WO2020209135A1 - Dispositif de déduction de forme et dispositif de déchargement - Google Patents

Dispositif de déduction de forme et dispositif de déchargement Download PDF

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Publication number
WO2020209135A1
WO2020209135A1 PCT/JP2020/014678 JP2020014678W WO2020209135A1 WO 2020209135 A1 WO2020209135 A1 WO 2020209135A1 JP 2020014678 W JP2020014678 W JP 2020014678W WO 2020209135 A1 WO2020209135 A1 WO 2020209135A1
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WIPO (PCT)
Prior art keywords
measurement
shape
unit
data
small
Prior art date
Application number
PCT/JP2020/014678
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English (en)
Japanese (ja)
Inventor
諒太郎 久保
肇 坂野
圭 阿久根
紀彦 水崎
Original Assignee
株式会社Ihi
Ｉｈｉ運搬機械株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2019074030A external-priority patent/JP7285122B2/ja
Priority claimed from JP2019074026A external-priority patent/JP7285121B2/ja
Application filed by 株式会社Ihi, Ｉｈｉ運搬機械株式会社 filed Critical 株式会社Ihi
Priority to CN202080021837.8A priority Critical patent/CN113613994B/zh
Publication of WO2020209135A1 publication Critical patent/WO2020209135A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B25/00—Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby
    • B63B25/02—Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby for bulk goods
    • B63B25/04—Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby for bulk goods solid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G67/00—Loading or unloading vehicles
    • B65G67/60—Loading or unloading ships
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications

Definitions

  • the present disclosure relates to a shape derivation device and a unloading device.
  • This application claims the benefit of priority based on Japanese Patent Application No. 2019-074026 and Japanese Patent Application No. 2019-0704030 filed on April 9, 2019, the contents of which are the present application. It is used for.
  • Patent Document 1 a technique of measuring the distance to an object, weighting using a larger weighting coefficient as the measured distance is shorter, and determining that there is an object when the total weighted points is equal to or more than a predetermined value has been used. It has been proposed (for example, Patent Document 1).
  • Cited Document 1 it is possible to determine the presence or absence of an object, but it is not possible to derive the shape of the object.
  • the present disclosure aims to provide a shape deriving device and a unloading device capable of deriving the shape of an object with high accuracy.
  • the shape derivation device is measured by an area generation unit that generates a work area composed of a plurality of small areas developed in three dimensions, and a distance measuring sensor.
  • a measurement data acquisition unit that acquires measurement data at the measurement points of an object at any time, a data storage unit that accumulates statistical data of the measurement points in a small area corresponding to the measurement data based on the measurement data of the measurement points, and statistical data.
  • a shape deriving unit that derives the shape of an object based on the above, a data storage unit derives a comparison direction based on statistical data, and a shape deriving unit is a plurality of small regions arranged in the comparison direction. Compare the statistical data between them to identify a small area corresponding to the surface of the object.
  • the data storage unit derives at least the comparison direction between the measurement point that minimizes the distance from the distance measurement sensor when the measurement point is measured and the distance measurement sensor, and the shape derivation unit Of the small areas arranged in the vicinity of the small area of 1, the small area located in the direction corresponding to the comparison direction is set as the comparison target small area, and the statistical data of the small area of 1 and the comparison target small area are compared. By doing so, the shape of the object may be derived.
  • the data storage unit further accumulates the number of measurement points included in the small area as statistical data, and the shape derivation unit compares the number of measurement points between one small area and the comparison target small area.
  • the shape of the object may be derived.
  • the data storage unit accumulates statistical data at the measurement time of the measurement points included in the small area, and the shape derivation unit compares the measurement time of one small area and the comparison target small area to form the shape of the object. May be derived.
  • the unloading device includes an area generation unit that generates a work area composed of a plurality of small areas developed in three dimensions with reference to a specific position of the ship.
  • the measurement data acquisition unit that acquires the measurement data at the measurement point of the garage measured by the distance measurement sensor at any time, and the statistical data of the measurement point is accumulated for the small area including the measurement point based on the measurement data of the measurement point.
  • a data storage unit and a shape derivation unit that derives the shape of the garage based on statistical data are provided.
  • the area generation unit generates a work area for the upper part and a work area for the lower part
  • the data storage unit is a measurement point that is relatively classified into the upper part among the measurement points measured by the distance measuring sensor.
  • statistical data is accumulated for the work area for the upper part, and among the measurement points measured by the distance measuring sensor, the lower part is based on the measurement data of the measurement points that are relatively classified into the lower part.
  • the statistical data is accumulated for the work area for the work area, and the shape derivation unit derives the shape of the side part of the garage based on the statistical data for the work area for the upper part, and the statistical data for the work area for the lower part.
  • the shape of the bottom of the garage may be derived based on.
  • the data storage unit derives the comparison direction based on the statistical data, and the shape derivation unit compares the statistical data among a plurality of small areas arranged in the comparison direction and selects a small area corresponding to the shape of the garage. It may be specified.
  • the data storage unit extracts at least the comparison direction between the measurement point that minimizes the distance from the distance measurement sensor when the measurement point is measured and the distance measurement sensor as statistical data, and the shape derivation unit Of the small areas arranged in the vicinity of the small area of 1, the small area located in the direction corresponding to the comparison direction is set as the comparison target small area, and the statistical data of the small area of 1 and the comparison target small area are compared. Then, the shape of the garage may be derived.
  • the shape derivation unit extracts the smallest area in which statistical data is accumulated and is located at the lowest position among a plurality of small areas arranged side by side in the vertical direction with respect to the lower work area.
  • the shape of the bottom surface of the boathouse may be derived based on the extracted small area.
  • the area generation unit may generate a work area with reference to the opening of the ship.
  • FIG. 1 is a diagram illustrating an outline of an unloader device.
  • FIG. 2 is a diagram illustrating a configuration of an unloader device.
  • FIG. 3 is a diagram for explaining the measurement range of the distance measuring sensor.
  • FIG. 4 is a diagram illustrating a measurement range of the distance measuring sensor.
  • FIG. 5 is a diagram illustrating a measurement range of the distance measuring sensor.
  • FIG. 6 is a diagram illustrating a measurement range of the distance measuring sensor.
  • FIG. 7 is a diagram illustrating an electrical configuration of the unloader device.
  • FIG. 8 is a flowchart showing the flow of processing for deriving the three-dimensional shape of the boathouse.
  • FIG. 9 is a diagram illustrating a coordinate system of the unloader device.
  • FIG. 9 is a diagram illustrating a coordinate system of the unloader device.
  • FIG. 10 is a diagram illustrating a coordinate system of the unloader device.
  • FIG. 11 is a diagram illustrating a work area composed of a plurality of small areas.
  • FIG. 12 is a diagram for explaining the measurement points of the distance measuring sensor.
  • FIG. 13 is a diagram showing how an edge point is detected.
