WO2019151460A1 - Unloading device - Google Patents

Abstract

An unloading device (100) according to one aspect is provided with: a scraping part (112) for scraping cargo (6) of a cargo box (5); and distance measurement sensors (133-136) that include within the measurement range thereof, each of a traveling direction-side of the scraping part (112) and the opposite side as the traveling direction-side. A display unit (230) can be provided, which displays measurement results from the distance measurement sensors (133, 135) disposed on a side surface on the traveling direction-side of the scraping part (112), and measurement results from the distance measurement sensors (134, 136) disposed on a side surface on the opposite side as the traveling direction-side. An unloading device (100) according to another aspect can be provided with: a main body unit provided with a scraping part (112) inserted into a cargo box (5); distance measurement sensors (130-132) provided in the main body unit and capable of measuring distance in a downward direction; and an edge detection unit (152) which uses a plurality of measurement points measured by the distance measurement sensors (130-132) to detect an upper end edge of a hatch coaming (7) provided in an upper portion of the cargo box (5).

Description

Unloading device

This disclosure relates to an unloading device. This application claims the benefit of priority based on Japanese Patent Application No. 2018-017504 filed on February 2, 2018 and Japanese Patent Application No. 2018-206073 filed on October 31, 2018. The contents of which are incorporated herein by reference.

The unloading device carries the cargo loaded in the garage out of the garage. An example of the unloading device is an unloader device. In the unloader device, it is often difficult or impossible for the operator to directly check the state of the load, the distance to the wall surface of the garage, and the like. In the unloader device, a technique (for example, Patent Document 1) has been developed in which a sensor is attached to the scraping unit and the distance to the wall of the hangar is measured.

JP-A-8-012094

With the technique described in the above-mentioned Patent Document 1, it is difficult to grasp the status of cargo in the berth.

In view of such a problem, the present disclosure is intended to provide an unloader device that can grasp the scraped state of the load even outside the hangar.

In order to solve the above-described problem, the unloading device according to one aspect of the present disclosure includes a scraping unit that scrapes a load in a garage, a traveling direction side of the scraping unit, and a side opposite to the traveling direction side. A distance measuring sensor included in each measurement range.

The unloading device displays the measurement result of the distance measuring sensor arranged on the side surface on the traveling direction side of the scraping unit and the measurement result of the distance measuring sensor arranged on the side surface opposite to the traveling direction side. A display unit may be provided.

The distance measuring sensor may be able to measure the distance downward.

The distance measuring sensor may be capable of measuring a range that is longer than the length in which the load can be scraped off by the scraping unit in a direction orthogonal to the traveling direction.

The display unit is disposed on the side of the scraping unit on the side opposite to the traveling direction side and the load on the side of the traveling direction of the scraping unit based on the measurement result of the distance measuring sensor disposed on the side surface of the scraping unit on the traveling direction side. A first image showing the load on the side opposite to the traveling direction based on the measurement result obtained by the distance measuring sensor and the scraping portion may be displayed.

The display unit displays a second image indicating the load on the traveling direction side of the scraping unit and the scraping unit based on the measurement result of the distance measuring sensor disposed on the side surface on the traveling direction side of the scraping unit. May be.

The display unit displays a third image showing the load on the side opposite to the traveling direction side and the scraping unit based on the measurement result of the distance measuring sensor disposed on the side surface opposite to the traveling direction side. May be.

The display unit is based on the measurement result of the distance measurement sensor arranged on the side surface on the traveling direction side of the scraping unit and the measurement result of the distance measurement sensor arranged on the side surface opposite to the traveling direction side, You may display the cutting depth of the load by a scraping part.

The distance measuring sensor may be arranged in a scraping unit or a vertical transport mechanism unit that holds the scraping unit.

In order to solve the above-described problem, a landing apparatus according to one aspect of the present disclosure includes a main body unit including a scraping unit that is inserted into a garage, and is disposed in the main body unit and can measure a distance toward a lower side. A distance measuring sensor and an edge detecting unit that detects an edge of the upper end of hatch combing provided at the upper part of the berth using a plurality of measurement points measured by the distance measuring sensor are provided.

The edge detection unit is a direction specifying unit that specifies a direction between the measurement points with respect to the measurement point, and a clustering unit that clusters the measurement points into clusters based on an angle difference between the directions specified by the direction specifying unit. And an edge point extraction unit that extracts hatch combing edge points based on the clustered cluster end points.

The distance measuring sensor may measure the measurement points of each of the plurality of measurement lines as a measurement point group, and the edge point extraction unit may extract an edge point for each measurement point group.

The clustering unit determines continuity between the measurement points continuously measured by the distance measuring sensor based on the direction between the plurality of measurement points, and extracts the measurement points having continuity as a cluster. The edge point extraction unit extracts the continuous end point having the closest horizontal distance from the main body part as the edge candidate point that is a candidate for the edge point. An edge point may be extracted based on the edge detection unit, and the edge detection unit may include an edge derivation unit that derives an upper edge of hatch combing based on the edge point extracted by the edge point extraction unit.

The edge point extraction unit derives the direction of the continuous point group including the edge candidate point, and when the direction of the continuous point group including the edge candidate point is close to the horizontal direction, the measurement is located on the same plane as the edge candidate point. Of the points, a measurement point having the closest horizontal distance from the main body may be extracted as an edge point.

The edge point extraction unit derives the direction of the continuous point group including the edge candidate point, and when the direction of the continuous point group including the edge candidate point is close to the vertical direction, the measurement is located on the same plane as the edge candidate point. Of the points, the highest measurement point in the vertical direction may be extracted as the edge point.

Based on the plurality of edge points detected by the edge detection unit, the edge side information about each side of the top edge of the hatch coaming is derived, and based on the derived edge side information, the coordinate system of the unloading device and the yard A coordinate transformation deriving unit for deriving transformation parameters with the coordinate system may be provided.

The coordinate transformation derivation unit associates the straight line of the top edge of the hatch coaming in the edge side information with the top edge of the three-dimensional model of the hatch coaming based on the attitude of the lifting device, The conversion parameter may be derived based on the positional relationship between the straight line and the upper edge.

The coordinate transformation derivation unit represents a straight line of the upper edge of the hatch combing based on the edge side information as a three-dimensional point group, and a value based on the distance between the three-dimensional point group and the upper edge in the three-dimensional model of hatch combing. The conversion parameter may be derived by minimizing the sum.

It is possible to grasp the scraped state of the load even outside the hangar.

FIG. 1 is a diagram illustrating an unloader system. FIG. 2 is a diagram illustrating the configuration of the unloader device. FIG. 3 is a diagram for explaining the measurement range of the distance measuring sensor. FIG. 4 is a diagram for explaining the measurement range of the distance measuring sensor. FIG. 5 is a diagram illustrating the measurement range of the distance measuring sensor. FIG. 6 is a diagram illustrating the measurement range of the distance measuring sensor. FIG. 7 is a diagram illustrating the electrical configuration of the unloader system according to the first embodiment. FIG. 8A is a diagram illustrating a coordinate system of the unloader device. FIG. 8B is a diagram illustrating a coordinate system of the unloader device. FIG. 9 is a diagram for explaining measurement points of the distance measuring sensor. FIG. 10 is a diagram illustrating a state in which edge points are detected. 11A, 11B, and 11C are diagrams illustrating the arrangement of the three-dimensional model. FIG. 12 is a diagram illustrating the upper viewpoint image. FIG. 13 is a diagram illustrating the scraping portion peripheral image. 14A and 14B are diagrams for explaining the automatic route. FIG. 15 is a diagram illustrating the electrical configuration of the unloader system according to the second embodiment. FIG. 16 is a diagram illustrating a functional configuration of the edge detection unit. FIG. 17 is a flowchart showing a flow of continuous end point extraction processing by the continuous end point extraction unit and edge point extraction processing by the edge point extraction unit. FIG. 18 is a diagram illustrating the continuous endpoint extraction process. FIG. 19 is a diagram for explaining extraction of edge candidate points.

Hereinafter, an embodiment of the present disclosure will be described in detail with reference to the accompanying drawings. The dimensions, materials, and other specific numerical values shown in the embodiment are merely examples for facilitating understanding, and do not limit the present disclosure unless otherwise specified. In the present specification and drawings, elements having substantially the same functions and configurations are denoted by the same reference numerals, and redundant description is omitted, and elements not directly related to the present disclosure are not illustrated. To do.

<First Embodiment>
FIG. 1 is a diagram for explaining an unloader system 1. As shown in FIG. 1, the unloader system 1 includes an unloader device 100 as an example of a lifting device and a control device 200. Although an example in which four unloader devices 100 are provided will be described, the number of unloader devices 100 may be any number.

The unloader device 100 can travel on the pair of rails 3 laid along the quay 2 in the extending direction of the rails 3. In FIG. 1, the plurality of unloader devices 100 are arranged on the same rail 3, but may be arranged on different rails 3.

The unloader device 100 is communicably connected to the control device 200. The communication method between the unloader device 100 and the control device 200 may be wired or wireless.

The unloader device 100 carries the load 6 loaded in the hangar 5 of the ship 4 anchored on the quay 2 to the outside. The load 6 is assumed to be a bulk load, and an example is coal.

FIG. 2 is a diagram for explaining the configuration of the unloader apparatus 100. In addition, in FIG. 2, the quay 2 and the ship 4 are shown in the cross section. As shown in FIG. 2, the unloader device 100 includes a traveling body 102, a revolving body 104, a boom 106, a top frame 108, an elevator 110, a scraping unit 112, and a boom conveyor 114. Note that the top frame 108, the elevator 110, and the scraping unit 112 function as a main body unit including the scraping unit 112 inserted into the garage 5.

The traveling body 102 can travel on the rail 3 by driving an actuator (not shown). The traveling body 102 is provided with a position sensor 116. The position sensor 116 is a rotary encoder, for example. The position sensor 116 measures the position of the traveling body 102 on the horizontal plane with respect to a predetermined origin position based on the number of rotations of the wheels of the traveling body 102.

