‧‧‧Remote operation switching unit

214‧‧‧Display switching part

216‧‧‧Condition Judgment Department

220‧‧‧Operation Department

230‧‧‧Display

300‧‧‧Ground Coordinate System

310‧‧‧Top Rack Coordinate System

320‧‧‧Hatchway Fringe Coordinate System

400‧‧‧Three-dimensional model

410‧‧‧Three-dimensional model

420‧‧‧Three-dimensional model

430‧‧‧Three-dimensional model

500‧‧‧Above viewpoint image

510‧‧‧The surrounding image of the shoveling department

512‧‧‧The surrounding image of the shoveling department

514‧‧‧ Surrounding image of shoveling department

516‧‧‧The surrounding image of the shoveling department

Figure 1 is a schematic diagram illustrating an unloader system.

Figure 2 is a schematic diagram illustrating the structure of the unloading device.

Figure 3 is a schematic diagram illustrating the measurement range of the distance sensor.

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

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

Figure 6 is a schematic diagram illustrating the measurement range of the distance sensor.

Figure 7 is a schematic diagram illustrating the electrical configuration of the unloading system.

Figure 8A is a schematic diagram illustrating the coordinate system of the unloading device.

Figure 8B is a schematic diagram illustrating the coordinate system of the unloading device.

Fig. 9 is a schematic diagram illustrating the measuring points of the ranging sensor.

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

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

Figure 12 is a schematic diagram illustrating the upper view point image.

Figure 13 is a schematic diagram illustrating the surrounding image of the scooping part.

Figures 14A and 14B are schematic diagrams illustrating the automatic path.

Hereinafter, one embodiment of the present invention will be described in detail with reference to the drawings. The dimensions, materials, and other specific numerical values shown in this embodiment are merely illustrative for easy understanding, and do not limit the present invention unless otherwise specified. In addition, in this specification and the drawings, for elements having substantially the same function and configuration, the same symbols are used to omit repeated descriptions, and the illustration of elements not directly related to the present invention is omitted.

FIG. 1 is a schematic diagram illustrating the unloading system 1. As shown in Fig. 1, the unloading system 1 is composed of a discharge device 100 as an example of the unloading device, and a control device 200. Furthermore, although an example in which four unloading devices 100 are provided is used for description, the number of unloading devices 100 may be several.

The unloading device 100 can run on a pair of rails 3 laid along the quay wall 2 along the extending direction of the rails 3. Furthermore, in Figure 1, although it is arranged on the same track 3 There are a plurality of unloading devices 100, but a plurality of unloading devices 100 may be arranged on different tracks 3.

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

The unloading device 100 carries out the cargo 6 loaded in the boathouse 5 of the ship 4 anchored on the quay wall 2 to the outside. Cargo 6 is assumed to be bulk cargo, and coal can be cited as an example.

FIG. 2 is a schematic diagram illustrating the structure of the unloading device 100. In addition, in Figure 2, the quay wall 2 and the ship 4 are shown in cross section. As shown in Figure 2, the unloading device 100 includes a walking body 102, a revolving body 104, a boom 106, a top frame 108, a lift 110, a shoveling portion 112, and a boom conveyor (boom conveyor) 114.

The walking body 102 is driven by an actuator (not shown) so as to be able to walk on the rail 3. A position sensor 116 is provided in the walking body 102 system. 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 wheels of the traveling body 102.

The revolving body 104 is rotatably arranged on the upper part of the walking body 102 with the vertical axis as the center. The revolving body 104 is driven by an actuator (not shown), thereby being able to revolve relative to the walking body 102.

The cantilever 106 is arranged on the upper part of the revolving body 104 in a manner that the inclination angle can be changed. The cantilever 106 is driven by an actuator (not shown), whereby the tilt angle based on the revolving body 104 can be changed.

The revolving body 104 is provided with a revolving angle sensor 118 and an inclination angle sensor 120. The rotation angle sensor 118 and the tilt angle sensor 120 are, for example, rotary encoders. The turning angle sensor 118 measures the turning angle of the turning body 104 to the walking body 102. The tilt angle sensor 120 measures the tilt angle of the cantilever 106 to the revolving body 104.

The top frame 108 is arranged at the front end of the cantilever 106. The top frame 108 is provided with an actuator for rotating the elevator 110.

The elevator 110 is formed in a substantially cylindrical shape. The elevator 110 is rotatably supported on the top frame 108 with the central axis as the center. The top frame 108 is provided with a rotation angle sensor 122. The rotation angle sensor 122 is, for example, a rotary encoder. The rotation angle sensor 122 measures the rotation angle of the lift 110 relative to the top frame 108.

The scooping part 112 is provided at the lower end of the elevator 110. The shoveling part 112 rotates integrally with the elevator 110 in accordance with the rotation of the elevator 110. In this way, the shoveling portion 112 is rotatably held by the top frame 108 and the elevator 110 that function as a vertical conveyance mechanism.

The scooping part 112 is provided with a plurality of buckets 112a and chains 112b. The plural buckets 112a are continuously arranged on the chain 112b. The chain 112b is erected inside the scooping portion 112 and the elevator 110.

The scooping portion 112 is provided with a link mechanism (not shown). The link mechanism is movable, thereby making the length of the bottom of the scooping portion 112 variable. Thereby, the shoveling part 112 makes the number of buckets 112a contacting the cargo 6 in the boathouse 5 variable. The scooping portion 112 rotates the chain 112b to scoop the cargo 6 in the boathouse 5 with the bucket 112a at the bottom. In addition, the bucket 112a after shoveling the cargo 6 moves to the upper part of the elevator 110 with the rotation of the chain 112b.

The cantilever conveyor 114 is arranged below the cantilever 106. The cantilever conveyor 114 carries out the cargo 6 moved to the upper part of the elevator 110 by the bucket 112a to the outside.

The unloading device 100 constructed in this way is moved along the extending direction of the rail 3 by the traveling body 102, and the relative positional relationship with the longitudinal direction of the ship 4 is adjusted. In addition, the unloading device 100 uses the revolving body 104 to revolve the cantilever 106, the top frame 108, the elevator 110, and the scooping portion 112, and adjust the relative positional relationship with the ship 4 in the short-side direction. In addition, the unloading device 100 uses the cantilever 106 to move the top frame 108, the elevator 110, and the scooping portion 112 in the vertical direction, and adjust the relative positional relationship with the ship 4 in the vertical direction. In addition, the unloading device 100 rotates the elevator 110 and the scooping part 112 by the top frame 108. Thereby, the unloading device 100 can move the scooping part 112 to an arbitrary position and angle.