  • FIG. 14 is a diagram illustrating how the measurement points measured by the distance measuring sensor are divided into upper and lower parts.
  • FIG. 15 is a diagram illustrating a bottom surface shape derivation process.
  • FIG. 16 is a diagram illustrating how a small region corresponding to the side wall is derived.
  • FIG. 1 is a diagram illustrating an outline of the unloader device 100.
  • the unloader device 100 as an example of the shape deriving device and the unloading device can travel on a pair of rails 3 laid along the quay 2 in the extending direction of the rails 3.
  • the unloader device 100 carries out the cargo 6 loaded in the garage 5 of the ship 4 anchored at the quay 2.
  • the cargo 6 is assumed to be loosely loaded, and coal is an example.
  • FIG. 2 is a diagram illustrating the configuration of the unloader device 100.
  • the quay 2 and the ship 4 are shown in cross section.
  • the unloader device 100 includes a traveling body 102, a swivel body 104, a boom 106, a top frame 108, an elevator 110, a scraping unit 112, and a boom conveyor 114.
  • the traveling body 102 can travel on the rail 3 by being driven by an actuator (not shown).
  • the traveling body 102 is provided with a position sensor 116.
  • the position sensor 116 is, for example, a rotary encoder.
  • the position sensor 116 measures the position of the traveling body 102 on the horizontal plane with respect to a predetermined origin position based on the number of rotations of the wheels of the traveling body 102.
  • the swivel body 104 is provided on the upper part of the traveling body 102 so as to be swivelable around a vertical axis.
  • the swivel body 104 can swivel with respect to the traveling body 102 by being driven by an actuator (not shown).
  • the boom 106 is provided on the upper part of the swivel body 104 so that the inclination angle can be changed.
  • the boom 106 can be tilted with respect to the swivel body 104 by being driven by an actuator (not shown).
  • the swivel body 104 is provided with a swivel angle sensor 118 and a tilt angle sensor 120.
  • the swivel angle sensor 118 and the tilt angle sensor 120 are, for example, rotary encoders.
  • the turning angle sensor 118 measures the turning angle of the turning body 104 with respect to the traveling body 102.
  • the tilt angle sensor 120 measures the tilt angle of the boom 106 with respect to the swivel body 104.
  • the top frame 108 is provided at the tip of the boom 106.
  • the top frame 108 is provided with an actuator that swivels 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 around a central axis.
  • the top frame 108 is provided with a turning angle sensor 122.
  • the swivel angle sensor 122 is, for example, a rotary encoder.
  • the swivel angle sensor 122 measures the swivel angle of the elevator 110 with respect to the top frame 108.
  • the scraping section 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. In this way, the scraping section 112 is rotatably held by the top frame 108 and the elevator 110 that function as the vertical transport mechanism section.
  • the scraping section 112 is provided with a plurality of buckets 112a and chains 112b.
  • the plurality of buckets 112a are continuously arranged on the chain 112b.
  • the chain 112b is bridged inside the scraping section 112 and the elevator 110.
  • the scraping unit 112 is provided with a link mechanism (not shown).
  • the link mechanism is movable to change the length of the bottom portion of the scraping portion 112.
  • the scraping unit 112 changes the number of buckets 112a in contact with the cargo 6 in the boathouse 5.
  • the scraping unit 112 scrapes the cargo 6 in the boathouse 5 by the bucket 112a at the bottom.
  • the bucket 112a from which the load 6 has been scraped moves to the upper part of the elevator 110 as the chain 112b rotates.
  • the boom conveyor 114 is provided below the boom 106.
  • the boom conveyor 114 causes the load 6 moved to the upper part of the elevator 110 by the bucket 112a to be carried out.
  • 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 with the ship 4 in the longitudinal direction. Further, the unloader device 100 swivels the boom 106, the top frame 108, the elevator 110, and the scraping portion 112 by the swivel body 104, and adjusts the relative positional relationship with the ship 4 in the lateral direction. Further, the unloader device 100 moves the top frame 108, the elevator 110, and the scraping portion 112 in the vertical direction by the boom 106, and adjusts the relative positional relationship in the vertical direction with the ship 4. Further, the unloader device 100 swivels the elevator 110 and the scraping unit 112 by the top frame 108. As a result, the unloader device 100 can move the scraping unit 112 to an arbitrary position and angle.
  • the ship 4 is provided with a plurality of boathouses 5.
  • the boathouse 5 is provided with a hatch combing 7 at the top.
  • the hatch combing 7 has a wall surface having a predetermined height in the vertical direction. Further, the hatch combing 7 has a smaller opening area than the horizontal cross section near the center of the boathouse 5. That is, the boathouse 5 has a shape in which the opening is narrowed by the hatch combing 7.
  • a hatch cover 8 for opening and closing the hatch combing 7 is provided above the hatch combing 7.
  • the unloader device 100 is provided with distance measuring sensors 130 to 136.
  • the ranging sensors 130 to 136 are, for example, laser sensors capable of measuring a distance, and VLP-16 and VLP-32 manufactured by Velodyne, M8 manufactured by Quanergy, and the like are applied.
  • the distance measuring sensors 130 to 136 are provided with 16 laser irradiation portions separated along the axial direction, for example, on the side surface of the cylindrical main body portion.
  • the laser irradiation unit is provided on the main body so as to be rotatable 360 degrees.
  • 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 even at intervals of 1 to 2.5 degrees.
  • the distance measuring sensors 130 to 136 can irradiate the laser in a range of 360 degrees in the circumferential direction of the main body. Further, the distance measuring sensors 130 to 136 can emit a laser within a range of ⁇ 15 degrees with respect to a plane orthogonal to the axial direction of the main body. Further, the distance measuring sensors 130 to 136 are provided with a receiving unit for receiving the laser in the main body.
  • the ranging sensors 130 to 136 irradiate the laser at predetermined angles while rotating the laser irradiation unit.
  • the ranging sensors 130 to 136 receive the lasers irradiated (projected) from the plurality of laser irradiation units and reflected by the object (measurement point) at the receiving 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. That is, the distance measuring sensors 130 to 136 measure the distances to a plurality of measurement points on one measurement line by one laser irradiation unit. Further, the distance measuring sensors 130 to 136 measure distances to a plurality of measurement points on a plurality of measurement lines by a plurality of laser irradiation units.
  • FIGS. 3 and 4 are diagrams for explaining the measurement range of the distance measuring sensors 130 to 132.
  • 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 illustrating a measurement range of the distance measuring sensors 130 to 132 when the unloader device 100 is viewed from the side. In FIGS. 3 and 4, the measurement range of the distance measuring sensors 130 to 132 is indicated by a chain line.
  • the distance measuring sensors 130 to 132 are mainly used when detecting the hatch combing 7.
  • the ranging sensors 130 to 132 are attached to the side surface of the top frame 108 as shown in FIGS. 3 and 4. 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. Further, 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. The upper half of the distance measuring sensors 130 to 132 in the vertical direction is covered with a cover (not shown).