The turning body 104 is provided on the upper part of the traveling body 102 so as to be rotatable about a vertical axis. The turning body 104 can turn with respect to the traveling body 102 by driving an actuator (not shown).

The boom 106 is provided in the upper part of the revolving structure 104 so that the inclination angle can be changed. The boom 106 can change an inclination angle with respect to the swing body 104 by driving an actuator (not shown).

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

The top frame 108 is provided at the tip of the boom 106. The top frame 108 is provided with an actuator for turning the elevator 110.

The elevator 110 is formed in a substantially cylindrical shape. The elevator 110 is supported by the top frame 108 so as to be rotatable about a central axis. The top frame 108 is provided with a turning angle sensor 122. The turning angle sensor 122 is, for example, a rotary encoder. The turning angle sensor 122 measures the turning angle of the elevator 110 with respect to the top frame 108.

The scraping unit 112 is provided at the lower end of the elevator 110. The scraping unit 112 turns integrally with the elevator 110 as the elevator 110 turns. As described above, the scraping unit 112 is rotatably held by the top frame 108 and the elevator 110 that function as a vertical conveyance mechanism unit.

The scraping unit 112 is provided with a plurality of buckets 112a and a chain 112b. The plurality of buckets 112a are continuously arranged on the chain 112b. The chain 112 b is spanned inside the scraping portion 112 and the elevator 110.

The scraping unit 112 is provided with a link mechanism (not shown). The link mechanism moves to change the length of the bottom portion of the scraping portion 112. As a result, the scraping unit 112 varies the number of buckets 112 a in contact with the load 6 in the hangar 5. The scraping unit 112 scrapes the load 6 in the hangar 5 with the bucket 112a at the bottom by rotating the chain 112b. And the bucket 112a which scraped off the load 6 moves to the upper part of the elevator 110 with rotation of the chain 112b.

The boom conveyor 114 is provided below the boom 106. The boom conveyor 114 carries out the load 6 moved to the upper part of the elevator 110 by the bucket 112a.

The unloader device 100 having such a configuration moves in the extending direction of the rail 3 by the traveling body 102 and adjusts the relative positional relationship in the longitudinal direction with the ship 4. Further, the unloader device 100 turns the boom 106, the top frame 108, the elevator 110, and the scraper 112 by the turning body 104, and adjusts the relative positional relationship in the short direction with the ship 4. Further, the unloader device 100 moves the top frame 108, the elevator 110, and the scraping unit 112 in the vertical direction using the boom 106, and adjusts the vertical relative positional relationship with the ship 4. Further, the unloader device 100 turns the elevator 110 and the scraping unit 112 by the top frame 108. Thereby, the unloader apparatus 100 can move the scraping part 112 to arbitrary positions and angles.

Here, the ship 4 has a bay 5 divided into a plurality of sections. The hangar 5 is provided with a hatch combing 7 at the top. The hatch combing 7 has a wall surface of a predetermined height in the vertical direction. Further, the hatch combing 7 has an opening area smaller than that of a horizontal section near the center of the hangar 5. That is, the hangar 5 has a shape in which the opening is narrowed by the hatch combing 7. A hatch cover 8 that opens and closes the hatch combing 7 is provided above the hatch combing 7.

As described above, since the opening is narrowed by the hatch combing 7, it is difficult for the operator to visually recognize the situation in the hangar 5 when scraping the load 6 by the scraping unit 112. Accordingly, the unloader device 100 according to the present disclosure is provided with distance measuring sensors 130 to 136. Then, the unloader system 1 according to the present disclosure displays the positional relationship between the unloader device 100 and the garage 5 or the load 6 based on the distance measured by the distance measuring sensors 130 to 136, so that the garage 5 So that the worker can grasp the situation inside.

The distance measuring sensors 130 to 136 are laser sensors capable of measuring distance, for example, VLP-16 manufactured by Velodyne, VLP-32, M8 manufactured by Quanergy, and the like. The distance measuring sensors 130 to 136 are provided with, for example, 16 laser irradiation units spaced along the axial direction on the side surface of a cylindrical main body. A laser irradiation part is provided in a main-body part so that 360 degree rotation is possible. The laser irradiation units are arranged so that the difference in the laser emission angle in the axial direction from the laser irradiation units arranged adjacent to each other is 2 degrees. In other words, the distance measuring sensors 130 to 136 can irradiate laser in the range of 360 degrees in the circumferential direction of the main body. The distance measuring sensors 130 to 136 can emit a laser within a range of ± 15 degrees with reference to a plane orthogonal to the axial direction of the main body. In the distance measuring sensors 130 to 136, a receiving section for receiving a laser is provided in the main body section.

Distance measuring sensors 130 to 136 irradiate laser at predetermined angles while rotating the laser irradiation unit. The distance measuring sensors 130 to 136 receive the laser beams irradiated (projected) from a plurality of laser irradiation units and reflected by an object (measurement point) by the reception units. Then, the distance measuring sensors 130 to 136 derive the distance to the object based on the time from the irradiation of the laser to the reception. In other words, the distance measuring sensors 130 to 136 have one measurement line (a trajectory by an irradiated laser or a trajectory by an object reflecting the laser in a cross section formed by the irradiated laser) by one laser irradiation unit. A plurality of measurement points are each measured. The distance measuring sensors 130 to 136 measure a plurality of measurement points on a plurality of measurement lines by a plurality of laser irradiation units, respectively.

3 and 4 are diagrams for explaining the measurement range of the distance measuring sensors 130 to 132. FIG. FIG. 3 is a diagram for explaining the measurement range of the distance measuring sensors 130 to 132 when the unloader device 100 is viewed from above. FIG. 4 is a diagram for explaining the measurement range of the distance measuring sensors 130 to 132 when the unloader device 100 is viewed from the side. 3 and 4, the measurement range of the distance measuring sensors 130 to 132 is indicated by a one-dot chain line.

The distance measuring sensors 130 to 132 are mainly used when detecting the upper edge of the hatch combing 7. The distance measuring sensors 130 to 132 are attached to the side surface of the top frame 108 as shown in FIGS. Specifically, the distance measuring sensors 130 to 132 are arranged 120 degrees apart from each other in the circumferential direction with respect to the central axis of the elevator 110. The distance measuring sensors 130 to 132 are arranged so that the central axis of the main body is along the radial direction of the elevator 110. In the distance measuring sensors 130 to 132, the upper half of the vertical direction is covered with a cover (not shown).

Therefore, as shown in FIGS. 3 and 4, the distance measuring sensors 130 to 132 are present in the range of ± 15 degrees below the horizontal plane and with reference to the tangent line that contacts the side surface of the top frame 108 as the measurement direction. The distance to the object to be measured can be measured.

5 and 6 are diagrams for explaining the measurement range of the distance measuring sensors 133 to 136. FIG. FIG. 5 is a diagram for explaining the measurement range of the distance measuring sensors 133 to 136 when the scraping unit 112 is viewed from above. In FIG. 5, only the scraping unit 112 of the unloader device 100 is illustrated. FIG. 5 shows a horizontal section of the ship 4 at the same position in the vertical direction as the scraping portion 112. FIG. 6 is a diagram for explaining the measurement range of the distance measuring sensors 133 to 136 when the unloader device 100 is viewed from the side. 5 and 6, the measurement ranges of the distance measuring sensors 133 and 134 are indicated by a one-dot chain line. 5 and 6, the measurement ranges of the distance measuring sensors 135 and 136 are indicated by two-dot chain lines.

Ranging sensors 133 to 136 are mainly used when detecting the load 6 in the hangar 5 and the wall surface of the hangar 5. The distance measuring sensors 133 and 134 are attached to the side surface 112c and the side surface 112d of the scraping portion 112, respectively, as shown in FIGS. 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 scraping unit 112, respectively. The distance measuring sensors 133 and 134 are covered with a cover (not shown) in the upper half of the vertical direction.

Therefore, the distance measuring sensors 133 and 134 have a measurement direction of ± 15 with respect to positions below the side surface 112c and the side surface 112d of the scraping unit 112 and parallel to the side surface 112c and the side surface 112d of the scraping unit 112. The distance of an object existing in the range of degrees can be measured. More specifically, the distance measuring sensors 133 and 134 can measure the distance to the object (the load 6) on the bottom side of the scraping unit 112 and on both sides of the scraping unit 112. The distance measuring sensors 133 and 134 are arranged so that at least a range equal to or larger than the maximum length of the bottom of the scraping unit 112 can be measured on the plane where the bottom of the scraping unit 112 is located.

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

Therefore, the distance measuring sensors 135 and 136 exist in the range of ± 15 degrees as a measurement direction, outside the scraping unit 112 and with respect to a horizontal plane orthogonal to the side surface 112c and the side surface 112d of the scraping unit 112. The distance of an object can be measured.

FIG. 7 is a diagram illustrating the electrical configuration of the unloader system 1 according to the first embodiment. As illustrated in FIG. 7, the unloader device 100 includes an unloader control unit 140, a storage unit 142, and a communication device 144.

The unloader control unit 140 is connected to the position sensor 116, the turning angle sensor 118, the tilt angle sensor 120, the turning angle sensor 122, the distance measuring sensors 130 to 136, the storage unit 142, and the communication device 144. The unloader control unit 140 is configured by a semiconductor integrated circuit including a CPU (Central Processing Unit). The unloader control unit 140 reads programs, parameters, and the like for operating the CPU itself from the ROM. The unloader control unit 140 manages and controls the entire unloader device 100 in cooperation with a RAM as a work area and other electronic circuits. The unloader control unit 140 includes a drive control unit 150, an edge detection unit 152, a coordinate transformation derivation unit 154, a model placement unit 156, a state monitoring unit 158, a route generation unit 160, an automatic operation command unit 162, and an automatic operation end determination unit. 164, which functions as a collision prevention unit 166. Details of the unloader control unit 140 will be described later.