Here, the ship 4 system is divided into a plurality of boathouses 5. The upper part of the boathouse 5 is provided with a hatch rim 7. The hatch rim 7 is a wall surface with a predetermined height in the vertical direction. In addition, the opening area of the hatch rim 7 is smaller than the horizontal section near the center of the boathouse 5. In other words, the boathouse 5 has a shape in which the opening is narrowed by the hatch rim 7. Furthermore, above the hatch rim 7, a hatch cover 8 for opening and closing the hatch rim 7 is provided.

In this way, since the opening is narrowed by the hatch rim 7, it is difficult for the operator to visually confirm the condition in the boathouse 5 when shoveling the cargo 6 through the shoveling portion 112. Therefore, the unloading device 100 of the present invention is provided with ranging sensors 130 to 136. Moreover, the unloading system 1 of the present invention displays the positional relationship between the unloading device 100 and the boathouse 5 or cargo 6 based on the distance measured by the distance sensors 130 to 136, thereby allowing the operator to grasp the boathouse 5. The internal situation.

The distance measuring sensors 130 to 136 are, for example, laser sensors capable of measuring distances, and VLP-16, VLP-32 manufactured by Velodyne Company, M8 manufactured by Quanergy Company, etc. can be applied. The distance sensors 130 to 136 are arranged on the side surface of the cylindrical body, for example, and are provided with sixteen laser irradiation parts spaced along the axis. The laser irradiation unit is installed on the main body so as to be able to rotate 360 degrees. The laser irradiating parts are arranged so that the difference in the emission angle of the laser in the axial direction from the laser irradiating parts arranged adjacent to each other is 2 degrees. In other words, the distance measuring sensors 130 to 136 can irradiate the laser in a range of 360 degrees in the circumferential direction of the main body. In addition, the distance measuring sensors 130 to 136 can use a plane orthogonal to the axial direction of the main body as a reference to emit lasers in a range of ±15 degrees. In addition, the distance-measuring sensors 130 to 136 are provided with receiving parts for receiving lasers on the main body.

The ranging sensors 130 to 136 irradiate the laser at every predetermined angle while rotating the laser irradiation part. The distance-measuring sensors 130 to 136 use receiving units to respectively receive lasers irradiated (projected) from a plurality of laser irradiation units and reflected on an object (measurement point). In addition, the distance measuring sensors 130 to 136 derive the distance to the object based on the time from irradiation to reception of the laser.

Figures 3 and 4 are schematic diagrams illustrating the measurement ranges of the distance sensors 130 to 132. FIG. 3 is a schematic diagram illustrating the measurement range of the distance measuring sensors 130 to 132 when the unloading device 100 is viewed from above. FIG. 4 is a schematic diagram illustrating the measurement range of the distance measuring sensors 130 to 132 when the unloading device 100 is viewed from the side. In Fig. 3 and Fig. 4, the measuring range of the ranging sensors 130 to 132 is shown by a dotted chain line.

The ranging sensors 130 to 132 are mainly used when detecting the edge of the upper end of the hatch rim 7. As shown in Figures 3 and 4, the range sensor 130 to 132 series Installed on the side of the top frame 108. Specifically, the distance measuring sensors 130 to 132 are arranged to be separated from each other by 120 degrees in the circumferential direction with the center axis of the elevator 110 as a reference. In addition, the distance measuring sensors 130 to 132 are arranged such that the central axis of the main body is along the radial direction of the elevator 110. Furthermore, the distance measuring sensors 130 to 132 are covered with a cover not shown in the figure to cover the upper half of the vertical direction.

Therefore, as shown in Figures 3 and 4, the ranging sensors 130 to 132 can measure: in terms of the measurement direction, they are located below the horizontal plane and tangent to the side of the top frame 108 The tangent line is based on the distance of the object existing in the range of ±15 degrees.

Figures 5 and 6 are schematic diagrams illustrating the measurement ranges of the distance sensors 133 to 136. FIG. 5 is a schematic diagram illustrating 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 in the unloading device 100 is shown. In addition, in Fig. 5, the horizontal section where the ship 4 is located at the same position as the scooping portion 112 in the vertical direction is shown. FIG. 6 is a schematic diagram of the measurement range of the distance measuring sensors 133 to 136 when the unloading device 100 is viewed from the side. In Fig. 5 and Fig. 6, the measuring ranges of the distance measuring sensors 133 and 134 are displayed with a dotted chain line. In addition, in Fig. 5 and Fig. 6, the measuring range of the distance measuring sensors 135 and 136 is displayed by a two-dot chain line.

The ranging sensors 133 to 136 are mainly used when detecting the cargo 6 in the boat house 5 and the wall surface of the boat house 5. As shown in FIG. 5 and FIG. 6, the distance measuring sensors 133 and 134 are respectively installed on the side surface 112c and the side surface 112d of the scooping portion 112. The distance measuring sensors 133 and 134 are arranged such that the central axis of the main body is orthogonal to the side surface 112c and the side surface 112d of the scooping portion 112, respectively. The distance measuring sensors 133 and 134 are covered with a cover not shown in the figure to cover the upper half of the vertical direction.

Therefore, the distance measuring sensors 133, 134 can measure: in terms of the measuring direction, it is located below the side surface 112c and the side surface 112d of the shoveling portion 112, and is in line with the side surface 112c and the side 112d of the shoveling portion 112. The parallel position is based on the distance of the object existing in the range of ±15 degrees. More specifically, the distance measuring sensors 133 and 134 can measure the distance of an object (cargo 6), which is located on the bottom side of the shoveling portion 112, and is present on both of the shoveling portions 112. side. In addition, the distance measuring sensors 133 and 134 are arranged so as to be able to measure at least a range of at least the maximum length of the bottom of the scooping portion 112 on the plane where the bottom of the scooping portion 112 is located.

The distance measuring sensors 135 and 136 are respectively installed on the side 112c and the side 112d of the scooping portion 112. The distance measuring sensors 135 and 136 are arranged in such a way that the central axis of the main body part is orthogonal to the bottom surface of the scooping part 112.

Therefore, the distance measuring sensors 135 and 136 are countable side: in terms of the measuring direction, they are located outside the scooping portion 112, and are based on the horizontal plane orthogonal to the side surface 112c and the side surface 112d of the scooping portion 112. The distance between objects that exist in the range of ±15 degrees.

FIG. 7 is a schematic diagram illustrating the electrical configuration of the unloading system 1. As shown in FIG. 7, the unloading device 100 is provided with an unloading control unit 140, a storage unit 142, and a communication device 144.