  • the distance measuring sensors 130 to 132 are located in the measurement direction below the horizontal plane and within a range of ⁇ 15 degrees with respect to the tangent line in contact with the side surface of the top frame 108. It is possible to measure the distance to the object to be used.
  • FIGS. 5 and 6 are diagrams for explaining the measurement range of the distance measuring sensors 133 to 136.
  • 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. Note that FIG. 5 shows only the scraping unit 112 of the unloader device 100. Further, FIG. 5 shows a horizontal cross section of the ship 4 at the same position in the vertical direction as the scraping portion 112.
  • FIG. 6 is a diagram illustrating a measurement range of the distance measuring sensors 133 to 136 when the unloader device 100 is viewed from the side. In FIGS. 5 and 6, the measurement range of the distance measuring sensors 133 and 134 is indicated by a chain line. Further, in FIGS. 5 and 6, the measurement range of the distance measuring sensors 135 and 136 is shown by a two-dot chain line.
  • the distance measuring sensors 133 to 136 are mainly used when detecting the cargo 6 in the boathouse 5 and the wall surface (side wall and bottom surface) of the boathouse 5.
  • the distance measuring sensor 133 is attached to the side surface 112c of the scraping portion 112 as shown in FIGS. 5 and 6.
  • the distance measuring sensor 133 is arranged so that the central axis of the main body portion is orthogonal to the side surface 112c of the scraping portion 112.
  • the distance measuring sensor 134 is attached to the side surface 112d of the scraping portion 112.
  • the distance measuring sensor 134 is arranged so that the central axis of the main body portion is orthogonal to the side surface 112d of the scraping portion 112.
  • a part of the distance measuring sensors 133 and 134 in the vertical direction is covered with a cover (not shown).
  • the distance measuring sensors 133 and 134 are a part of the upper side and the lower side of the side surface 112c and the side surface 112d of the scraping portion 112 and parallel to the side surface 112c and the side surface 112d of the scraping portion 112 in the measurement direction. It is possible to measure the distance of an object existing in the range of ⁇ 15 degrees with respect to the position.
  • the distance measuring sensors 133 and 134 of the present embodiment are arranged so that at least a range equal to or larger than the maximum length of the bottom portion of the scraping portion 112 can be measured on the plane on which the bottom portion of the scraping portion 112 is located.
  • the distance measuring sensor 135 is attached to the side surface 112c of the scraping portion 112.
  • the distance measuring sensor 135 is arranged so that the central axis of the main body portion is orthogonal to the bottom surface of the scraping portion 112.
  • the distance measuring sensor 136 is attached to the side surface 112d of the scraping portion 112.
  • the distance measuring sensor 136 is arranged so that the central axis of the main body portion is orthogonal to the bottom surface of the scraping portion 112.
  • the distance measuring sensors 135 and 136 are measured in a horizontal plane (or orthogonal to the central axis of the main body) that is outside the scraping portion 112 and is orthogonal to the side surface 112c and the side surface 112d of the scraping portion 112. It is possible to measure the distance of an object existing in the range of ⁇ 15 degrees with respect to the plane).
  • the distance measuring sensors 130 to 136 measure the distance to the object, they transmit measurement data indicating the distance to the object to the unloader control unit 140 (see FIG. 7).
  • FIG. 7 is a diagram illustrating an electrical configuration of the unloader device 100. As shown in FIG. 7, the unloader device 100 is provided with an unloader control unit 140, a storage unit 142, and a display unit 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 display unit 144.
  • the unloader control unit 140 is composed of a semiconductor integrated circuit including a CPU (Central Processing Unit).
  • the unloader control unit 140 reads a program, parameters, and the like for operating the CPU itself from the ROM. Then, the unloader control unit 140 manages and controls the entire unloader device 100 in cooperation with the RAM as a work area and other electronic circuits.
  • the unloader control unit 140 is used as a drive control unit 150, a region generation unit 152, an edge detection unit 154, a measurement data acquisition unit 156, a coordinate conversion derivation unit 158, a data storage unit 160, a noise removal unit 162, and a shape derivation unit 164.
  • the data storage unit 160 also functions as an upper data storage unit 170 and a lower data storage unit 172.
  • the shape lead-out unit 164 also functions as a bottom surface shape lead-out unit 180 and a side wall shape lead-out unit 182.
  • the drive control unit 150 controls the drive of the unloader device 100. The details of the other functional units 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 non-volatile memory.
  • the storage unit 142 stores the data of the three-dimensional model of the unloader device 100.
  • the data of the three-dimensional model of the unloader device 100 is voxel data showing at least the outer shape of the elevator 110 and the scraping unit 112. Further, as will be described in detail later, the storage unit 142 stores data of a three-dimensional model showing the three-dimensional shape of the boathouse 5 derived by the shape derivation unit 164.
  • the data of the three-dimensional model may be any data that can grasp the three-dimensional shape of the unloader device 100 and the boathouse 5, and even if it is polygon data, contour (straight line), point cloud, etc., they may be used together. May be good. Further, the data of the three-dimensional model of the boathouse 5 is stored in the storage unit 142 for each ship 4 by the number of the boathouse 5 provided in the ship 4.
  • the display unit 144 is an LED display, an organic EL display, or the like. An image in which the three-dimensional model of the unloader device 100 is arranged with respect to the three-dimensional model of the boathouse 5 is displayed on the display unit 144.
  • FIG. 8 is a flowchart showing the flow of processing for deriving the three-dimensional shape of the boathouse 5. It is assumed that the process of deriving the three-dimensional shape of the boathouse 5 is performed on the boathouse 5 where the cargo 6 is scraped off for the first time by the unloader device 100. Therefore, when the cargo 6 is scraped off from the same boathouse 5 for the second time or later, the process of deriving the three-dimensional shape of the boathouse 5 is not performed.
  • the area generation unit 152 first uses the hatch combing coordinate system 320 (see FIGS. 9 and 10) as a reference (boathouse).
  • An area creation process for creating a work area 400 (see FIG. 11) (with reference to 5) is performed (S100).
  • the work area is a group of small areas densely arranged in a virtually generated three-dimensional space.
  • a space space in which small regions (voxels) of cubes are arranged in a cubic lattice is used.
  • FIG. 9 and 10 are diagrams for explaining the coordinate system of the unloader device 100.
  • FIG. 9 is a view of the unloader device 100 as viewed from above.
  • FIG. 10 is a side view of the unloader device 100.
  • the unloader device 100 has three coordinate systems, that is, a horizontal coordinate system 300, a top frame coordinate system 310, and a hatch combing coordinate system 320.
  • the ground coordinate system 300 has a preset initial position of the unloader device 100 as the origin.
  • the Xa axis direction is a direction orthogonal to the extending direction and the vertical direction of the rail 3.
  • the extending direction of the rail 3 is the Ya axis direction.