The storage unit 142 is a storage medium such as a hard disk or a nonvolatile memory. The storage unit 142 stores data of the three-dimensional model of the unloader device 100 and the ship 4. The data of the three-dimensional model of the unloader device 100 is voxel data of at least the outer shape of the elevator 110 and the scraping unit 112. The data of the three-dimensional model of the ship 4 is voxel data of the outer shape of the hatch combing 7, and the wall surface shape of the hangar 5 and voxel data of the internal space. The data of the three-dimensional model may be data that can grasp the three-dimensional shape of the unloader device 100 and the ship 4, and may be polygon data, contour (straight line), point group, or the like. Good. The data of the three-dimensional model of the ship 4 is provided for each type of ship 4.

The data of the three-dimensional model of the unloader device 100 can be calculated from the shape information at the time of design and the measurement results of the position sensor 116, the turning angle sensor 118, the inclination angle sensor 120, and the turning angle sensor 122 of the unloader device 100. It is. Further, as the data of the three-dimensional model of the ship 4, ship design data may be used, or data measured at the time of past port entry may be used. Measurement at the time of entering the port can be performed using a device capable of generating data of a three-dimensional model such as a laser sensor. The data of the three-dimensional model may be restored by accumulating information from the distance measuring sensors 130 to 136.

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, parameters, and the like for operating the CPU itself from the ROM. The supervisory control unit 210 collectively manages and controls the plurality of unloader devices 100 in cooperation with a RAM as a work area and other electronic circuits. Further, the monitoring control unit 210 functions as a remote operation switching unit 212, a display switching unit 214, and a situation determination unit 216. Details of the monitoring control unit 210 will be described later.

The operation unit 220 receives an input operation for operating the unloader device 100. As will be described in detail later, the display unit 230 displays an image that allows the operator to grasp the relative positional relationship between the unloader device 100 and the hangar 5 and the cargo 6. The communication device 240 communicates with the unloader device 100 by wire or wireless.

8A and 8B are diagrams illustrating the coordinate system of the unloader device 100. FIG. As shown in FIGS. 8A and 8B, the unloader apparatus 100 has three coordinate systems, that is, a ground coordinate system 300, a top frame coordinate system 310, and a hatch combing coordinate system 320.

The ground coordinate system 300 uses the initial position of the unloader device 100 set in advance as the origin. The ground coordinate system 300 sets the direction orthogonal to the extending direction of the rail 3 and the vertical direction as the X-axis direction. The ground coordinate system 300 sets the extending direction of the rail 3 as the Y-axis direction. The ground coordinate system 300 sets the vertical direction to the Z-axis direction.

The top frame coordinate system 310 is on the central axis of the elevator 110 and has the origin at the lower end of the top frame 108 in the vertical direction. The top frame coordinate system 310 sets the extending direction of the boom 106 as the X-axis direction. In the top frame coordinate system 310, the direction perpendicular to the extending direction and the vertical direction of the boom 106 is defined as the Y-axis direction. In the top frame coordinate system 310, the vertical direction is the Z-axis direction.

Hatch combing coordinate system 320 is the center position of the stern side wall surface of hatch coaming 7 of ship 4, and has the upper end of hatch coaming 7 as the origin. In the hatch combing coordinate system 320, the longitudinal direction of the ship 4, that is, the extending direction of the hatch combing 7 along the ship 4 is defined as the X-axis direction. In the hatch combing coordinate system 320, the transverse direction (width direction) of the ship 4 is set as the Y-axis direction. In the hatch combing coordinate system 320, a direction orthogonal to the upper end surface of the hatch combing 7 is defined as a Z-axis direction.

Here, the ground coordinate system 300 and the top frame coordinate system 310 can be converted based on the shape of the unloader device 100 and the movement of the unloader device 100.

For example, since the distance measuring sensors 133 to 136 are attached to the scraping unit 112, the positions with respect to the scraping unit 112 are known in advance. Then, the position of the top frame coordinate system 310 can be derived based on the turning angle of the elevator 110.

Further, since the distance measuring sensors 130 to 132 are attached to the top frame 108, the position of the top frame coordinate system 310 is known in advance.

Here, the relative positional relationship between the top frame coordinate system 310 and the hatch combing coordinate system 320 changes as the unloader device 100 and the ship 4 move. For example, the top frame coordinate system 310 and the hatch coaming coordinate system 320 are relative to each other when the ship 4 is shaken, or the ship 4 is moved in the vertical direction due to tide fullness or the load of the load 6. The positional relationship changes.

Therefore, the edge detection unit 152 detects the upper edge of the hatch combing 7 based on the measurement points measured by the distance measuring sensors 130 to 132. The coordinate transformation deriving unit 154 derives transformation parameters for the top frame coordinate system 310 and the hatch coaming coordinate system 320 based on the detected upper edge of the hatch combing 7.

First, the edge detection unit 152 determines the three-dimensional position of the measurement point in the top frame coordinate system 310 based on the position of the distance measurement sensors 130 to 132 and the distance to the measurement point measured by the distance measurement sensors 130 to 132. Is derived.

FIG. 9 is a diagram for explaining the measurement points of the distance measuring sensors 130 to 132. In FIG. 9, the measurement range of the distance measuring sensors 130 to 132 on the hatch combing 7 is indicated by a thick line. As shown in FIG. 9, the distance measuring sensors 130 to 132 are located below the horizontal plane, and the distance from the distance measuring sensors 130 to 132 to an object existing within a range of ± 15 degrees with respect to the plane in contact with the top frame 108. Measure distance. Therefore, in the distance measuring sensors 130 to 132, the edge of the hatch combing 7 that is different between the front side and the rear side becomes the measurement range with respect to the vertically lower side of the distance measuring sensors 130 to 132 (rotation center of the elevator 110). The front side refers to a measurement range measured in the first half in one measurement. Further, the rear side refers to a measurement range measured in the second half in one measurement.

Therefore, the measurement points measured by the distance measuring sensors 130 to 132 are divided into two parts, the front side and the rear side, with the vertical bottom of the distance measuring sensors 130 to 132 as a reference.

FIG. 10 is a diagram showing a state in which edge points are detected. In FIG. 10, the measurement points are indicated by black circles. FIG. 10 illustrates measurement points at which laser beams emitted at predetermined angles from one laser irradiation unit of the distance measuring sensors 130 to 132 are reflected.

The edge detection unit 152 performs the following processing for each measurement point group (front side and rear side) of one measurement line irradiated and measured by one laser irradiation unit. The edge detection unit 152 derives a vector (direction) of each measurement point irradiated and measured by one laser irradiation unit. The measurement point vector is derived as the vector of one measurement point from the direction (vector) of the next measurement point with respect to one measurement point among the measurement points continuously measured.

Then, the edge detection unit 152 extracts a measurement point whose measurement point vector is in the vertical direction. This is because the wall surface (side surface) of the hatch coaming 7 measured by the distance measuring sensors 130 to 132 extends substantially in the vertical direction. It is because it becomes a vertical direction.

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

Subsequently, the edge detection unit 152 extracts a 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 combing 7 is located closest to the elevator 110 among the structures of the ship 4.

Then, the edge detection unit 152 re-extracts measurement points existing in a predetermined range (for example, a range of several tens of centimeters) in the X-axis direction and the Y-axis direction in the top frame coordinate system 310 with respect to the extracted measurement points. To do. Here, the measurement points on the hatch combing 7 are extracted.

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

The edge detection unit 152 is provided for each measurement point group irradiated and measured by one laser irradiation unit of the distance measuring sensors 130 to 132, that is, for each measurement point group measured on the same plane. Extract edge points.

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

Here, as shown in FIG. 9, the straight line of the upper edge of the hatch combing 7 measured on the front side and the rear side of the distance measuring sensors 130 to 132 includes two corners when the corner of the hatch combing 7 is included. Will be measured.

Therefore, for each group, the edge detection unit 152 derives a candidate vector having the most similar line segments among the extracted line segments between the edge points. Then, the edge detection unit 152 extracts edge points that exist within a preset range for the candidate vector. Then, the edge detection unit 152 recalculates a straight line using the extracted edge points.

Next, the edge detection unit 152 repeatedly performs the above processing using the edge points that have not been extracted. However, when the number of extracted edge points is less than a preset threshold value, a straight line is not derived. Thereby, even when the corner of the hatch combing 7 is included, a straight line of two edges can be derived.

The edge detection unit 152 derives a straight line of the edge by repeatedly performing the above processing for each group.

Thus, since a maximum of two straight lines of edges are detected at one place, a maximum of 12 straight lines are detected.

Then, the edge detection unit 152 derives an angle formed between the straight lines among the detected straight lines. Then, when the angle formed by the edge detection unit 152 is equal to or less than a predetermined threshold, the edge detection unit 152 integrates the same straight line. Specifically, a straight line is re-derived by least square approximation using edge points that form a straight line whose angle formed is equal to or less than a predetermined threshold.

Subsequently, the edge detection unit 152 obtains edge side information including a three-dimensional direction vector of each side, a three-dimensional barycentric coordinate of each side, a length of each side, and coordinates of end points of each side from the detected straight line of the edge. To derive. In this way, by using the distance measuring sensors 130 to 132 provided above the ship 4 to derive the edge side information of the hatch combing 7 provided in the upper part of the ship 5, the position of the ship 5 ( (Posture) can be easily and accurately derived.