The unloading control unit 140 is connected to the position sensor 116, the rotation angle sensor 118, the tilt angle sensor 120, the rotation 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 programs or parameters for operating the CPU itself from ROM (Read Only Memory). In addition, the unloading control unit 140 is connected to RAM (Random Access Memory; random access memory) as a work area or other The electronic circuit cooperates to manage and control the unloading device 100 as a whole. In addition, the unloading control unit 140 functions as a drive control unit 150, an edge detection unit 152, a coordinate conversion derivation unit 154, a model configuration unit 156, a state monitoring unit 158, a route generation unit 160, an automatic operation instruction unit 162, and an automatic operation end Functions of the determination unit 164 and the collision prevention unit 166. In addition, the details of the unloading control unit 140 will be described later.

The storage unit 142 refers to a storage medium such as a hard disk and a non-volatile memory. The storage unit 142 stores the data of 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 voxel data of at least the shape of the elevator 110 and the scooping portion 112. The data of the three-dimensional model of the ship 4 refers to the voxel data of the outer shape of the hatch rim 7, and the voxel data of the wall surface and internal space of the boathouse 5. In addition, the data of the three-dimensional model only needs to be data that can grasp the three-dimensional shape of the unloading device 100 and the ship 4, and even polygon data, contours (straight lines), or point groups can be used in combination. In addition, the data of the three-dimensional model of the ship 4 is set according to the type of each ship 4.

The data of the three-dimensional model of the unloading device 100 can be based on: the shape information at the time of design, and the position sensor 116, the rotation angle sensor 118, the tilt angle sensor 120 and the rotation angle sensor of the unloading device 100 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 at the time of entering the port in the past. The measurement system when entering the port can be measured using a device capable of generating data of a three-dimensional model, such as a laser sensor. In addition, 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 wireless.

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 composed of a semiconductor integrated circuit including a CPU (Central Processing Unit). The monitoring control unit 210 reads programs or parameters for operating the CPU itself from the ROM. In addition, the monitoring and control unit 210 cooperates with RAM as a work area or other electronic circuits, and integrates management and control of a plurality of unloading devices 100. In addition, the monitoring control unit 210 functions as a remote operation switching unit 212, a display switching unit 214, and a status determination unit 216. In addition, the details of the monitoring control unit 210 will be described later.

The operation unit 220 accepts an input operation for operating the unloading device 100. As 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 shipyard 5 and the cargo 6. The communication device 240 communicates with the unloading device 100 by wire or wireless.

8A and 8B are schematic diagrams illustrating the coordinate system of the unloading device 100. Fig. 8A is a schematic diagram of the unloading device 100 viewed from above. Fig. 8B is a schematic diagram of the unloading device 100 viewed from the side. As shown in FIG. 8A and FIG. 8B, the unloading device 100 has three coordinate systems, namely, the ground coordinate system 300, the top frame coordinate system 310, and the hatch rim coordinate system 320.

The ground coordinate system 300 takes the initial position of the unloading device 100 set in advance as the origin. In the ground coordinate system 300, the direction orthogonal to the extending direction and the vertical direction of the rail 3 is referred to as the X-axis direction. The ground coordinate system 300 sets the extension direction of the rail 3 as the Y-axis direction. The ground coordinate system 300 sets the vertical direction as the Z-axis direction.

The top frame coordinate system 310 is based on the lower end of the top frame 108 in the vertical direction on the central axis of the elevator 110 as the origin. The top frame coordinate system 310 sets the extension direction of the cantilever 106 as the X-axis direction. The top frame coordinate system 310 sets the direction orthogonal to the extension direction and the vertical direction of the cantilever 106 as the Y-axis direction. The top frame coordinate system 310 sets the vertical direction as the Z-axis direction.

The hatch rim coordinate system 320 is based on the upper end of the hatch rim 7 located at the center of the wall surface on the stern side of the hatch rim 7 of the ship 4 as the origin. The hatch rim coordinate system 320 sets the longitudinal direction of the ship 4 as the X-axis direction, in other words, sets the extension direction along the hatch rim 7 of the ship 4 as the X-axis direction. The hatch rim coordinate system 320 sets the short-side direction (width direction) of the ship 4 as the Y-axis direction. The hatch rim coordinate system 320 sets the direction orthogonal to the upper end surface of the hatch rim 7 as the Z-axis direction.

Here, the 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 positions relative to the scooping portion 112 are known in advance. In addition, the position of the top frame coordinate system 310 can be derived according to the rotation angle of the elevator 110.

In addition, since the ranging sensors 130 to 132 are installed on the top frame 108, the position of the top frame coordinate system 310 is known in advance.

Here, the top frame coordinate system 310 and the hatch rim coordinate system 320 change their relative positional relationship as the unloading device 100 and the ship 4 move. For example, if the ship 4 moves in the vertical direction due to the swing of the ship, the rise and fall of the sea tide, or the load of the cargo 6, the relative positional relationship between the top frame coordinate system 310 and the hatch rim coordinate system 320 will change. .

Therefore, the edge detection unit 152 detects the edge of the upper end of the hatch margin 7 based on the measurement points measured by the distance sensors 130 to 132. In addition, the coordinate conversion and derivation unit 154 derives the conversion parameters between the top frame coordinate system 310 and the hatch rim coordinate system 320 based on the detected edge of the upper end of the hatch rim 7.

First, the edge detection unit 152 derives the top frame coordinate system 310 based on the positions of the ranging sensors 130 to 132 and the distance from the measuring point measured by the ranging sensors 130 to 132 The three-dimensional position of the measuring point.

FIG. 9 is a schematic diagram illustrating the measuring points of the ranging sensors 130 to 132. In addition, in Figure 9, the measurement ranges of the distance sensors 130 to 132 on the hatch rim 7 are shown with thick lines. As shown in Figure 9, the ranging sensors 130 to 132 can be measured: located below the horizontal plane, and based on the plane that is in contact with the top frame 108 from the ranging sensors 130 to 132 The distance of an object existing in the range of ±15 degrees. Therefore, the distance measuring sensors 130 to 132 are based on the vertical bottom of the distance measuring sensors 130 to 132 (the center of rotation of the elevator 110), and the front side and the rear side of the hatch rim are different. The edge falls into the measurement range. In addition, the term “front side” refers to the measurement range measured in the first half of one measurement. In addition, the so-called rear side refers to the measurement range measured in the second half of one measurement.