  • the vertical direction is the Za axis direction.
  • the top frame coordinate system 310 is on the central axis of the elevator 110, and the lower end of the top frame 108 in the vertical direction is the origin.
  • the top frame coordinate system 310 is the extending direction of the lower surface of the boom 106, and the direction along the boom 106 is the Xb axis direction.
  • the top frame coordinate system 310 is the extending direction of the lower surface of the boom 106, and the direction orthogonal to the boom 106 is the Yb axis direction.
  • the extending direction of the elevator 110 is the Zb axis direction.
  • the hatch combing coordinate system 320 is the center position of the wall surface on the stern side of the hatch combing 7 of the ship 4, and the upper end of the hatch combing 7 is the origin (specific position).
  • the longitudinal direction of the ship 4, that is, the extending direction of the hatch combing 7 along the ship 4 is set as the Xc axis direction.
  • the lateral direction (width direction) of the ship 4 is the Yc axis direction.
  • the upward direction orthogonal to the upper end surface of the hatch combing 7 is the Zc axis direction.
  • FIG. 11 is a diagram illustrating a work area 400 composed of a plurality of small areas 402.
  • the boathouse 5 is shown by a alternate long and short dash line.
  • the area generation unit 152 generates a work area 400 by arranging a plurality of small areas (voxels) 402 three-dimensionally expanded with respect to the origin O in the hatch combing coordinate system 320. ..
  • a plurality of small areas 402 are arranged side by side in the Xc axis direction, the Yc axis direction, and the Zc axis direction.
  • the region generation unit 152 arranges the small region 402 in both the positive direction and the negative direction in the Xc axis direction and the Yc axis direction, and arranges the small region 402 only in the negative direction in the Zc axis direction. Deploy.
  • the small area 402 is, for example, a rectangular parallelepiped having a side of 0.2 to 1 m.
  • the work area 400 may be larger than the boathouse 5 as a whole, and the number of small areas 402 and the length of one side can be appropriately selected. Further, the work area 400 may have a cylindrical shape centered on the Zc axis direction as a whole, and in that case, the work area 400 may be formed so that the cross section of the XY plane of the small area 402 is fan-shaped.
  • the area generation unit 152 creates two identical work areas 400. Further, in the small area 402, as will be described in detail later, the number of votes indicating the number of measurement points, the total of the coordinates of the measurement points in the Xc axis direction, the total of the coordinates of the measurement points in the Yc axis direction, and the Zc axis, respectively.
  • Statistical data such as the sum of the coordinates of the measurement points in the direction, the minimum distance to the distance measurement sensor 133 or 134, and the measurement direction vector (comparison direction) from the measurement point to the distance measurement sensor 133 or 134 are stored in association with each other.
  • the items described here as statistical data are examples, and other items such as variance values may be accumulated.
  • the edge detection unit 154 reads out the three-dimensional model information of the hatch combing 7 stored in the storage unit 142 from the storage unit 142 (S102).
  • the three-dimensional model information of the hatch combing 7 is a three-dimensional model of the hatch combing 7 represented by the hatch combing coordinate system 320.
  • the three-dimensional model information of the hatch combing 7 may be created by using the measurement data of the measurement points measured by the distance measuring sensors 130 to 132 when the scraping unit 112 is put into the boathouse 5 for the first time. Further, the three-dimensional model information of the hatch combing 7 may be created by using the measurement data measured by another measuring instrument. Further, the three-dimensional model information of the hatch combing 7 may be created based on the drawing of the hatch combing 7. In any case, the three-dimensional model information of the hatch combing 7 may be created by the time the processing of S102 is performed and stored in the storage unit 142.
  • the measurement data acquisition unit 156 acquires the measurement data of the measurement points measured by the distance measurement sensors 130 to 136 at any time (S104).
  • each measurement is performed from the time when the scraping unit 112 starts the scraping work of the cargo 6 in the boathouse 5 until the scraping of all the cargo 6 is completed (for example, 10 hours).
  • Measurement data is periodically acquired from the distance sensors 130 to 136 at a frequency of 1 to 5 times per second.
  • the coordinate conversion derivation unit 158 sets a conversion parameter for converting the top frame coordinate system 310 into the hatch combing coordinate system 320.
  • the coordinate conversion process for deriving is performed (S106).
  • the horizontal 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.
  • the position with respect to the scraping section 112 is 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.
  • the position of the top frame coordinate system 310 is known in advance.
  • 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.
  • the top frame coordinate system 310 and the hatch combing coordinate system 320 are relative to each other because the ship 4 sways, or the ship 4 moves in the vertical direction due to the ebb and flow of the tide or the load capacity of the cargo 6. The positional relationship changes.
  • the edge detection unit 154 detects the upper edge of the hatch combing 7 based on the measurement data of the measurement points measured by the distance measurement sensors 130 to 132. Then, the coordinate conversion derivation unit 158 derives a conversion parameter for converting the top frame coordinate system 310 into the hatch combing coordinate system 320 based on the detected edge of the upper end of the hatch combing 7. That is, here, the positional relationship between the hatch combing 7 serving as the reference point in the work area 400 and the distance measuring sensor 133 or 134 is derived. Then, the positional relationship is used to reflect the measurement points measured by the distance measuring sensors 133 and 134 on the small area 402 in the work area 400.
  • the edge detection unit 154 is a three-dimensional position of the measurement point in the top frame coordinate system 310 based on the positions 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. 12 is a diagram illustrating measurement points of the distance measuring sensors 130 to 132.
  • the measurement range of the distance measuring sensors 130 to 132 on the hatch combing 7 is shown by a thick line.
  • the distance measuring sensors 130 to 132 are below the horizontal plane and extend from the distance measuring sensors 130 to 132 to an object existing in the range of ⁇ 15 degrees with respect to the plane in contact with the top frame 108. Measure the distance.
  • the measurement range is the edge of the hatch combing 7 that differs between the front side and the rear side with reference to the vertically downward side of the distance measuring sensors 130 to 132 (the center of rotation of the elevator 110).
  • the front side means the measurement range measured in the first half (in time series) in one measurement.
  • the rear side means the measurement range measured in the latter half (in time series) in one measurement.
  • the measurement points measured by the distance measurement sensors 130 to 132 are divided into two, a front side and a rear side, with reference to the vertically downward side of the distance measurement sensors 130 to 132.
  • FIG. 13 is a diagram showing how an edge point is detected.
  • the measurement points are indicated by black circles.
  • FIG. 13 illustrates the measurement points measured by the laser irradiated to one laser irradiation unit of the distance measurement sensors 130 to 132.
  • the edge detection unit 154 performs the following processing for each measurement point group (front side, rear side) of one measurement line that is irradiated and measured by one laser irradiation unit.
  • the edge detection unit 154 derives a vector (direction) of each measurement point irradiated and measured by one laser irradiation unit.