Next, the coordinate transformation deriving unit 154 reads the three-dimensional model information of the hatch combing 7 stored in advance in the storage unit 142 from the storage unit 142. The three-dimensional model information includes a three-dimensional direction vector of the upper end side of the hatch combing 7, a three-dimensional barycentric coordinate of each side, a length of each side, and a coordinate of an end point of each side. Further, the three-dimensional model information is expressed by a hatch combing coordinate system 320. Then, the coordinate transformation deriving unit 154 determines the top frame coordinate system 310, the hatch combing coordinate system 320, and the edge frame information (detection result) expressed in the top frame coordinate system 310 based on the read three-dimensional model information. Deriving transformation parameters for

The coordinate transformation deriving unit 154 performs rough correction by rotating the direction of the detected straight line of the hatch combing 7 by the turning angle of the boom 106. Also, the coordinate transformation deriving unit 154 associates the detected straight line of the hatch combing 7 with the upper edge of the hatch combing 7 in the three-dimensional model information with the straight lines having the closest edge direction. Thereby, since the correct association is made, the conversion parameter of the solution that is stably close to the correct answer can be obtained. In the association, the detected straight line of the edge of the hatch combing 7 is represented by a three-dimensional point group, and the average value of the shortest distance between the three-dimensional point group and the upper edge of the hatch combing 7 in the three-dimensional model information. Those close to each other may be associated with each other. Further, the correspondence may be made in consideration of both the direction of the edge and the average value of the shortest distance.

Then, the coordinate transformation deriving unit 154 calculates the transformation parameters about the rotation angles α, β, and γ around the X, Y, and Z axes and the progression vector t = (tx, ty, tz) by, for example, the LM method. Ask. In the LM method, for example, the sum of squares of the difference in distance between the edge point and the upper edge of the hatch combing 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, it is formed by the sum of the distance between the edge point and the upper edge of the hatch combing 7 based on the 3D model information, or the straight line of the edge and the upper edge of the hatch combing 7 based on the 3D model information. The conversion parameter is obtained so that the area of the curved surface is minimized. Here, the coordinate transformation deriving unit 154 derives a transformation parameter that minimizes the sum of values based on the distance between the edge point (three-dimensional point group) and the upper edge of the hatch combing 7 based on the three-dimensional model information. It will be. Note that the method for obtaining the conversion parameter is not limited to the LM method, and other methods such as the steepest descent method and the Newton method may be used.

In this way, the coordinate transformation deriving unit 154 derives transformation parameters for transforming the top frame coordinate system 310 into the hatch combing coordinate system 320.

Thereby, the unloader device 100 grasps the relative positional relationship between the elevator 110 and the scraping unit 112 expressed by the top frame coordinate system 310 and the hangar 5 and the hatch combing 7 expressed by the hatch combing coordinate system 320. It becomes possible.

Further, the unloader device 100 has a simple configuration in which distance measuring sensors 130 to 132 capable of measuring a distance downward are arranged on the side surface of the top frame 108, and the positional relationship between the unloader device 100 and the garage 5 is determined. Can be easily derived.

Further, the unloader device 100 can estimate the position and orientation of the hatch combing 7 expressed by the hatch combing coordinate system 320 using the top frame coordinate system 310.

In addition, the two distance measuring sensors may not be able to measure two edge sides having different directions depending on the attitude of the unloader device 100 except for the square hatch combing 7. However, in the case where the distance measuring sensors 130 to 132 are arranged at 120 degrees in the circumferential direction of the elevator 110, as long as the aspect ratio of the edge side is hatch combing 7 within 1.73: 1, the unloader device 100 Regardless of the position and orientation, two edge sides having different directions can be detected. Therefore, two edge sides having different directions can be detected.

Next, processing for arranging the three-dimensional models of the elevator 110, the scraping unit 112, the hangar 5 and the hatch combing 7 will be described.

FIG. 11A, FIG. 11B, and FIG. 11C are diagrams for explaining the arrangement of the three-dimensional model. As shown in FIGS. 11A, 11B, and 11C, the model placement unit 156 first places the three-dimensional model 400 of the elevator 110 and the scraping unit 112 stored in the storage unit 142 on the hatch combing coordinate system 320. . A three-dimensional model 400 of the elevator 110 and the scraping unit 112 is expressed 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 scraping unit 112 into the hatch combing coordinate system 320 using the conversion parameters derived by the coordinate transformation deriving unit 154.

When the elevator 110 and the scraping unit 112 move relative to the top frame 108, the model placement unit 156 measures the position sensor 116, the turning angle sensor 118, the inclination angle sensor 120, and the turning angle sensor 122 of the unloader device 100. Based on the result, the rotation of the elevator 110 and the length of the scraping unit 112 are reflected in the three-dimensional model 400.

Further, the three-dimensional model 400 may be a model that filters noise and moving objects from the accumulation result of measurement values during scraping of the load 6, a model that accumulates measurement values at the end of previous scraping, or a model of a design drawing. However, a model obtained by separately bringing a measuring instrument into the hangar and measuring it may be used.

Then, the model placement unit 156 places the three-dimensional model 400 of the elevator 110 and the scraping unit 112 converted into the hatch combing coordinate system 320 on the hatch combing coordinate system 320 (FIG. 11A).

Subsequently, the model placement unit 156 places the 3D model 410 of the hatch combing 7 stored in the storage unit 142 so as to overlap the 3D model 400 of the elevator 110 and the scraping unit 112 (FIG. 11B). Since the three-dimensional model 410 of the hatch combing 7 is expressed by the hatch combing coordinate system 320, it is arranged as it is without performing coordinate conversion.

The model placement unit 156 also superimposes the three-dimensional model 420 of the shed 5 stored in the storage unit 142 on the three-dimensional model 400 of the elevator 110 and the scraping unit 112 and the three-dimensional model 410 of the hatch combing 7. (FIG. 11C).

As a result, the model placement unit 156 determines the relative positions of the elevator 110 and the scraping unit 112 that are part of the unloader device 100, the hatch combing 7 and the garage 5 that are part of the ship 4, and the three-dimensional model. It can be easily grasped by using.

In particular, it is possible to easily grasp the position of the elevator 110 with respect to the hatch combing 7 by arranging a three-dimensional model of the elevator 110 that may collide with the hatch combing 7 and a three-dimensional model of the hatch combing 7. It becomes.

In addition, by arranging a three-dimensional model of the scraping unit 112 that may collide with the garage 5 and a three-dimensional model of the garage 5, the position of the scraping unit 112 with respect to the garage 5 can be easily grasped. It becomes possible to make it.

Next, state monitoring processing by the state monitoring unit 158 will be described. The state monitoring unit 158 includes a three-dimensional model 410 of the hatch coaming 7 arranged on the hatch coaming coordinate system 320 by the model arranging unit 156, a three-dimensional model 420 of the garage 5, the elevator 110, and the scraping unit 112. The distance (distance information) of each voxel from the three-dimensional model 400 is derived as a brute force.

Further, the state monitoring unit 158 derives the situation in the hangar 5 based on the measurement points measured by the distance measuring sensors 133 to 136. Specifically, the state monitoring unit 158 determines the three measurement points in the top frame coordinate system 310 based on the distances to the measurement points measured by the distance measurement sensors 133 to 136 and the positions of the distance measurement sensors 133 to 136. Deriving the dimension position.

Also, the state monitoring unit 158 converts the three-dimensional position of the measurement point in the top frame coordinate system 310 into the hatch combing coordinate system 320 using the conversion parameter. Then, using the position of each measurement point and the three-dimensional model 420 of the garage 5, it is determined whether each measurement point is the wall surface of the garage 5 or the load 6. Here, the measurement points having the relationship between the position of each measurement point and the position of the three-dimensional model 420 of the garage 5 within a preset range are determined as the wall surface of the garage 5, and the other points are loaded 6. Is determined.

Then, the state monitoring unit 158 sets the voxel including the measurement point determined to be the load 6 among the voxels in the internal space of the three-dimensional model 420 of the hangar 5 as the voxel of the load 6 and the voxel set as the load 6. Also, the voxel vertically below is also the voxel of the load 6. The model placement unit 156 rearranges the voxels determined as the voxels of the load 6 among the voxels in the internal space of the three-dimensional model 420 of the garage 5 as the three-dimensional model of the load 6. Thereby, the status of the load 6 in the hangar 5 can be grasped.

Also, the unloader device 100 uses a three-dimensional model of the hatch combing 7 and the unloader device 100 that are in a precise relative position. Therefore, the unloader device 100 can detect and prevent collision / approach to all side surfaces of the hatch combing 7 even if the distance sensors 130 to 132 cannot detect all the edge sides of the hatch combing 7.

Further, the distance measuring sensors 133 and 135 are provided on the side surface 112c of the scraping unit 112. The distance measuring sensors 134 and 136 are provided on the side surface 112 d of the scraping unit 112. Then, the scraping unit 112 scrapes the load 6 while moving from the side surface 112d side to the side surface 112c side. Therefore, the unloader device 100 can grasp the status of the load 6 on the traveling direction side of the scraping unit 112 by the distance measuring sensors 133 and 135. Further, the unloader device 100 can grasp the status of the load 6 on the side opposite to the traveling direction of the scraping unit 112 by the distance measuring sensors 134 and 136.

Each process by the coordinate transformation deriving unit 154, the model arranging unit 156, and the state monitoring unit 158 described above is repeatedly performed at predetermined intervals. 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 diagram for explaining the upper viewpoint image 500. FIG. 13 is a diagram for explaining the scraping portion peripheral image 510. 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 unloader device 100 by the communication device 240. The monitoring control unit 210 displays the upper viewpoint image 500 and the scraping unit peripheral image 510 on the display unit 230 based on the received data.

12, in the upper viewpoint image 500, a three-dimensional model 410 of the hatch coaming 7 and a three-dimensional model 400 of the elevator 110 existing at the same position in the Z-axis direction as the hatch coaming 7 are displayed. In other words, the upper viewpoint image 500 displays a cross section perpendicular to the Z-axis direction (a cross section parallel to the top surface of the hatch coaming 7 or parallel to the horizontal) at the position where the three-dimensional model 410 of the hatch coaming 7 exists. The

In the upper viewpoint image 500, the three-dimensional model 400 of the scraping unit 112, the three-dimensional model 420 of the ship 5 and the three-dimensional model 430 of the load 6 existing at the same position in the Z-axis direction as the scraping unit 112 are displayed. Is displayed. That is, the upper viewpoint image 500 displays a cross section perpendicular to the Z-axis direction at the position where the three-dimensional model 400 of the scraping unit 112 exists.