Here, the measurement points measured by the distance measuring sensors 130 to 132 are divided into two sides, the front side and the rear side, based on the vertical bottom of the distance measuring sensors 130 to 132.

Figure 10 is a schematic diagram showing the state of detecting edge points. In addition, in Figure 10, the measurement points are shown in black circles. In Fig. 10, the measurement points reflected by the laser irradiated at each predetermined angle from one laser irradiating part of the ranging sensors 130 to 132 are shown.

The edge detection unit 152 performs the following processing for each measurement point group (front side and back side) measured by one laser irradiation unit. The edge detection unit 152 derives the vector (direction) of each measurement point measured by one laser irradiation unit. In addition, with regard to the vector of the measurement point, the direction (vector) of the next measurement point relative to one measurement point among the continuous measurement points is derived as the vector of the one measurement point.

In addition, the edge detection unit 152 extracts a vector of a measurement point to be a measurement point in the vertical direction. This is because the wall surface of the hatch rim 7 measured by the ranging sensors 130 to 132 extends substantially in the vertical direction. Therefore, when there are measurement points on the wall surface of the hatch rim 7, one of the measurement points The vector becomes the vertical direction.

In addition, when there are a plurality of measurement points 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, in the measurement point group continuously measured, the uppermost point may be the edge of the upper end of the hatch rim 7.

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

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

In addition, the edge detection unit 152 extracts the uppermost measurement point in the vertical direction among the re-extracted measurement points, that is, the measurement points on the hatch rim 7 as the edge point of the hatch rim 7.

The edge detection unit 152 extracts the edge points on the front side and the back side for each measurement point group measured by one laser irradiation unit of the ranging sensors 130 to 132.

Then, when all the edge points are extracted, the edge detection unit 152 detects the straight line of the edge of the hatch margin 7. Specifically, the edge detection unit 152 sets the edge points extracted on the front side of the distance measuring sensor 130 as a group. Similarly, the edge detection unit 152 sets the edge points extracted on the rear side of the distance measuring sensor 130 as a group. Furthermore, the edge detection unit 152 groups the edge points extracted on the front side and the back side of the distance measuring sensors 131 and 132, respectively.

Here, as shown in Figure 9, when the corners of the hatch rim 7 are included, the upper end of the hatch rim 7 measured on the front and rear sides of the distance sensors 130 to 132, respectively Two straight lines at the edge are measured.

Therefore, the edge detection unit 152 derives the line segment having the most similar line segments among the extracted line segments between the edge points for each group, and derives it as a candidate vector. In addition, the edge detection unit 152 extracts edge points existing within a range set in advance from the candidate vector. In addition, the edge detection unit 152 uses the extracted edge points to recalculate the straight line.

Next, the edge detection unit 152 repeats the above-described processing using edge points that have not been extracted. However, when the number of edge points extracted is less than the threshold set in advance In this case, straight lines will not be exported. In this way, even in the case where the corners of the hatch margin 7 are included, the straight lines of the two edges can be derived.

The edge detection unit 152 repeats the above-mentioned processing for each group, thereby deriving the straight line of the edge.

In this way, because the straight line of the edge can detect at most two straight lines in one part, it can detect at most 12 straight lines.

In addition, the edge detection unit 152 derives the angle between each straight line among the detected straight lines. In addition, when the included angle is equal to or less than a predetermined threshold value, the edge detection unit 152 is integrated as the same straight line. Specifically, the formed angle is used as the edge point of the straight line below the predetermined threshold, and the straight line is derived by the least square approximation.

Next, the edge detection unit 152 derives edge edge 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 endpoints of each side from the straight line of the detected edge. In this way, the distance sensors 130 to 132 arranged above the ship 4 are used to derive the edge information of the hatch rim 7 arranged on the upper part of the boat house 5, so that the boat house 5 can be accurately and easily derived. The position (posture).

Next, the coordinate conversion and derivation unit 154 reads the three-dimensional model information of the hatch margin 7 stored in the memory unit 142 in advance from the memory unit 142. The three-dimensional model information includes the three-dimensional direction vector of the upper end of the hatch margin 7, the three-dimensional center of gravity coordinates of each side, the length of each side, and the coordinates of the end points of each side. In addition, the three-dimensional model information is represented by the hatch rim coordinate system 320. In addition, the coordinate conversion and derivation unit 154 derives the top frame coordinate system 310 and the hatch marginal coordinates based on the read three-dimensional model information and the edge edge information (detection result) represented by the top frame coordinate system 310 It is the conversion parameter of 320.

The coordinate conversion and derivation unit 154 rotates the detected straight line direction of the edge of the hatch margin 7 up to the swing angle of the cantilever 106, thereby making a rough correction. In addition, the coordinate conversion and derivation unit 154 makes the straight lines closest to each other in the direction of the edges correspond to the detected straight line of the edge of the hatch rim 7 and the edge of the upper end of the hatch rim 7 in the three-dimensional model information. relationship. Thereby, since the correct correspondence relationship can be established, it is possible to stably obtain the conversion parameters close to the correct answer. In addition, in the corresponding relationship, a three-dimensional point group can also be used to display the detected straight line of the edge of the hatch margin 7 and make the three-dimensional point group correspond to the upper edge of the hatch margin 7 in the three-dimensional model information. The average values of the shortest distances are closer to each other to establish a corresponding relationship. In addition, it is also possible to consider both the direction of the edge and the average value of the shortest distance to establish a corresponding relationship.

Here, the coordinate conversion derivation unit 154 obtains the rotation angles α, β, γ, and the travel vector t=(tx,ty, tz). In the LM method, for example, the sum of the squares of the difference between the edge point and the edge of the upper end of the hatch margin 7 based on the three-dimensional model information is used as the evaluation function, and the conversion parameter that minimizes the evaluation function is obtained. Specifically, it is the sum of the distance between the edge point and the edge of the upper end of the hatch margin 7 based on the three-dimensional model information, or the straight line of the edge and the edge of the upper end of the hatch margin 7 based on the three-dimensional model information. The conversion parameters are obtained by the way that the area of the formed curved surface becomes the smallest. In addition, the method for obtaining the conversion parameters is not limited to the LM method, and other methods such as the steepest descent method and the Newton ring method may also be used.

As described above, the coordinate conversion and derivation unit 154 derives the conversion parameters used to convert the top frame coordinate system 310 into the hatch rim coordinate system 320.

Thereby, the unloading device 100 can grasp the lift 110 and the scoop 112 represented by the top frame coordinate system 310, and the boathouse 5 and the hatch margin represented by the hatch rim coordinate system 320. 7 the relative position relationship.