  • the direction (vector) of the measurement point to be measured next with respect to one measurement point among the continuously measured measurement points is derived as the vector of one measurement point.
  • the edge detection unit 154 extracts the measurement points whose vector of the measurement points is in the vertical direction. This is because the wall surface (side surface) of the hatch combing 7 measured by the distance measuring sensors 130 to 132 extends in the vertical direction, so that if there is a measurement point on the wall surface of the hatch combing 7, the vector of the measurement point is This is because it is in the vertical direction.
  • the edge detection unit 154 extracts the uppermost point in the vertical direction when there are a plurality of continuously extracted measurement points among the extracted measurement points. This is because the uppermost edge of the hatch combing 7 is detected, so that the uppermost point in the continuously measured measurement point group may be the upper end edge of the hatch combing 7.
  • the edge detection unit 154 extracts the measurement points closest to the origin in the Xb axis direction and the Yb axis direction in the top frame coordinate system 310 from the extracted measurement points. That is, the edge detection unit 154 extracts the measurement point closest to the central axis of the elevator 110. This is because the hatch combing 7 is located closest to the elevator 110 among the structures of the ship 4.
  • the edge detection unit 154 re-extracts the measurement points existing in the predetermined ranges (for example, a range of several tens of cm) in the Xb axis direction and the Yb axis direction in the top frame coordinate system 310 with respect to the extracted measurement points. To do.
  • the measurement points on the hatch combing 7 are extracted.
  • the edge detection unit 154 extracts the re-extracted measurement points, that is, the uppermost measurement points in the vertical direction among the measurement points on the hatch combing 7, as the edge points of the hatch combing 7.
  • the edge detection unit 154 extracts the front side and rear side edge points for each measurement point group measured by being irradiated by one laser irradiation unit of the distance measurement sensors 130 to 132.
  • the edge detection unit 154 detects the straight line of the edge of the hatch combing 7. Specifically, the edge detection unit 154 groups the edge points extracted on the front side of the distance measuring sensor 130 into one group. Similarly, the edge detection unit 154 sets the edge points extracted on the rear side of the distance measuring sensor 130 into one group. Further, the edge detection unit 154 groups the edge points extracted on the front side and the rear side of the distance measuring sensors 131 and 132, respectively.
  • the edge detection unit 154 derives the line segment between the extracted edge points having the most similar line segments as a candidate vector for each group. Then, the edge detection unit 154 extracts the edge points existing within the range preset for the candidate vector. Then, the edge detection unit 154 recalculates the straight line using the extracted edge points.
  • the edge detection unit 154 repeats the above process using the edge points that have not been extracted. However, if 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, the straight lines of the two edges can be derived.
  • the edge detection unit 154 derives a straight line of the edge by repeating the above processing for each group.
  • the edge detection unit 154 derives the angle formed between the detected straight lines. Then, when the angle formed is equal to or less than a predetermined threshold value, the edge detection unit 154 integrates the edges as if they are the same straight line. Specifically, the straight line is redistributed by least squares approximation using the edge points forming the straight line whose angle is equal to or less than a predetermined threshold value.
  • the edge detection unit 154 obtains edge side information including the three-dimensional direction vector of each side, the three-dimensional center of gravity coordinates of each side, the length of each side, and the coordinates of the end points of each side from the straight line of the detected edge. Derived. 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 above the garage 5, the position of the garage 5 ( The posture) can be derived accurately and easily.
  • the coordinate conversion derivation unit 158 sets the top frame coordinate system 310 and the hatch combing coordinates based on the three-dimensional model information read in S102 and the edge edge information (detection result) represented by the top frame coordinate system 310.
  • a coordinate conversion process for deriving a conversion parameter with the system 320 is performed (S106 in FIG. 8).
  • the coordinate conversion derivation unit 158 makes a rough correction by rotating the direction of the straight line of the detected edge of the hatch combing 7 by the turning angle of the boom 106. Further, the coordinate conversion derivation unit 158 associates the detected straight line of the edge of the hatch combing 7 with the upper end side of the hatch combing 7 in the three-dimensional shape information with the straight line having the closest edge direction. As a result, since the correct association is made, the conversion parameters of the solution that is stable and close to the correct answer can be obtained.
  • the straight line of the detected edge of the hatch combing 7 is represented by a three-dimensional point cloud, and the average value of the shortest distance between the three-dimensional point cloud and the upper end side of the hatch combing 7 in the three-dimensional model information. You may associate things that are close to each other. Further, the association may be made in consideration of both the direction of the edge and the average value of the shortest distance.
  • the LM method for example, the sum of squares of the difference in distance between the edge points forming the straight line of the edge and the upper edge of the hatch combing 7 based on the three-dimensional shape information is used as the evaluation function, and the conversion parameter that minimizes the evaluation function.
  • the LM method for example, the sum of squares of the difference in distance between the edge points forming the straight line of the edge and the upper edge of the hatch combing 7 based on the three-dimensional shape information is used as the evaluation function, and the conversion parameter that minimizes the evaluation function.
  • the LM method for example, the sum of squares of the difference in distance between the edge points forming the straight line of the edge and the upper edge of the hatch combin
  • the method for obtaining the conversion parameters is not limited to the LM method, and may be other methods such as the steepest descent method and Newton's method.
  • the coordinate conversion derivation unit 158 derives the conversion parameters for converting the top frame coordinate system 310 into the hatch combing coordinate system 320.
  • the unloader device 100 can express the three-dimensional position of the measurement point measured by the distance measuring sensors 133 to 136 provided in the scraping unit 112 in the hatch combing coordinate system 320. Therefore, it can be said that the distance measuring sensors 133 to 136 measure the measurement data regarding the three-dimensional position (position information) of the hatch combing coordinate system 320 at the measurement point of the boathouse 5. Further, by expressing by the hatch combing coordinate system 320, it is possible to reduce the influence of the sway of the ship 4 and the change of the position on the unloader device 100.
  • the data storage unit 160 accumulates statistical data of the measurement points in the small area 402 formed in the work area 400 based on the three-dimensional positions of the measurement points measured by the distance measurement sensors 133 and 134 ( S108 and S110 in FIG. 8).
  • FIG. 14 is a diagram illustrating how the measurement points measured by the ranging sensor 133 are divided into upper and lower parts.
  • the measurement range of the distance measuring sensor 133 is shown by a chain line.
  • the distance measuring sensor 133 is partially covered with a cover (not shown) in the vertical direction. Therefore, as shown in FIG. 14, the distance measuring sensor 133 is relatively upper (elevator 110 side) and relatively lower (scraping portion 112) with respect to the plane S1 orthogonal to the extending direction of the elevator 110. It is possible to measure the distance to the object (measurement point) existing on the bottom side of the elevator.
  • the distance measuring sensor 134 can measure the distances to the objects (measurement points) existing in the upper part and the lower part with reference to the plane S1 orthogonal to the extending direction of the elevator 110.