That is, in the upper viewpoint image 500, the XY cross section at the position where the three-dimensional model 410 of the hatch combing 7 is present and the XY cross section at the position where the three-dimensional model 400 of the scraping unit 112 is superimposed are displayed.

Further, the upper viewpoint image 500 is located outside the three-dimensional model 420 of the hangar 5, the distance between the hatch coaming 7 and the elevator 110 (“hatch ○ m”), and the scraper 112 and the wall surface of the hangar 5. Distance ("ship yard ○ m") is displayed. The distance between the hatch combing 7 and the elevator 110 displayed here is displayed only when the distance is equal to or less than a preset first threshold (here, 1.5 m). More specifically, when the distance is equal to or smaller than the first threshold value and equal to or larger than the second threshold value (here, 1.0 m) smaller than the first threshold value, the distance is displayed on a yellow background. If the distance is less than the second threshold, the distance is displayed on a red background. In addition, the distance between the scraping unit 112 and the wall surface of the hangar 5 is displayed only when it is equal to or less than a preset third threshold (here, 1.5 m). More specifically, when the distance is equal to or smaller than the third threshold and equal to or larger than the fourth threshold (here, 1.0 m) smaller than the third threshold, the distance is displayed on a yellow background. When the distance is less than the fourth threshold, the distance is displayed on a red background.

Thus, by displaying the distance between the hatch combing 7 and the elevator 110 and the distance between the scraping portion 112 and the wall surface of the hangar 5, it is possible to quantitatively grasp whether or not there is a possibility of a collision. be able to.

Further, the distance between the hatch combing 7 and the elevator 110 and the distance between the scraping part 112 and the wall surface of the hangar 5 are close by displaying the distance of the position that becomes the first threshold value or the third threshold value. Can be easily grasped. Moreover, a distance feeling can be easily grasped | ascertained by displaying a distance by the display mode which is different by the case where it is below a 1st threshold value and is above a 2nd threshold value, and when it is less than a 2nd threshold value. Similarly, it is possible to easily grasp the sense of distance by displaying the distance in different display modes depending on whether it is equal to or less than the third threshold and equal to or greater than the fourth threshold. The distance between the hatch combing 7 and the elevator 110 and the distance between the scraping unit 112 and the wall surface of the hangar 5 are derived based on the distance information transmitted from the unloader device 100.

As a result, the upper viewpoint image 500 facilitates the positional relationship between the hatch combing 7 and the elevator 110 that may collide, and the positional relationship between the scraping portion 112 that may collide and the wall surface of the hangar 5. Can be grasped. Therefore, the operator can avoid the collision between the hatch combing 7 and the elevator 110 and the collision between the scraping unit 112 and the wall surface of the hangar 5 by viewing the upper viewpoint image 500. In addition, since it is not necessary to arrange a conductor for commanding the operation of the unloader device 100 in the hangar 5 or on the ship 4, it is possible to reduce the personnel required for scraping off the load 6. Furthermore, since only the portion with the possibility of collision is extracted and displayed, the amount of information for the worker does not increase excessively, and the worker can make an appropriate determination. Further, the upper viewpoint image 500 can easily grasp the state of the load 6 at the height where the scraping unit 112 exists.

As shown in FIG. 13, the scraping part peripheral image 510 includes a scraping part peripheral image 512 viewed from the side surface 112c side of the scraping part 112, a scraping part peripheral image 514 viewed from the front side, The scraping portion peripheral image 516 viewed from the side surface 112d side of the scraping portion 112 is displayed side by side.

In these scraping part peripheral images 512, 514, and 516, the three-dimensional model 400 of the scraping part 112, the three-dimensional model 430 of the load 6, and the three-dimensional model 420 of the hangar 5 (only the bottom surface) are displayed, respectively. The

Here, the scraping unit 112 scrapes the load 6 while moving from the side surface 112d side to the side surface 112c side. Therefore, in the scraping portion peripheral image 512 (second image), the three-dimensional model 430 of the load 6 that is not scraped is displayed. On the other hand, the three-dimensional model 430 of the load 6 scraped by the scraping unit 112 is displayed in the scraping unit peripheral image 516 (third image). In the scraping portion peripheral image 514 (first image), the load 6 is displayed in which the side surface 112c side is not scraped but the side surface 112d side is scraped. Thereby, the state of scraping off the load 6 can be easily grasped. For example, the operator looks at the scraping part peripheral image 514 or compares the scraping part peripheral images 512 and 516, so that the load 6 in the traveling direction of the scraping unit 112 and the direction opposite to the traveling direction can be reduced. The height difference and the height of the load 6 in the traveling direction can be grasped. Thereby, the operator can scrape off the load 6 appropriately by the scraping unit 112. In addition, the worker can quantitatively grasp how deep the cargo 6 is scraped outside the hangar 5. In addition, since it is not necessary to arrange a conductor for commanding the operation of the unloader device 100 in the hangar 5 or on the ship 4, it is possible to reduce the personnel required for scraping off the load 6. Further, since the scraping portion peripheral image 510 is displayed in the hatch combing coordinate system 320, the cargo 6 and the scraping portion 112 in the hangar 5 can be always presented from a viewpoint fixed to the ship 4. It becomes easier to grasp the situation of the person

Further, in the scraping portion peripheral image 514, the difference with respect to the cutting depth of the scraping portion 112 and the interval between the scraping portion 112 and the bottom surface of the hangar 5, which will be described in detail later, are displayed. The cut depth is displayed on the side surface 112c side and the side surface 112d side, respectively. The depth of cut and the distance between the scraping portion 112 and the bottom surface of the hangar 5 are derived based on the distance information transmitted from the unloader device 100.

The above-described upper viewpoint image 500 and scraping unit peripheral image 510 are updated and displayed each time data of the three-dimensional model and distance information are transmitted from the unloader apparatus 100.

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

FIG. 14A and FIG. 14B are diagrams for explaining an automatic route. Here, when the load 6 is scraped off by the unloader device 100, there are roughly three steps. When the load 6 in the garage 5 has never been scraped off, the load 6 is stacked in a mountain shape in the garage 5. Therefore, the first step is a step of flattening the cargo 6 in the hangar 5. The first step is performed by the operator operating the unloader device 100 via the operation unit 220. More specifically, when a signal corresponding to the operation of the operation unit 220 is transmitted to the unloader device 100, the drive control unit 150 operates the various actuators to cause the unloader device 100 to respond to the operation of the operation unit 220. Drive.

After that, when the surface of the load 6 loaded in the hangar 5 becomes substantially flat, as a second step, the scraping portion 112 is moved a plurality of times along the wall surface of the hangar 5 and then the center 1 Move it times. This second process can be automated because the path for moving the scraping section 112 is simple and the scraping amount of the load 6 is stable.

Thereafter, when the load 6 in the hangar 5 decreases, the remaining load 6 is scraped off by the scraping unit 112 as a third step. In this third step, it is necessary to move the scraping section 112 to the position of the load 6 remaining in the hangar 5. Further, in the third step, it is necessary to move the scraping unit 112 near the bottom surface of the hangar 5. Therefore, the third step is performed by the operator operating the unloader device 100 via the operation unit 220. Also here, when a signal corresponding to the operation of the operation unit 220 is transmitted to the unloader device 100, the drive control unit 150 drives the unloader device 100 according to the operation of the operation unit 220 by operating various actuators. .

Thus, among the three steps when scraping the load 6 by the unloader device 100, the second step can automate the unloader device 100.

Therefore, the route generation unit 160 translates the scraping unit 112 indicated by a solid line in FIG. 14A from the predetermined position along the side wall of the garage 5 as an automatic route. Then, the scraper 112 is moved to a place where it can turn with reference to the central axis of the elevator 110. Thereafter, the scraping unit 112 is turned 90 degrees along the side wall of the hangar 5. Moreover, the scraping part 112 is translated along the side wall of the hangar 5. By repeatedly performing this, the scraping portion 112 is moved 360 degrees along the side wall of the hangar 5. Then, change the depth of cut and move it several more times.

Finally, as shown in FIG. 14B, the scraping unit 112 is turned 90 degrees at the center position of the garage 5 and then moved along the center of the garage 5. As a result, the load 6 remaining in the center is scraped off by the scraping portion 112.

Incidentally, the control device 200 can control a plurality of unloader devices 100 in parallel. Then, the operator who operates the operation unit 220 of the control device 200 selects one unloader device 100 as a target for remote operation, and among the three steps described above for the selected unloader device 100, the first step and the first step Step 3 is performed. Moreover, the unloader apparatus 100 which can perform a 2nd process is selected as the unloader apparatus 100 of the object of automatic operation, and the unloader apparatus 100 of the object of automatic operation is made to drive automatically.

When there is an unloader device 100 that is a target of remote operation for performing the first step and the third step, the operator operates the operation unit 220 to select the unloader device 100 that is a target of remote operation. The remote operation switching unit 212 determines the unloader device 100 as a remote operation target in accordance with the operation of the operation unit 220. Then, the remote operation switching unit 212 establishes bidirectional communication via the communication device 240 with respect to the unloader device 100 that is the target of remote operation. However, the monitoring control unit 210 continues to receive the three-dimensional model data and distance information from the unloader device 100 that is not the target of remote operation.

The display switching unit 214 displays the data (upper viewpoint image 500, scraping unit peripheral image 510) based on the three-dimensional model data and distance information received from the unloader device 100 that is the target of remote operation. To display. Thereby, the state of the unloader apparatus 100 which is the object of the remote operation can be easily grasped.

In addition, when there is an unloader device 100 that is an object of automatic operation for performing the second step, the operator operates the operation unit 220 to select the unloader device 100 that is an object of automation. The remote operation switching unit 212 determines the unloader device 100 to be subjected to automatic driving according to the operation of the operation unit 220. Then, the remote operation switching unit 212 transmits an automation instruction command to the unloader device 100 that is the target of automatic driving. In the unloader device 100, upon receiving the automation instruction command, the automatic operation command unit 162 causes the route generation unit 160 to generate an automatic route. And the drive control part 150 drives the unloader apparatus 100 based on an automatic path | route.