In addition, the unloading device 100 is a simple structure using only the distance measuring sensors 130 to 132 arranged on the side of the top frame 108 to measure the distance toward the lower side, and the unloading device 100 and the boathouse can be easily exported. The positional relationship of 5.

In addition, the unloading device 100 can estimate the position and posture of the hatch rim 7 expressed by the hatch rim coordinate system 320 from the top frame coordinate system 310.

Moreover, in the case of two distance measuring sensors, in addition to the square hatch rim 7, the posture of the unloading device 100 cannot be used to measure two edges with different directions. However, when the distance measuring sensors 130 to 132 are arranged to change directions at 120 degrees in the circumferential direction of the elevator 110, as long as the edge edge aspect ratio is within 1.73:1, the hatch margin 7 will not be unloaded. Regardless of the position and posture of the material device 100, it can detect two edges with different directions. Therefore, two edges with different directions can be detected.

Next, the process of arranging the three-dimensional model of the elevator 110, the scooping portion 112, the boathouse 5, and the hatch margin 7 will be described.

Figures 11A to 11C are schematic diagrams illustrating the arrangement of the three-dimensional model. As shown in FIGS. 11A to 11C, the model arranging unit 156 first arranges the three-dimensional model 400 of the elevator 110 and the scooping unit 112 stored in the memory unit 142 on the hatch rim coordinate system 320. The three-dimensional model 400 of the elevator 110 and the scooping part 112 is represented by the top frame coordinate system 310. Therefore, the model arranging unit 156 uses the transformation derived by the coordinate transformation derivation unit 154. By changing the parameters, the three-dimensional model 400 of the elevator 110 and the shoveling portion 112 is converted into the hatch rim coordinate system 320.

In addition, the model placement part 156 is based on the position sensor 116, the rotation angle sensor 118, and the tilt angle sensor of the unloading device 100 when the elevator 110 and the scooping part 112 move relative to the top frame 108 The measurement results of the detector 120 and the rotation angle sensor 122 reflect the rotation of the elevator 110 or the length of the scooping portion 112 to the three-dimensional model 400.

Regarding the three-dimensional model 400, whether it is a model obtained by filtering out noise or moving objects from the cumulative result of the measurement value in the shoveling of the cargo 6, or a model obtained by accumulating the measurement value at the end of the shoveling in the past, Either the model of the design drawing, or the model obtained by temporarily bringing the measuring device into the boathouse.

In addition, the model arranging unit 156 arranges the three-dimensional model 400 of the lift 110 and the scooping unit 112 that have been converted into the hatch rim coordinate system 320 on the hatch rim coordinate system 320 (Figure 11A).

Next, the model arranging unit 156 superimposes the three-dimensional model 410 of the hatch margin 7 stored in the memory 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 margin 7 is represented by the hatch margin coordinate system 320, it is directly configured without coordinate conversion.

In addition, the model arranging part 156 is to overlay the three-dimensional model 420 of the boathouse 5 stored in the memory part 142 on the three-dimensional model 400 of the elevator 110 and the scooping part 112, and the three-dimensional model 410 of the hatch margin 7 (Figure 11C).

Thereby, the model arranging part 156 can use the three-dimensional model to easily grasp the difference between the lift 110 and the scooping part 112 which are part of the unloading device 100, and the hatch margin 7 and the boathouse 5 which are part of the ship 4 relative position.

In particular, the three-dimensional model of the lift 110 that may collide with the hatch rim 7 and the three-dimensional model of the hatch rim 7 are arranged, so that the lift 110 can easily grasp the relationship between the lift 110 and the hatch rim. Surrounding the position of 7.

In addition, a three-dimensional model of the scooping portion 112 that may collide with the boathouse 5 and a three-dimensional model of the boathouse 5 are arranged, so that the position of the scooping portion 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 condition monitoring unit 158 derives in turn the three-dimensional model 410 of the hatch rim 7 arranged on the hatch rim coordinate system 320 by the model arranging unit 156, the three-dimensional model 420 of the boathouse 5, and the elevator 110 and The distance (distance information) of each voxel of the three-dimensional model 400 of the shoveling portion 112.

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

In addition, the state monitoring unit 158 uses the conversion parameters to convert the three-dimensional position of the measurement point in the top frame coordinate system 310 into the hatch rim coordinate system 320. In addition, the position of each measurement point and the three-dimensional model 420 of the boathouse 5 are used to determine whether each measurement point is the wall surface of the boathouse 5 or the cargo 6. Here, the position of each measuring point is compared with the three-dimensional model 420 of the boathouse 5 The position of is the measurement point in the relationship within the range set in advance, and it is judged as the wall surface of the boathouse 5, and the other measurement points are judged as the cargo 6.

In addition, the state monitoring unit 158 regards the voxels of the internal space of the three-dimensional model 420 of the shipyard 5 including the voxels determined to be the measurement points of the cargo 6 as the voxels of the cargo 6, and also considers the voxels of the cargo 6 to be The voxel of cargo 6 is more dependent on the voxel vertically below as the voxel of cargo 6. The model arranging unit 156 arranges the voxels in the internal space of the three-dimensional model 420 of the shipyard 5, which are determined to be the voxels of the cargo 6, and then arrange the voxels as the 3D model of the cargo 6. Thereby, the condition of the cargo 6 in the boathouse 5 can be grasped.

In addition, in the unloading device 100, a three-dimensional model of the hatch rim 7 and the unloading device 100 in precise relative positions is used. Therefore, even if the unloading device 100 cannot detect all the edges of the hatch rim 7 through the ranging sensors 130 to 132, it can still detect and prevent collisions and approaches with all sides of the hatch rim 7 .

In addition, the distance measuring sensors 133 and 135 are arranged on the side surface 112c of the scooping portion 112. The distance measuring sensors 134 and 136 are arranged on the side 112d of the scooping portion 112. In addition, the scooping portion 112 scoops the cargo 6 while moving from the side 112d side to the side 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 sensors 133 and 135. In addition, the unloading device 100 can grasp the condition of the cargo 6 on the opposite side to the traveling direction of the scooping portion 112 by the distance sensors 134 and 136.

The respective processes performed by the coordinate conversion and derivation unit 154, the model configuration unit 156, and the state monitoring unit 158 described above are 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 diagram illustrating the upper viewpoint image 500. As shown in FIG. FIG. 13 is a schematic diagram illustrating 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 and the distance information transmitted from the unloading device 100 through the communication device 240. The monitoring control unit 210 displays the upper viewpoint image 500 and the shovel surrounding image 510 on the display unit 230 based on the received data.