  • the reference for separating the upper part and the lower part may be set at a height at which the surface of the cargo 6 does not fall within the measurement range.
  • the distance measuring sensors 133 and 134 mainly use the side wall of the boathouse 5 and the structures in the boathouse 5 by the upper measurement point.
  • the distance to the side of the boathouse 5 (also called the side of the boathouse 5) is measured, and the bottom surface of the boathouse 5, the side wall of the boathouse 5, the structures inside the boathouse 5, and the cargo 6 (these are) are measured by the measurement points at the bottom.
  • the distance to the bottom of the boathouse 5 will be measured.
  • the data storage unit 160 divides the measurement data of the measurement points measured by the distance measuring sensors 133 and 134 into the measurement data of the upper measurement point and the measurement data of the lower measurement point into different work areas 400. Statistical data is accumulated for the formed small area 402.
  • the upper data storage unit 170 derives the three-dimensional position of the top frame coordinate system 310 of the measurement points classified in the upper part among the measurement points measured by the distance measuring sensors 133 and 134. Further, the upper data storage unit 170 converts the three-dimensional position of the top frame coordinate system 310 into the three-dimensional position of the hatch combing coordinate system 320 using the conversion parameters.
  • the upper data storage unit 170 uses the work area 400 for the upper part to perform an upper measurement data storage process for accumulating statistical data in a small area 402 corresponding to the three-dimensional position of the measurement point in the hatch combing coordinate system 320. (S108 in FIG. 8). Specifically, upon receiving the measurement data of one point, the upper data storage unit 170 adds one to the number of votes (the number of measurement points) of the corresponding small area 402. Further, the upper data storage unit 170 adds the position (coordinates) of the measurement point in the Xc axis direction to the sum of the coordinates in the Xc axis direction.
  • the upper data storage unit 170 adds the position (coordinates) of the measurement point in the Yc axis direction to the sum of the coordinates in the Yc axis direction. Further, the upper data storage unit 170 adds the position (coordinates) of the measurement point in the Zc axis direction to the total in the Zc axis direction. Since a plurality of points are measured in one measurement, the small area 402 may be added a plurality of times in one measurement. Here, by dividing the sum of the coordinates in the Xc axis direction by the number of votes, the position of the center of gravity of the measurement point included in the small area 402 in the Xc axis direction can be derived.
  • the three-dimensional center of gravity position of the small area 402 can be obtained. It can be derived.
  • the upper data storage unit 170 derives the distance between the measurement point and the position of the distance measurement sensor 133 or 134 when the measurement point is measured.
  • the three-dimensional position of the top frame coordinate system 310 of the distance measuring sensor 133 or 134 is converted to the hatch combing coordinate system 320 using the conversion parameters.
  • the distance between the measurement point and the position of the distance measuring sensor 133 or 134 when the measurement point is measured may be derived without converting to the hatch combing coordinate system 320.
  • the upper data storage unit 170 compares the derived distance with the minimum distance held for the small region 402, and when the derived distance is a smaller value, the minimum distance is set to the derived distance. Update. That is, among the measurement points included in the small area 402, between the measurement point closest to the distance measurement sensor 133 or 134 and the position of the distance measurement sensor 133 or 134 when the measurement point is measured. Distance will be retained as the minimum distance.
  • the upper data storage unit 170 derives a vector from the measurement point toward the distance measuring sensor 133 or 134, and updates the derived vector as a measurement direction vector.
  • the vector of the measurement point that is the minimum distance and the position of the distance measurement sensor 133 or 134 when the measurement point is measured is held as the measurement direction vector.
  • the upper data storage unit 170 accumulates statistical data in the corresponding small area 402 for all the measurement points belonging to the upper part each time the measurement data is acquired by the distance measuring sensor 133 or 134.
  • the lower data storage unit 172 derives the three-dimensional position of the top frame coordinate system 310 of the measurement points classified in the lower part among the measurement points measured by the distance measuring sensors 133 and 134. Further, the lower data storage unit 172 converts the three-dimensional position of the top frame coordinate system 310 into the three-dimensional position of the hatch combing coordinate system 320 using the conversion parameter.
  • the lower data storage unit 172 performs a lower measurement data storage process for accumulating statistical data in a small area 402 corresponding to the three-dimensional position of the measurement point in the hatch combing coordinate system 320 using the lower work area 400. (S110 in FIG. 8). Specifically, the lower data storage unit 172 adds 1 to the number of votes (the number of measurement points) of the corresponding small area 402. Further, the lower data storage unit 172 adds the position (coordinates) of the measurement point in the Xc axis direction to the sum of the coordinates in the Xc axis direction.
  • the lower data storage unit 172 adds the position (coordinates) of the measurement point in the Yc axis direction to the sum of the coordinates in the Yc axis direction. Further, the lower data storage unit 172 adds the position (coordinates) of the measurement point in the Zc axis direction to the total sum in the Zc axis direction.
  • the lower data storage unit 172 derives the distance between the measurement point and the position of the distance measurement sensor 133 or 134 when the measurement point is measured. Then, the lower data storage unit 172 compares the derived distance with the minimum distance accumulated for the small area 402, and when the derived distance is a smaller value, sets the minimum distance to the derived distance. Update.
  • the distance between the measurement point and the position of the distance measuring sensor 133 or 134 when the measurement point is measured may be derived without converting to the hatch combing coordinate system 320.
  • the lower data storage unit 172 derives a vector from the measurement point toward the distance measurement sensor 133 or 134, and updates the derived vector as a measurement direction vector.
  • the measurement data measured by the distance measuring sensor 133 or 134 during the tens of minutes to several hours immediately before the scraping work of the cargo 6 in the boathouse 5 is completed by the unloader device 100 is performed. Every time it is acquired, statistical data is accumulated in the corresponding small area 402 for all the measurement points belonging to the lower part. In this way, statistical data is accumulated for the lower work area 400 for the lower measurement points acquired during the few minutes immediately before the scraping work of the cargo 6 is completed. As a result, statistical data is accumulated at the timing when the cargo 6 hardly remains in the boathouse 5.
  • the measurement points corresponding to the cargo 6 can be excluded as much as possible, and the shape of the bottom surface of the boathouse 5 can be derived with high accuracy. It becomes.
  • the shape of the bottom surface of the derived boathouse 5 is used, so that the operator can use the shape of the bottom surface of the boathouse 5. Can be easily grasped.
  • the data storage unit 160 determines whether all the measurements have been completed (S112). Here, for example, it is performed depending on whether the scraping unit 112 has confirmed an increase to the extent that it can be removed from the boathouse 5. However, it may be determined whether or not all the measurements have been completed by the operator performing a predetermined operation.
  • the noise removing unit 162 When it is determined that all the measurements have been completed (YES in S112), the noise removing unit 162 performs the noise removing process (S114) and does not extract the small area 402 as noise as the shape of the boathouse 5. Set a rejection flag to indicate that.
  • the noise removing unit 162 performs two noise removing processes.