The automatic driving end determination unit 164 stops (limits) driving of the unloader device 100 when the automatic driving end condition is satisfied or when an error occurs. As the automatic operation end condition, the position of the scraping unit 112 is lower than the position determined by the automatic route, or the scraping amount of the load 6 exceeds a preset amount.

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

In addition, the situation determination unit 216 determines the target height of the scraping unit 112 and the cumulative amount of scraping of the unloader device 100 during automatic operation from the change in the height of the scraping unit 112 and the average scraping amount. Is predicted for each unloader device 100. And when there exists the unloader apparatus 100 with the near completion | finish time of a 2nd process, the situation determination part 216 will issue a predetermined warning, since the timing of remote control will overlap.

In addition, the state monitoring unit 158 determines the distance between the hatch combing 7 and the wall surface of the hangar 5, the elevator 110 and the scraping unit 112 based on the data of the three-dimensional model transmitted from the unloader device 100 and the distance information. The smallest minimum distance and its direction are derived. Then, the collision prevention unit 166 restricts (stops) the operation of the unloader device 100 when the derived minimum distance is equal to or smaller than a predetermined threshold (collision prevention function). The collision prevention unit 166 may limit the operation of the elevator 110 and the scraping unit 112 in the derived direction when the derived minimum distance is equal to or less than a predetermined threshold. Thereby, automatic operation of unloader device 100 can be enabled more safely.

For example, the worker causes the remaining three unloader apparatuses 100 to perform the second process while performing the first process for one unloader apparatus 100. Then, the worker transmits an automation instruction command via the operation unit 220 to the unloader device 100 that has completed the first step. In addition, the worker performs the third process on the unloader device 100 that has completed the second process.

Thus, in the unloader system 1, a plurality of unloader devices 100 can be controlled by a single control device 200 by automating a part of the plurality of steps. Thereby, the unloader system 1 can reduce personnel. The state monitoring unit 158 is configured so that the drive control unit is configured when the distance between the hatch combing 7 and the elevator 110 and the distance between the scraping unit 112 and the wall surface of the hangar 5 are less than the distance at which the collision occurs. The automation may be stopped at 150.

<Second Embodiment>
FIG. 15 is a diagram illustrating the electrical configuration of the unloader system 600 according to the second embodiment. The unloader system 600 in the second embodiment is provided with an unloader device 700 instead of the unloader device 100 of the unloader system 1 in the first embodiment. The unloader system 600 according to the second embodiment has the same configuration as the unloader system 1 except for the unloader device 700, as compared with the unloader system 1 according to the first embodiment.

The unloader device 700 is provided with an unloader control unit 740 instead of the unloader control unit 140 of the unloader device 100 in the first embodiment. Compared with the unloader device 100 in the first embodiment, the unloader device 700 has the same configuration except for the unloader control unit 740.

The unloader controller 740 is provided with an edge detector 752 instead of the edge detector 152 of the unloader controller 140 in the first embodiment. The unloader control unit 740 has the same configuration as the unloader control unit 140 in the first embodiment except for the edge detection unit 752.

FIG. 16 is a diagram for explaining a functional configuration of the edge detection unit 752. As illustrated in FIG. 16, the edge detection unit 752 functions as a continuous end point extraction unit 800, an edge point extraction unit 802, and an edge derivation unit 804. The continuous end point extraction unit 800 extracts end points of a continuous point group composed of a plurality of continuous measurement points from the measurement points measured by the distance measuring sensors 130 to 132. Based on the end points extracted by the continuous end point extraction unit 800, the edge point extraction unit 802 extracts measurement points that are candidate points for the upper edge of the hatch combing 7 as edge candidate points. Also, the edge point extraction unit 802 extracts edge points based on the extracted edge candidate points. The edge deriving unit 804 derives (detects) the upper edge of the hatch combing 7 based on the edge points extracted by the edge point extracting unit 802. Hereinafter, specific processing by the continuous end point extraction unit 800 and the edge point extraction unit 802 will be mainly described.

FIG. 17 is a flowchart showing the flow of continuous end point extraction processing by the continuous end point extraction unit 800 and edge point extraction processing by the edge point extraction unit 802. In FIG. 17, the process of S100 is a continuous end point extraction process, and the processes of S102 to S146 are an edge point extraction process.

The continuous end point extraction unit 800 sets the positions of the distance measuring sensors 130 to 132 and the distances to the measurement points measured by the distance measuring sensors 130 to 132 as the previous stage of the continuous end point extraction process (S100) shown in FIG. Based on this, the three-dimensional position of the measurement point in the top frame coordinate system 310 is derived. Then, as in the first embodiment, the continuous end point extraction unit 800 sets the measurement points measured by the distance measuring sensors 130 to 132 on the front side and the rear side with reference to the vertically lower side of the distance measuring sensors 130 to 132. It is divided into two.

FIG. 18 is a diagram for explaining the continuous end point extraction process. In FIG. 18, the measurement points are indicated by black circles and white circles. The black circles in FIG. 18 indicate continuous end points. White circles in FIG. 18 indicate measurement points other than continuous end points. FIG. 18 illustrates measurement points at which laser beams emitted at predetermined angles from one laser irradiation unit of the distance measuring sensors 130 to 132 are reflected.

The continuous end point extraction unit 800 performs continuous end point extraction processing on any of the divided measurement point groups (S100). Specifically, the continuous end point extraction unit 800 derives a vector of each measurement point measured by laser irradiation by the laser irradiation unit. As the measurement point vector, for example, a predetermined distance range specified by the threshold value, that is, a vector directed to a surrounding measurement point is derived as a measurement point vector. That is, the continuous end point extraction unit 800 also functions as a direction specifying unit that specifies the direction between the measurement points included in the measurement point group and the adjacent measurement points.

Subsequently, the continuous end point extraction unit 800 derives an angle formed by a vector of one measurement point and a vector of surrounding measurement points as a measurement point vector angle. Then, the continuous end point extraction unit 800 determines that two measurement points have continuity when the measurement point vector angle is equal to or smaller than a predetermined continuity angle threshold (for example, 5 degrees). The continuous end point extraction unit 800 extracts the first and second measurement points within a predetermined distance range as a reference, and determines the continuity with surrounding measurement points for each of the first and second measurement points. To do. At this time, the continuous end point extraction unit 800 sets the closest measurement point among the surrounding measurement points having continuity as a measurement point having continuity, and further uses the measurement point with continuity as a reference to the surrounding measurement points. Continuity may be determined. The continuous end point extraction unit 800 not only determines continuity with respect to surrounding measurement points, but also derives a vector angle with the first and second measurement points, and the derived vector angle is within the continuity angle threshold. If there is, it is determined to have continuity. Then, when the continuity is interrupted, the continuous end point extraction unit 800 determines a plurality of measurement points that have been determined to have continuity as one continuous point group. That is, the continuous end point extraction unit 800 determines that the measurement point vector angle (the angle value on the acute angle side formed by two vectors, that is, the angle difference between the two vectors) is less than the continuity angle threshold based on the parallelism of the vectors. It also functions as a clustering unit that clusters a plurality of measurement points as a continuous point group (cluster). Note that the clustering method described here is an example. For example, the nearest continuous measurement point is not extracted from the surrounding measurement points, but a plurality of continuous points are extracted, and a representative of them is selected. Further, a point having continuous continuity may be extracted as a base point. Any method that performs clustering based on parallelism can be used regardless of other methods.

Subsequently, the continuous end point extraction unit 800 determines whether or not the continuous point group continues for a predetermined number (for example, 5) or more. Then, when the continuous point group is continuous for the specified number or more, the end points of the measurement points that are continuous for the specified number or more are extracted as continuous end points (black circles in FIG. 18).

A continuous point group in which a predetermined number or more of measurement points have continuity can be regarded as being located on the same plane to be measured. The hatch combing 7 has a side surface (wall surface) extending in the vertical direction and an upper surface extending in the horizontal direction. Therefore, the continuous end point may be closest to the upper edge on the side surface or upper surface of the hatch combing 7.

FIG. 19 is a diagram for explaining extraction of edge candidate points. In FIG. 19, measurement points are indicated by black circles and white circles. A black circle in FIG. 19 indicates a continuous end point closest to the origin (ranging sensors 130 to 132) in the top frame coordinate system 310. The white circles in FIG. 19 indicate measurement points other than the continuous end points closest to the origin in the top frame coordinate system 310. FIG. 19 illustrates measurement points at which laser beams emitted at predetermined angles from one laser irradiation unit of the distance measuring sensors 130 to 132 are reflected.

The edge point extraction unit 802 extracts the continuous end point closest to the origin in the top frame coordinate system 310 among the continuous end points detected by the continuous end point extraction unit 800 as the first edge candidate point (S102). That is, the edge point extraction unit 802 extracts a measurement point having the shortest horizontal distance from the main body portion as the edge point among the continuous end points. Here, when the upper edge of the hatch combing 7 is detected, the distance measuring sensors 130 to 132 are located near the center of the opening of the hatch combing 7. Therefore, there is a high possibility that the continuous end point closest to the origin in the top frame coordinate system 310 is closest to the upper edge of the hatch combing 7. In addition, even if the continuous end point closest to the origin in the top frame coordinate system 310 is not the measurement point closest to the upper edge of the hatch combing 7, it is estimated that the continuous end point is located at least on the side or top surface of the hatch combing 7. Can do. Therefore, the continuous end point closest to the origin in the top frame coordinate system 310, that is, the continuous end point closest to the distance measuring sensors 130 to 132 is extracted as the first edge candidate point.

Thereafter, the edge point extraction unit 802 derives a vector passing through the first edge candidate point and the other end point of the continuous point group including the first edge candidate point as a first vector (S104).