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

Moreover, in the upper viewpoint image 500, the three-dimensional model 400 of the shoveling part 112, the three-dimensional model 420 of the boathouse 5 and the three-dimensional model 430 of the cargo 6 which exist in the same position of the shoveling part 112 in the Z-axis direction are displayed. . In other words, in the upper viewpoint image 500, a cross section perpendicular to the Z-axis direction at the position where the three-dimensional model 400 of the scooping portion 112 exists is displayed.

In other words, the upper viewpoint image 500 overlaps and displays the XY section of the position where the three-dimensional model 410 of the hatch margin 7 exists and the XY section of the position where the three-dimensional model 400 of the scoop 112 exists.

In addition, the upper viewpoint image 500 is attached to the outside of the three-dimensional model 420 of the boathouse 5, showing the distance between the hatch rim 7 and the lift 110 ("hatch ○m"), and the shoveling part 112 and the boathouse The distance to the wall of 5 ("Boathouse ○m"). The distance between the hatch margin 7 and the lift 110 shown here is only when it is below the first threshold (here 1.5m) set in advance. display. More specifically, when the distance is less than or equal to the first threshold value and greater than or equal to the second threshold value (herein 1.0 m) smaller than the first threshold value, a yellow background is displayed. In addition, when the distance is less than the second threshold, a red background is displayed. In addition, the distance between the scooping portion 112 and the wall surface of the boathouse 5 is displayed only when it is less than the third threshold value (here, 1.5 m) set in advance. More specifically, when the distance is equal to or less than the third threshold and equal to or greater than the fourth threshold (here, 1.0 m) smaller than the third threshold, a yellow background is displayed. In addition, when the distance is less than the fourth threshold, a red background is displayed.

In this way, by displaying the distance between the hatch margin 7 and the elevator 110, and the distance between the scooping portion 112 and the wall surface of the boathouse 5, it is possible to quantitatively grasp whether there is a risk of collision or the like.

In addition, by displaying the distance of the position that becomes the first threshold or the third threshold, the distance between the hatch rim 7 and the elevator 110, or the distance between the scoop 112 and the wall surface of the boathouse 5 can be easily grasped. In addition, by displaying the distance in different display modes when it is below the first threshold and above the second threshold and when it is below the second threshold, the sense of distance can be easily grasped. Similarly, by displaying the distance in different display modes when it is below the third threshold and above the fourth threshold and when it is below the fourth threshold, the sense of distance can be easily grasped. In addition, the distance between the hatch margin 7 and the elevator 110 and the distance between the scooping portion 112 and the wall surface of the boathouse 5 can be derived based on the distance information transmitted from the unloading device 100.

In this way, the upper viewpoint image 500 can easily grasp the positional relationship between the hatch margin 7 and the lift 110 that may collide, as well as the shoveling portion 112 and the wall surface of the boathouse 5 that may collide. Positional relationship. Therefore, the operator can avoid the collision between the hatch rim 7 and the elevator 110 or the collision between the scoop 112 and the wall surface of the boathouse 5 by visually observing the upper viewpoint image 500. In addition, because it can also be in the boathouse 5 or on the ship 4, there is no command unloading device The commander of 100 operations can reduce the number of personnel required for shoveling cargo 6. Furthermore, since only the parts with the possibility of collision are extracted and displayed, the amount of information for the operator does not become too much, and the operator can make appropriate judgments. In addition, the upper viewpoint image 500 makes it possible to easily grasp the state of the cargo 6 at the height where the scooping portion 112 exists.

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

In the peripheral images 512, 514, and 516 of the scooping portion, the three-dimensional model 400 of the scooping portion 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.

Here, the scooping portion 112 scoops the cargo 6 while moving from the side 112d side to the side 111c side. Therefore, in the shoveling part peripheral image 512, the three-dimensional model 430 of the cargo 6 that has not been shoveled is displayed. On the other hand, in the scooping portion peripheral image 516, a three-dimensional model 430 of the cargo 6 scooped by the scooping portion 512 is displayed. In addition, in the scooping portion peripheral image 514, the cargo 6 after the side 112c side is not scooped but the side 112d side is scooped is displayed. In this way, the shoveling state of the cargo 6 can be easily grasped. For example, the operator can observe the surrounding image 514 of the shoveling portion or compare the surrounding images 512 and 516 of the shoveling portion to grasp the traveling direction of the shoveling portion 112 and the height of the cargo 6 in the direction opposite to the traveling direction. , Or the height of cargo 6 in the direction of travel. In this way, the operator can appropriately shovel the cargo 6 by the shoveling part 112. Moreover, even if the operator is outside the boathouse 5, he can still quantitatively grasp the depth to which the cargo 6 is shoveled. Also, even if the command unloading device is not installed in the boathouse 5 or on the ship 4. The commander of the 100 operation is no problem, so the personnel required for the shoveling of cargo 6 can be reduced. In addition, since the surrounding image 510 of the scooping part is displayed in the hatch rim coordinate system 320, the cargo 6 and the scooping part 112 in the boathouse 5 can always be shown from the viewpoint fixed to the ship 4, making it easy for the operator Grasp the situation.

In addition, the shoveling portion peripheral image 514 shows the difference in the shoveling depth with respect to the shoveling portion 112 and the distance between the shoveling portion 112 and the bottom surface of the boathouse 5 which can be stated later. In addition, regarding the shovel depth, the side surface 112c side and the side surface 112d side are shown respectively. These shoveling depths and the distance between the shoveling portion 112 and the bottom surface of the boathouse 5 can be derived based on the distance information transmitted from the unloading device 100.

Above, the upper viewpoint image 500 and the scooping part surrounding image 510 described above 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 path generation unit 160, the automatic operation instruction unit 162, and the automatic operation end determination unit 164 of the unloading device 100 will be described.

Figures 14A and 14B are schematic diagrams illustrating the automatic path. Here, when the cargo 6 is shoveled by the unloading device 100, there are roughly three steps. If the cargo 6 in the boathouse 5 has not been shoveled even once, the cargo 6 is piled up in the boathouse 5 in a mountain shape. Therefore, as the first step, the cargo 6 in the boathouse 5 becomes flat. The first step is performed by the operator operating the unloading device 100 via the operating unit 220. More specifically, when a signal corresponding to the operation of the operating unit 220 is transmitted to the unloading device 100, the drive control unit 150 will actuate various actuators, thereby causing the unloading device 100 to respond to the operation of the operating unit 220. Operate and drive.