  • the noise removal unit 162 does not use the small area 402 having the same height in the Zc axis direction (same XcYc plane) as the small area 402 with low voting frequency (fewer measurement points).
  • Set a recruitment flag Specifically, the noise removing unit 162 integrates all the number of votes in the small region 402 having the same Zc axis direction. Then, the noise removing unit 162 sets a non-adoption flag in the small area 402 in which the number of votes of the small area 402 having the same Zc axis direction is less than 0.01% of the integrated value. As a result, it is possible to prevent the small area 402, which has an extremely small number of votes, from being adopted as the shape of the boathouse 5.
  • the shape extraction unit 164 derives the three-dimensional shape of the boathouse 5 (S116 and S118 in FIG. 8).
  • the bottom surface shape deriving unit 180 derives the three-dimensional shape of the bottom surface of the boathouse 5 mainly by using the lower working area 400 (small area 402 less than the height obtained by adding a predetermined threshold value to the bottom surface position).
  • the shape derivation process is performed (S116 in FIG. 8).
  • the side wall shape lead-out unit 182 mainly uses a work area 400 for the upper part (including a small area 402 having a height equal to or higher than a predetermined threshold value added to the bottom surface position in the work area 400 for the lower part) of the boathouse 5.
  • a side wall shape derivation process for deriving the three-dimensional shape of the side wall is performed (S118 in FIG. 8).
  • FIG. 15 is a diagram illustrating a bottom surface shape derivation process.
  • the measurement points are indicated by black circles, and the extracted small areas 402 are indicated by thick lines.
  • the bottom surface shape deriving unit 180 is a small area 402 arranged in the Zc axis direction (vertical direction) from the small areas 402 in which the non-adoption flag is not set in the lower work area 400. Among them, the small region 402 having the smallest value on the Zc axis is extracted. If the statistical data has never been accumulated in the small area 402, that is, if no measurement point is included, the non-adoption flag is set for the small area 402. Will not be extracted with.
  • the bottom surface shape deriving unit 180 has a representative height of the position of the center of gravity of the extracted small area 402 in the Zc axis direction.
  • the bottom surface shape deriving unit 180 extracts small regions 402 at all positions on the XcYc plane and derives a representative height.
  • the bottom surface shape deriving unit 180 divides the range at predetermined intervals (for example, 0.2 to 1 m) in the Zc axis direction, and derives the number of small regions 402 including the representative height for each divided range. ..
  • the interval in the Zc axis direction and the interval in the XcYc direction may be different.
  • the bottom surface shape derivation unit 180 is a representative of the small area 402 included in the range in which the number of the small areas 402 including the representative height is the largest and the range in which the number of 50% or more of the largest number is derived.
  • the average height is derived as the height of the bottom surface of the boathouse 5.
  • the bottom surface of the boathouse 5 is not always constant in the Zc axis direction, and may be inclined, or a part thereof may be protruding or recessed. Therefore, it seems that the range where the number of small areas 402 including the representative height is the largest is the height of the bottom surface, but by extracting the range where 50% or more of the number is derived, the boathouse 5 The average bottom height can be derived.
  • the bottom surface shape deriving unit 180 includes a small area 402 at the height of the bottom surface of the garage 5 and a small area adjacent to the small area 402 in the Zc axis direction for each of the same small areas 402 on the XcYc plane. Extract the statistical data with 402. Then, the bottom surface shape deriving unit 180 adds the extracted statistical data for each item and derives the center of gravity positions of the three small regions 402 as the bottom surface positions.
  • the bottom surface of the boathouse 5 may straddle the plurality of small regions 402
  • the small regions 402 adjacent to each other in the Zc axis direction are also extracted. Thereby, the bottom surface position can be derived more accurately.
  • the bottom surface shape derivation unit 180 similarly derives the bottom surface position for all the small regions 402 on the XcYc plane. As a result, the bottom surface shape deriving unit 180 derives the shape of the bottom surface (bottom shape) of the boathouse 5 from a group of points at a plurality of bottom surface positions (center of gravity positions).
  • FIG. 16 is a diagram for explaining how the small region 402 corresponding to the side wall is derived.
  • the side wall shape lead-out unit 182 has a non-adoption flag among the small area 402 of the work area 400 for the upper part and the small area 402 having a height equal to or higher than the bottom position of the work area 400 for the lower part plus a predetermined threshold value. From the small area 402 that does not stand, a small area 402 equal to or larger than the position in the Zc axis direction obtained by adding a predetermined value to the height of the bottom surface derived by the bottom surface shape deriving unit 180 is extracted.
  • the side wall shape deriving unit 182 extracts eight small regions 402 around the XcYc plane of any one small region 402 (the central small region 402 in the figure). Then, the side wall shape deriving unit 182 uses the small region 402 corresponding to the measurement direction vector of one small region 402 as the comparison target small region (the small region 402 of the thick line in the figure) from the eight small regions 402. Extract. Specifically, the side wall shape deriving unit 182 is a small region corresponding to the vector closest to the measurement direction vector (the smallest angle difference) among the vectors from 1 small region 402 to each of the 8 small regions 402. 402 is extracted as a comparison target small area.
  • the side wall shape deriving unit 182 compares the number of votes in the small area 402 of 1 with the number of votes in the comparison target area. Further, as a result of comparison, the side wall shape deriving unit 182 sets a non-adoption flag for the small area 402 having a small number of votes.
  • the side wall shape deriving unit 182 similarly executes the process of extracting the comparison target area, comparing the number of votes, and setting the rejection flag for all the small areas 402.
  • the side wall shape deriving unit 182 derives the center of gravity position of the small area 402 determined to have a large number of votes, that is, the non-adoption flag is not set, as the side wall position.
  • the side wall shape deriving unit 182 compares the statistical data between the small regions 402 arranged in the measurement direction vector to identify the small region 402 corresponding to (corresponding to) the side wall (surface).
  • the side wall shape deriving portion 182 derives the shape of the side wall (side portion) of the garage 5 from the point cloud of the plurality of side wall positions (center of gravity positions).
  • the measurement direction vector indicates the direction when the measurement point having the minimum distance to the distance measuring sensor 133 or 134 is measured. Therefore, it can be said that the measurement direction vector indicates the central direction of the boathouse 5. Then, in the direction along the measurement direction vector, a plurality of small regions 402 having different numbers of measurement points due to measurement errors are lined up.
  • the side wall shape deriving unit 182 leaves only the small area 402 at the most probable position as the boathouse 5. (Do not set the rejection flag). As a result, the side wall shape deriving unit 182 can accurately derive the shape of the side wall of the boathouse 5. Further, the unloader device 100 can derive the shape of the wall surface or structure shielded by the load 6 (which cannot be visually or measured).
  • the shape deriving unit 164 derives a group of points at a plurality of bottom positions (center of gravity positions) of the garage 5 and a group of points at a plurality of side wall positions (positions of the center of gravity), the points at the plurality of bottom positions (positions of the center of gravity) are derived.