Subsequently, the edge point extraction unit 802 derives an angle formed by the first vector and the vertical direction as the first vector angle (S106). Then, the edge point extraction unit 802 determines whether the first vector angle is greater than or equal to a predetermined horizontal angle threshold (for example, 45 degrees) (S108). Here, it is determined whether the first vector is closer to the vertical direction or the horizontal direction. That is, it is determined whether the continuous point group including the first edge candidate points is located on the upper surface of the hatch combing 7 or the side surface (wall surface) of the hatch combing 7.

When the first vector angle is equal to or greater than the horizontal angle threshold, the edge point extraction unit 802 determines that the first vector is close to the horizontal direction. That is, it is determined that the continuous point group including the first edge candidate points is located on the upper surface of the hatch combing 7.

On the other hand, when the first vector angle is less than the horizontal angle threshold, the edge point extraction unit 802 determines that the first vector is close to the vertical direction. That is, it is determined that the continuous point group including the first edge candidate points is located on the side surface of the hatch combing 7.

The edge point extraction unit 802 sets the first edge candidate point as the second edge candidate point when the first vector angle is greater than or equal to the horizontal angle threshold (YES in S108) (S110).

Subsequently, the edge point extraction unit 802 selects all measurement points measured by one laser irradiation unit as processing target points, and selects one measurement point as a processing target point in the order of measurement (S112).

Next, the edge point extraction unit 802 determines whether the selected processing target point (measurement point) is not an isolated point that is not included in any continuous point group (S114). An isolated point is a point that cannot be a measurement point of the hatch combing 7 such as a measurement point that is erroneously measured or a rope, for example. Here, isolated points that are not candidates for the upper edge of the hatch combing 7 are excluded.

If the process target point is an isolated point (NO in S114), the process proceeds to S126. On the other hand, if the processing target point is not an isolated point (YES in S114), the edge point extraction unit 802 derives a vector of the first edge candidate point and the processing target point as a second vector (S116). In addition, the edge point extraction unit 802 derives an angle formed by the first vector and the second vector as a second vector angle (S118).

The edge point extraction unit 802 determines whether the second vector angle is equal to or less than a predetermined similar angle threshold (for example, 5 degrees) (S120). Here, the similarity angle threshold is set to a value that divides whether or not the first edge candidate point and the processing target point are on the same plane. If the second vector angle is larger than the similarity angle threshold, the edge point extraction unit 802 determines that the processing target point is not on the same plane as the first edge candidate point. That is, the edge point extraction unit 802 determines that the processing target point is not located on the upper surface of the hatch combing 7 if the second vector angle is larger than the similarity angle threshold. On the other hand, if the second vector angle is equal to or smaller than the similarity angle threshold, the edge point extraction unit 802 determines that the processing target point is on the same plane as the first edge candidate point. That is, the edge point extraction unit 802 determines that the processing target point is located on the upper surface of the hatch combing 7 if the second vector angle is equal to or smaller than the similar angle threshold.

If the second vector angle is equal to or smaller than the similar angle threshold (YES in S120), the edge point extraction unit 802 determines whether the processing target point is closer to the origin in the top frame coordinate system 310 than the second edge candidate point. Determination is made (S122). If the processing target point is closer to the origin in the top frame coordinate system 310 than the second edge candidate point, it can be said that the processing target point is closer to the upper edge of the hatch combing 7 than the second edge candidate point.

Therefore, when the processing target point is closer to the origin in the top frame coordinate system 310 than the second edge candidate point (YES in S122), the edge point extraction unit 802 updates the second edge candidate point to the processing target point ( S124). When the second vector angle is larger than the similarity angle threshold (NO in S120), and when the processing target point is farther from the origin in the top frame coordinate system 310 than the second edge candidate point (NO in S122), S124. The process proceeds to S126 without performing the process.

The edge point extraction unit 802 determines whether the processing of S112 to S124 has been completed for all processing target points (S126). If the processing of S112 to S124 has not been completed for all the processing target points (NO in S126), the edge point extraction unit 802 returns to the processing of S112 and sets the next measurement point as the processing target point to S114 to S114. The process of S124 is performed.

On the other hand, if the processing of S112 to S124 has been completed for all the processing target points (YES in S126), the edge point extraction unit 802 selects the measurement points that are finally the second edge candidate points as edge points. (S128), and the edge point extraction process ends. The edge point extraction unit 802 extracts the measurement points having the closest horizontal distance from the main body portion as the edge points from the measurement points located on the same plane as the first edge candidate points by the processes of S112 to S128. Become.

As described above, when the vector of the continuous point group including the first edge candidate points is nearly horizontal, the edge point extraction unit 802 selects the top frame coordinates among the measurement points located on the same plane as the first edge candidate points. A measurement point closest to the origin in the system 310 is extracted as an edge point. Thereby, among the measurement points located on the upper surface of the hatch combing 7, the measurement point closest to the origin in the top frame coordinate system 310 can be extracted as an edge point.

On the other hand, if the first vector angle is smaller than the horizontal angle threshold (NO in S108), the edge point extraction unit 802 sets the first edge candidate point as the third edge candidate point (S130).

Subsequently, the edge point extraction unit 802 sets all measurement points irradiated and measured by one laser irradiation unit as processing target points, and selects (updates) one measurement point as a processing target in the order of measurement. (S132).

Next, the edge point extraction unit 802 derives a vector of the first edge candidate point and the processing target point as a third vector (S134). In addition, the edge point extraction unit 802 derives an angle formed by the first vector and the third vector as a third vector angle (S136).

The edge point extraction unit 802 determines whether the third vector angle is equal to or smaller than a predetermined similar angle threshold (for example, 5 degrees) (S138). If the third vector angle is larger than the similarity angle threshold, the edge point extraction unit 802 determines that the processing target point is not on the same plane as the first edge candidate point. That is, the edge point extraction unit 802 determines that the processing target point is not located on the side surface of the hatch combing 7 if the third vector angle is larger than the similarity angle threshold. On the other hand, if the third vector angle is equal to or smaller than the similarity angle threshold, the edge point extraction unit 802 determines that the processing target point is on the same plane as the first edge candidate point. That is, the edge point extraction unit 802 determines that the processing target point is located on the side surface of the hatch combing 7 if the third vector angle is equal to or smaller than the similar angle threshold.

If the third vector angle is equal to or smaller than the similar angle threshold (YES in S138), the edge point extraction unit 802 is positioned vertically above the top frame coordinate system 310 relative to the third edge candidate point. (S140). When the processing target point is located vertically above the third edge candidate point in the top frame coordinate system 310 (when the processing target point is higher), the processing target point is hatch combing 7 than the third edge candidate point. It can be said that it is close to the top edge of.

Therefore, when the processing target point is located vertically above the third edge candidate point 310 in the top frame coordinate system 310 (YES in S140), the edge point extraction unit 802 selects the third edge candidate point as the processing target point. (S142). When the third vector angle is larger than the similar angle threshold (NO in S138), and when the processing target point is positioned vertically below the third edge candidate point in the top frame coordinate system 310 (in S140). NO), the process proceeds to S144 without performing the process in S142.

The edge point extraction unit 802 determines whether the processing of S132 to S142 has been completed for all processing target points (S144). If the processing of S132 to S142 has not been completed for all the processing target points (NO in S144), the edge point extraction unit 802 returns to the processing of S132 and sets the next measurement point as the processing target point to S134 to S134. The process of S142 is performed.

On the other hand, if the processing of S132 to S142 has been completed for all the processing target points (YES in S144), the edge point extraction unit 802 selects the measurement points that are finally the third edge candidate points as edge points. (S146), and the edge point extraction process ends.

As described above, when the vector of the continuous point group including the first edge candidate point is close to the vertical direction, the edge point extraction unit 802 is the most vertical among the measurement points located on the same plane as the first edge candidate point. Measurement points that are high in the direction are extracted as edge points. Thereby, among the measurement points located on the side surface of the hatch combing 7, the measurement point that is highest in the vertical direction can be extracted as an edge point.

The continuous end point extraction unit 800 and the edge point extraction unit 802 perform the above-described continuous end point extraction process for the front and rear edge points for each measurement point group measured by one laser irradiation unit of the distance measuring sensors 130 to 132. And extraction by edge point extraction processing.

Then, when all edge points are extracted, the edge deriving unit 804 detects a straight line of the edge of the hatch combing 7 in the same manner as the edge detecting unit 152 in the first embodiment. Then, the edge deriving unit 804 derives an angle formed between the straight lines among the detected straight lines. Then, the edge deriving unit 804 integrates the same straight line when the angle formed is equal to or less than a predetermined threshold. Subsequently, the edge deriving unit 804 obtains edge side information including a three-dimensional direction vector of each side, a three-dimensional barycentric coordinate of each side, a length of each side, and coordinates of end points of each side from the detected straight line of the edge. To derive. After that, the edge deriving unit 804 derives a candidate vector having the most similar line segments among the extracted line segments between the edge points for each group. Then, the edge deriving unit 804 extracts edge points that exist within a preset range for the candidate vector. Then, the edge deriving unit 804 recalculates a straight line using the extracted edge points.

Next, the edge deriving unit 804 repeatedly performs the above processing using the edge points that have not been extracted. However, when the number of extracted edge points is less than a preset threshold value, a straight line is not derived. Thereby, even when the corner of the hatch combing 7 is included, a straight line of two edges can be derived. The edge deriving unit 804 derives a straight line of the edge by repeatedly performing the above processing for each group.

As described above, the edge detection unit 752 derives a vector of continuous point groups including the first edge candidate points that are candidate points for the upper edge of the hatch combing 7 and whether the derived vector is close to the horizontal direction, Edge points are detected (extracted) by different processing depending on whether they are close to the vertical direction.

Here, the edge detector 152 in the first embodiment detects edge points only in the vertical direction. That is, the edge detection unit 152 detects the edge point from the measurement point on the side surface of the hatch combing 7. However, when the distance measuring sensors 130 to 132 are relatively far from the hatch combing 7, the distance from the distance measuring sensors 130 to 132 to the side surface of the hatch combing 7 is long. Further, the incident angle of the laser emitted from the distance measuring sensors 130 to 132 is large on the side surface of the hatch combing 7. Therefore, the number of measurement points on the side surface of the hatch combing 7 may be reduced.