After that, when the surface of the cargo 6 stacked in the boathouse 5 becomes substantially flat, as a second step, the scooping portion 112 is moved multiple times along the wall surface of the boathouse 5, and then moved to the center once. This second step can be automated because the moving path of the scooping portion 112 is simple and the scooping amount of the cargo 6 is also stable.

After that, when the cargo 6 in the boathouse 5 becomes less, as a third step, the shoveling part 112 is used to shovel the remaining cargo 6. In this third step, the scoop 112 must be moved to the position of the cargo 6 remaining in the boathouse 5. In addition, in the third step, the scooping portion 112 must be moved near the bottom surface of the boathouse 5. Therefore, the third step is performed by the operator operating the unloading device 100 via the operating part 220. Here too, when the signal corresponding to the operation of the operating unit 220 is transmitted to the unloading device 100, the drive control unit 150 will actuate various actuators, thereby making the unloading device 100 respond to the operation of the operating unit 220 And drive.

In this way, among the three steps when the cargo 6 is shoveled by the unloading device 100, the second step can automate the unloading device 100.

Therefore, the path generation unit 160 translates the shoveling unit 112 along the side wall of the boathouse 5 from the predetermined position of the shoveling unit 112 shown in solid lines in FIG. 14A as an automatic path. In addition, the scooping part 112 is moved to a place where the scooping can turn with the center axis of the elevator 110 as a reference. After that, the scooping portion 112 is rotated 90 degrees along the side wall of the boathouse 5. In addition, the scooping portion 112 is translated along the side wall of the boathouse 5. By repeating the above steps, the scooping portion 112 is moved 360 degrees along the side wall of the boathouse 5. And, change the shovel depth, and move a few more turns.

And, finally, as shown in FIG. 14B, after rotating the position of the scooping portion 112 at the center of the boathouse 5 by 90 degrees, it is moved along the center of the boathouse 5. Thereby, the cargo 6 remaining in the center is shoveled by the shoveling part 112.

Here, the control device 200 can control a plurality of unloading devices 100 in parallel. In addition, the operator who operates the operating part 220 of the control device 200 selects a discharge device 100 as the object of remote operation, and performs the first step and the third step among the above three steps for the selected discharge device 100 step. In addition, the unloading device 100 that can perform the second step is selected as the unloading device 100 that is the object of automatic operation, and the unloading device 100 that is the object of the automatic operation is automatically operated.

When there is the unloading device 100 subject to the remote operation of the first step and the third step, the operator operates the operation unit 220 to select the unloading device 100 subject to 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. In addition, the remote operation switching unit 212 establishes two-way communication via the communication device 240 for 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 target of remote operation.

The display switching unit 214 displays on the display unit 230: images based on the data of the three-dimensional model and distance information received from the unloading device 100 that is the object of remote operation (upper viewpoint image 500, shoveling peripheral image 510) ). In this way, the status of the unloading device 100 that is the object of remote operation can be easily grasped.

In addition, when there is the unloading device 100 that is the target of the automatic operation of the second step, the operator operates the operation unit 220 to select the unloading device that is the target of automation. Set 100. The remote operation switching unit 212 determines the unloading device 100 to be the object of automatic operation in response to the operation of the operation unit 220. In addition, the remote operation switching unit 212 transmits an automation instruction command to the unloading device 100 targeted for automatic operation. When the unloading device 100 receives an automation instruction command, the automatic operation instruction unit 162 causes the route generation unit 160 to generate an automatic route. Then, the drive control unit 150 drives the unloading device 100 according to the automatic path.

The automatic operation end judging unit 164 stops (restricts) the drive of the unloading device 100 when the automatic operation end condition has been satisfied, or when an error has occurred. Regarding the automatic operation end condition, the position of the scooping portion 112 becomes lower than the position determined by the automatic path, or the scooping amount of the cargo 6 exceeds the amount set in advance.

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

In addition, the condition determination unit 216 predicts the target of each unloading device 100 to reach the shoveling unit 112 based on the change in the height of the shoveling unit 112 or the average of the shoveling amount for the unloading device 100 in automatic operation. The height of the target or the time for the cumulative amount of scooping of the target. In addition, due to the situation of the unloading device 100 which is close to the end time of the second step, the timing of the remote operation will overlap, so the situation determination unit 216 issues a predetermined warning.

In addition, the state monitoring unit 158 derives the hatch margin 7 and the wall surface of the boathouse 5, and the elevator 110 and the shoveling unit 112 based on the data of the three-dimensional model and the distance information transmitted from the unloading device 100 The smallest distance and its direction. In addition, the collision prevention unit 166 restricts (stops) the operation of the unloading device 100 (collision prevention function) when the derived minimum distance is less than or equal to a predetermined threshold. In addition, the collision prevention part 166 may also be at the derived minimum distance When the distance is below a predetermined threshold value, the movement of the lifter 100 and the scooping portion 112 in the leading direction is restricted. Thereby, the automatic operation of the unloading device 100 can be performed more safely.

For example, while the operator performs the first step for one unloading device 100, the remaining three unloading devices 100 perform the second step. In addition, the operator transmits an automation instruction command via the operation unit 220 to the unloading device 100 that has completed the first step. In addition, the operator performs the third step on the unloading device 100 that has completed the second step.

In this way, in the unloading system 1, one control device 200 can be used to control a plurality of unloading devices 100 by partially automating one of a plurality of steps. Thereby, the unloading system 1 can reduce personnel. In addition, the status monitoring unit 158 can also drive the control unit when the distance between the hatch rim 7 and the lift 110, and the distance between the scooping unit 112 and the wall surface of the boathouse 5 is less than the distance that would cause a collision The automation of 150 stops.

As mentioned above, although the embodiment has been described with reference to the drawings, of course, the present invention is not limited to the above-mentioned embodiment. If you are a person with ordinary skills in the technical field to which the present invention belongs, you should understand that various modifications or amendments can be conceived within the scope of the patent application, and you should understand that such modifications or amendments are of course also technical Within range.

For example, in the above-mentioned embodiment, one control device 200 is used to control a plurality of unloading devices 100. However, one control device 200 can also be provided for one unloading device 100. In this case, the unloading control unit 140 and the monitoring control unit 210 may also be integrated into one. In addition, the communication device 144 and the communication device 240 may not be provided.