  • a three-dimensional model of the garage 5 is generated based on the group and the point group at the plurality of side wall positions (positions of the center of gravity) and stored in the storage unit 142.
  • the method of generating a three-dimensional model is, for example, to generate a three-dimensional model by arranging voxels centered on the bottom surface position and the side wall position, or to derive a curved surface connecting adjacent bottom surface positions and side wall positions. You may generate a three-dimensional model with, and the method does not matter.
  • the unloader device 100 generated the work area 400 with reference to the boathouse 5, and accumulated the statistical data of the measurement points in the small area 402 of the work area 400.
  • the unloader device 100 can always accumulate statistical data with the boathouse 5 as a reference even when the distance measuring sensors 133 and 134 are moving with respect to the boathouse 5.
  • the unloader device 100 can increase the storage accuracy of the statistical data and can derive the three-dimensional shape of the boathouse 5 with high accuracy.
  • the unloader device 100 scrapes the cargo 6 from the same boathouse 5
  • the unloader device 100 displays the three-dimensional model of the boathouse 5 on the display unit 144.
  • the operator can easily grasp the shape of the boathouse 5.
  • the unloader device 100 divides the measurement points measured by the distance measuring sensors 133 and 134 into upper and lower parts and accumulates statistical data. Further, in the unloader device 100, the shape of the side wall of the boathouse 5 extending in the vertical direction is derived by using the statistical data of the upper part, and the shape of the bottom surface of the boathouse 5 extending in the horizontal direction is the statistical data of the lower part. Derived using. As a result, the unloader device 100 can accurately derive the shapes of the side wall and the bottom surface of the boathouse 5.
  • the unloading device carries out the cargo loaded in the boathouse to the outside of the boathouse.
  • An unloader is an example of a unloading device.
  • it is often difficult or impossible for the operator to directly visually check the state of the cargo, the distance to the wall surface of the boathouse, and the like.
  • a technique for measuring the distance to the wall of the boathouse by attaching a sensor to the scraping portion has been developed.
  • the boathouse has walls of various shapes such as vertical surfaces and inclined surfaces.
  • structures such as reinforcing plates and spiral staircases in the boathouse.
  • the boathouse has a complicated shape. With the techniques described above, it is difficult for the operator to grasp the complicated shape inside the boathouse.
  • the unloader device 100 is measured by the area generation unit 152 that generates the work area 400 composed of a plurality of small areas that expand three-dimensionally with reference to the specific position of the ship, and the distance measuring sensors 133 and 134.
  • a measurement data acquisition unit 156 that acquires measurement data at measurement points in the garage at any time, and a data storage unit 160 that accumulates statistical data of measurement points for a small area 402 that includes measurement points based on the measurement data of measurement points.
  • a shape deriving unit 164 that derives the shape of the garage 5 based on statistical data.
  • the unloader device 100 can easily grasp the shape of the boathouse 5.
  • the edge detection method by the edge detection unit 154 is only an example.
  • the edge detection unit 154 may extract the edge of the hatch combing 7 by another method.
  • the distance measuring sensors 133 and 134 are moved with the movement of the unloader device 100, but the orientation of the distance measuring sensors 133 and 134 may be changed. As a result, the measurement range of the distance measuring sensors 133 and 134 can be widened, and the shape of the boathouse 5 can be derived at an early stage.
  • the data storage unit 160 may accumulate (update) the measurement time as the accumulated data. Then, the shape deriving unit 164 may set a non-adoption flag in the small area 402 including the measurement points measured at an earlier time, and leave the measurement points measured at a later time. As a result, when the environment changes, for example, the cargo 6 is scraped off, the shape of the object can be accurately derived by adopting the most recently measured measurement point.
  • the number of votes of one small area 402 and the adjacent small area 402 are compared.
  • the number of votes may be compared between the small area 402 of 1 and the plurality of small areas 402 corresponding to the measurement direction vector among the small areas arranged in the vicinity of the small area 402 of 1.
  • the small area 402 having the highest number of votes and the small area 402 having a predetermined ratio (for example, 50%) or more of the highest number of votes may be left.
  • the number of votes of 1 small area 402 and the small area 402 corresponding to the measurement direction vector are compared.
  • the coordinate conversion process is performed every time.
  • the SLAM method is used to match the measurement points measured in the past with the measurement points measured this time, the three-dimensional position of the hatch combing coordinate system 320 of the measurement points can be estimated. Good.
  • the area generation unit 152 generates the work area 400 with reference to the boathouse 5.
  • the area generation unit 152 may generate the work area 400 with reference to any specific position of the ship 4.
  • the area generation unit 152 may generate the work area 400 with reference to a specific position of the opening including the hatch combing 7 and the hatch cover 8.
  • the structure near the stern 5 is different on the bow side, near the center, and on the stern side, so that the work area 400 can be generated according to the structure.
  • the unloader device 100 has been described as an example of the shape derivation device.
  • the shape derivation device is not limited to the unloader device.
  • the shape deriving device can be adapted to various devices for deriving the shape of an object.
  • the unloader device 100 has been described as an example of the unloading device.
  • the unloading device may be a continuous unloader (bucket type, belt type, vertical screw conveyor type, etc.), a pneumatic unloader, or the like.
  • This disclosure can be used for shape derivation devices and unloading devices.
  • Unloader device shape derivation device, unloading device
  • ranging sensor ranging sensor
  • area generation unit 156: measurement data acquisition unit 160: data storage unit 164: shape derivation unit

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Abstract

L'invention concerne un dispositif de déduction de forme comprenant une unité de génération de région destinée à générer une région de travail comprenant une pluralité de petites régions qui s'étendent en trois dimensions, une unité d'acquisition de données mesurées destinée à acquérir, selon les besoins, des données mesurées à des points de mesure sur un objet, mesurées à l'aide d'un capteur de mesure de distance, une unité d'accumulation de données destinée à accumuler, sur la base des données mesurées au niveau des points de mesure, des données statistiques relatives aux points de mesure, dans la petite région correspondant aux données mesurées, et une unité de déduction de forme destinée à dériver la forme de l'objet sur la base des données statistiques. L'unité d'accumulation de données dérive une direction de comparaison sur la base des données statistiques, et l'unité de déduction de forme compare les données statistiques entre une pluralité de petites régions alignées dans la direction de comparaison pour identifier les petites régions correspondant à la surface de l'objet.
PCT/JP2020/014678 2019-04-09 2020-03-30 Dispositif de déduction de forme et dispositif de déchargement WO2020209135A1 (fr)

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JP2019074030A JP7285122B2 (ja) 2019-04-09 2019-04-09 形状導出装置
JP2019-074030 2019-04-09
JP2019074026A JP7285121B2 (ja) 2019-04-09 2019-04-09 荷揚げ装置
JP2019-074026 2019-04-09

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