Therefore, in the second embodiment, edge points are extracted not only in the vertical direction but also in the horizontal direction. Thereby, an edge point can also be detected from the measurement point on the upper surface of the hatch combing 7, and the detection accuracy of the upper edge of the hatch combing 7 can be improved as compared with the first embodiment.

As mentioned above, although embodiment was described referring an accompanying drawing, it cannot be overemphasized that this indication is not limited to this embodiment. It will be apparent to those skilled in the art that various changes and modifications can be made within the scope of the claims and that they naturally fall within the technical scope.

For example, in the above embodiment, the plurality of unloader devices 100 and 700 are controlled by one control device 200. However, one control device 200 may be provided for one unloader device 100, 700. In this case, the unloader control units 140 and 740 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.

In the above embodiment, the unloader control unit 140 (740) is driven by the drive control unit 150, the edge detection unit 152 (752), the coordinate transformation derivation unit 154, the model placement unit 156, the state monitoring unit 158, the path generation unit 160, and the automatic The operation command unit 162, the automatic operation end determination unit 164, and the collision prevention unit 166 function. However, the monitoring control unit 210 has the drive control unit 150, the edge detection unit 152 (752), the coordinate transformation derivation unit 154, the model placement unit 156, the state monitoring unit 158, the route generation unit 160, the automatic operation command unit 162, and the automatic operation end. The determination unit 164 and the collision prevention unit 166 may function as part or all of them.

In the above embodiment, the distance measuring sensors 130 to 132 are arranged on the top frame 108. However, the distance measuring sensors 130 to 132 may be arranged on the top frame 108 or the elevator 110. That is, the distance measuring sensors 130 to 132 need only be arranged in the main body. In the above embodiment, the distance measuring sensors 133 to 136 are arranged in the scraping unit 112. However, the distance measuring sensors 133 to 136 may be installed on the half side near the scraping portion 112 in the elevator 110.

Further, in the above embodiment, a part (cross section) of the three-dimensional model is displayed as the upper viewpoint image 500, but the measurement results (measurement points) measured by the distance measuring sensors 130 to 132 are displayed as images as they are. Alternatively, the straight line of the edge detected by the edge detection unit 152 may be displayed as an image. That is, the upper viewpoint image 500 showing at least a part of the elevator 110, the scraping unit 112, the garage 5, and the hatch combing 7 may be displayed based on the measurement results measured by the distance measuring sensors 130 to 132.

In the above embodiment, a part (cross section) of the three-dimensional model is displayed as the scraping portion peripheral image 510. However, the measurement results (measurement points) measured by the distance measuring sensors 133 to 136 are displayed as images. May be displayed. That is, based on the measurement results measured by the distance measuring sensors 133 to 136, the elevator 110, the scraping unit 112, and the scraping unit peripheral image 510 indicating at least a part of the hangar 5 may be displayed.

Moreover, in the said embodiment, the unloader apparatus 100,700 was mentioned as an example and demonstrated as an example of the unloading apparatus. However, the unloading device may be a continuous unloader (bucket type, belt type, vertical screw conveyor type, etc.), a pneumatic unloader, or the like.

Further, in the above embodiment, the three distance measuring sensors 130 to 132 are provided so as to measure 120 degrees apart in the circumferential direction of the elevator 110 and within a certain angle range from the plane direction in contact with the cylinder. However, the number of distance measuring sensors may be three or more. Further, the distance measuring sensor does not have to be installed so as to measure in the direction of the plane in contact with the cylinder, and may be installed inclined from the plane. At least one may be provided in a direction different from the other distance measurement center by 45 degrees or more in the circumferential direction (including a plane). The distance measuring sensor may be provided so that the measurement range is different.

Further, in the above-described embodiment, the vertical transport mechanism unit exemplified by the elevator 110 or the like indicates a mechanism that transports the cargo mainly upward from the scraping unit 112, and does not indicate that it is strictly vertical.

In the above embodiment, the continuous end point extraction process and the edge point extraction process shown in FIG. 17 are performed for each measurement point group on one measurement line. However, predetermined measurement points may be extracted from all measurement points, and the continuous end point extraction process and the edge point extraction process may be performed on the extracted measurement points.

The present disclosure can be used for an unloading device.

100, 700: Unloader device (unloading device) 110: Elevator (vertical transport mechanism unit) 112: Scraping unit 133, 134, 135, 136: Ranging sensor 156: Model placement unit 230: Display unit

Claims (18)

1. A scraping section that scrapes off the cargo in the berth;
   A distance measuring sensor that includes in the measurement range the traveling direction side of the scraping part and the opposite side to the traveling direction side,
   Unloading device comprising.
2. The measurement result of the distance measuring sensor arranged on the side surface on the traveling direction side of the scraping unit and the measurement result of the distance measuring sensor arranged on the side surface opposite to the traveling direction side are displayed. The unloading apparatus according to claim 1, further comprising a display unit.
3. The distance measuring sensor is
   The unloading device according to claim 1 or 2, wherein distance measurement is possible toward the lower side.
4. The distance measuring sensor is
   The unloading device according to any one of claims 1 to 3, wherein a range longer than a length in which the load can be scraped off by the scraping unit in a direction orthogonal to the traveling direction can be measured.
5. The display unit includes a load on the traveling direction side of the scraping unit based on a measurement result of the distance measuring sensor disposed on a side surface on the traveling direction side of the scraping unit, and a side opposite to the traveling direction side. The unloading device according to claim 2, wherein a first image indicating a load opposite to the traveling direction side based on a measurement result by the distance measuring sensor disposed on a side surface of the vehicle and the scraping unit is displayed. .
6. The display unit indicates a load on the traveling direction side of the scraping unit and the scraping unit based on a measurement result of the distance measuring sensor arranged on a side surface on the traveling direction side of the scraping unit. The unloading device according to claim 2, wherein the unloading device displays a second image.
7. The display unit indicates a load opposite to the traveling direction side and the scraping unit based on a measurement result of the distance measuring sensor disposed on a side surface opposite to the traveling direction side. The unloading device according to claim 2, which displays a third image.
8. The display unit includes a measurement result obtained by the distance measuring sensor disposed on the side surface on the traveling direction side of the scraping unit, and a result obtained by the distance measuring sensor disposed on the side surface opposite to the traveling direction side. The unloading device according to any one of claims 5 to 7, wherein a cutting depth of the load by the scraping unit is displayed based on a measurement result.
9. The distance measuring sensor is
   The unloading device according to any one of claims 1 to 8, wherein the unloading device is disposed on the scraping unit or a vertical transport mechanism unit that holds the scraping unit.
10. A main body having a scraping portion to be inserted into the garage;
    A distance measuring sensor disposed on the main body and capable of measuring a distance toward the lower side;
    An unloading apparatus comprising an edge detection unit that detects an edge of an upper end of hatch combing provided at an upper part of the berth using a plurality of measurement points measured by the distance measuring sensor.
11. The edge detector
    A direction specifying unit for specifying a direction between the measurement points adjacent to the measurement points;
    A clustering unit that clusters the measurement points into clusters based on the angular difference in the direction specified by the direction specifying unit;
    An edge point extraction unit that extracts edge points of the hatch combing based on the clustered end points of the cluster;
    The unloading device according to claim 10.
12. The distance measuring sensor measures the measurement points of each of a plurality of measurement lines as a measurement point group,
    The edge point extraction unit
    The unloading apparatus according to claim 11, wherein the edge point is extracted for each measurement point group.
13. The clustering unit
    Based on the direction between a plurality of the measurement points, determine the continuity between the measurement points continuously measured by the distance measuring sensor, and extract the measurement points having continuity as the cluster, Extracting the endpoints of the cluster as continuous endpoints;
    The edge point extraction unit
    Among the continuous end points, the continuous end point with the shortest horizontal distance from the main body is extracted as an edge candidate point that is a candidate for the edge point, and the edge point is extracted based on the edge candidate point,
    The edge detector
    The unloading apparatus according to claim 11 or 12, further comprising an edge deriving unit that derives an upper edge of the hatch combing based on the edge point extracted by the edge point extracting unit.
14. The edge point extraction unit
    When the direction of the continuous point group including the edge candidate point is derived and the direction of the continuous point group including the edge candidate point is close to the horizontal direction, the measurement point located on the same plane as the edge candidate point The unloading apparatus according to claim 13, wherein the measurement point having the shortest horizontal distance from the main body is extracted as the edge point.
15. The edge point extraction unit
    When the direction of the continuous point group including the edge candidate point is derived and the direction of the continuous point group including the edge candidate point is close to the vertical direction, the measurement point located on the same plane as the edge candidate point The unloading device according to claim 13 or 14, wherein the measurement point that is highest in the vertical direction is extracted as the edge point.
16. Based on the plurality of edge points detected by the edge detection unit, edge side information about each side of the upper edge of the hatch combing is derived, and based on the derived edge side information, the coordinates of the unloading device are derived. The unloading device according to any one of claims 11 to 15, further comprising a coordinate transformation deriving unit for deriving a transformation parameter between a system and a coordinate system of the garage.
17. The coordinate transformation deriving unit
    After associating the straight line of the upper edge of the hatch coaming in the edge side information with the upper edge of the hatch combing three-dimensional model based on the attitude of the unloading device, the straight line of the associated edge The unloading device according to claim 16, wherein the conversion parameter is derived based on a positional relationship between the upper end side and the upper end side.
18. The coordinate transformation deriving unit
    The straight line of the upper edge of the hatch coaming based on the edge side information is represented by a three-dimensional point group, and the sum of values based on the distance between the three-dimensional point group and the upper edge in the three-dimensional model of the hatch combing is calculated. The unloading device according to claim 16 or 17, wherein the conversion parameter is derived by minimizing the conversion parameter.

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