In addition, in the above-mentioned embodiment, the discharge control unit 140 has functions as the drive control unit 150, the edge detection unit 152, the coordinate conversion and derivation unit 154, the model arranging unit 156, The functions of the state monitoring unit 158, the route generation unit 160, the automatic operation instruction unit 162, the automatic operation end determination unit 164, and the collision prevention unit 166. However, the monitoring control unit 210 may also function as the drive control unit 150, the coordinate conversion and derivation unit 154, the model configuration 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 collision Part or all of the functions of the prevention section 166.

In addition, in the above-mentioned embodiment, the ranging sensors 130 to 132 are arranged on the top frame 108. However, the ranging sensors 130 to 132 can also be configured on the elevator 110. In addition, in the above-mentioned embodiment, the distance sensors 133 to 136 are arranged in the scooping portion 112. However, the ranging sensors 133 to 136 may also be arranged on the half side of the elevator 110 close to the scooping portion 112.

In addition, in the above embodiment, although a part (section) of the three-dimensional model is displayed as the upper viewpoint image 500, the measurement results (measurement point) measured by the distance sensors 130 to 132 may be directly displayed. ) Is displayed as an image, and the straight line of the edge detected by the edge detection unit 152 may be displayed as an image. In other words, it is only necessary to display at least a part of the elevator 110 and the scoop 112, the boathouse 5 and the hatch margin 7 based on the measurement results measured by the distance sensors 130 to 132 The upper viewpoint image 500 is enough.

In the above-mentioned embodiment, although a part (section) of the three-dimensional model is displayed as the surrounding image 510 of the scooping part, it is also possible to directly use the measurement results (measurement) measured by the distance measuring sensors 133 to 136. (Dot) is displayed as an image. In other words, based on the measurement results measured by the distance sensors 133 to 136, the surrounding image of the scooping portion representing at least a part of the elevator 110, the scooping portion 112, and the boathouse 5 is displayed. 510 is fine.

In addition, in the above-mentioned embodiment, the series of unloading device 100 is taken as an example and described as an example of the unloading device. However, the unloading device may also be a continuous unloading device (bucket type, belt type, screw conveyer type, etc.), pneumatic unloader, etc.

In addition, in the above-mentioned embodiment, three distance measuring sensors 130 are installed to measure from the plane direction tangent to the cylinder toward a certain angle range in the circumferential direction of the elevator 100 separated by 120 degrees. To 132. However, the number of ranging sensors only needs to be three or more. In addition, the distance measuring sensor does not need to be installed to measure in the direction of the plane tangent to the cylinder, and it may be installed to be inclined from the plane. As long as the orientation of at least one distance-measuring sensor is set to be more than 45 degrees different from the other distance-measuring sensors in the circumferential direction. In addition, the range-finding sensor system can be set to have different measurement ranges.

Moreover, in the above-mentioned embodiment, the vertical conveyance mechanism part exemplified by the elevator 110 etc. is shown as a mechanism which conveys goods mainly upwards from the scoop part 112, but it is not shown as a vertical thing strictly speaking.

(Industrial availability)

The present invention can be used in unloading devices.

3‧‧‧Orbit

4‧‧‧Ship

5‧‧‧Boathouse

7‧‧‧Hatchway Fringe

8‧‧‧Hatch cover

100‧‧‧Unloading device (unloading device)

102‧‧‧Walking body

104‧‧‧Gyrotron

106‧‧‧Cantilever

108‧‧‧Top Rack

110‧‧‧Lifting machine (vertical transport mechanism department)

112‧‧‧Shoveling Department

130 to 132‧‧‧Range sensor

Claims (11)

An unloading device is provided with: a vertical conveying mechanism part, which is a shoveling part that holds the cargo in the boathouse at the lower end; a first distance measuring sensor, is arranged on the top frame of the vertical conveying mechanism part, and It can measure the distance toward the lower side; the second distance sensor is installed on the side of the shoveling part, and can measure the objects existing on the bottom side of the shoveling part and located on both sides of the shoveling part. Distance; and a third distance sensor, which is installed on the side of the scooping portion, can measure the presence of the scooping portion outside and located on the horizontal plane orthogonal to the side surface of the scooping portion as a reference The distance between objects in the range; the coordinate system of the top frame can be measured by the first distance measuring sensor, and can also be measured by the second distance measuring sensor and the third distance measuring sensor. The measured position of the scooping part is derived based on the rotation angle of the vertical conveying mechanism part. For the unloading device described in item 1 of the scope of the patent application, wherein the aforementioned first range-finding sensor is provided with three or more different measurement ranges, or includes the measurement direction that is not the same as that of other range-finding sensors. Three or more distance sensors are arranged in a parallel direction. The unloading device described in item 1 of the scope of the patent application is provided with a display unit that displays the measurement result measured by the first distance measuring sensor to indicate the boat house and the vertical transport mechanism Part and at least a part of the aforementioned scooping part. The unloading device described in claim 3, wherein the display unit displays the cross-section of the scooping portion and the cross-section of the hatch rim provided on the upper part of the boathouse as an image. . The unloading device described in item 4 of the scope of patent application, wherein the cross section is a cross section parallel to the top surface of the hatch rim or parallel to the horizontal. The unloading device described in claim 4, wherein the display unit displays the relationship between the vertical transport mechanism unit and the hatch margin based on the measurement result measured by the first distance measuring sensor distance. The unloading device described in item 6 of the scope of patent application, wherein the display section displays the vertical direction only when the distance between the vertical conveying mechanism section and the edge of the hatch is below the first threshold set in advance. The distance between the transport mechanism and the margin of the aforementioned hatch. The unloading device described in item 7 of the scope of patent application, wherein the distance between the vertical transport mechanism and the margin of the hatch is below the first threshold and is greater than the second threshold, which is smaller than the first threshold In the case, and in the case where the distance between the vertical transport mechanism and the hatch rim is less than the second threshold, the display unit displays the vertical transport mechanism and the hatch rim in different ways. The distance. The unloading device according to any one of items 3 to 8 of the scope of patent application, wherein the display unit displays the scooping unit based on the measurement result measured by the first distance measuring sensor The distance from the aforementioned boathouse. For the unloading device described in item 9 of the scope of patent application, wherein the display section displays the scooping section and the boathouse only when the distance between the scooping section and the boathouse is less than the third threshold set in advance. The distance of the aforementioned boathouse. The unloading device described in claim 10, wherein the distance between the scooping portion and the boathouse is less than the third threshold and greater than the fourth threshold, which is smaller than the third threshold, and When the distance between the scooping portion and the boathouse is less than the fourth threshold, the display portion displays the distance between the scooping portion and the boathouse in a different manner.

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