Replenishment control device, replenishment control method, and replenishment control program

Abstract

To provide a technique for efficiently storing a material in a hopper.SOLUTION: There are provided a replenishment control device, a replenishment control method and a replenishment control program, in which a plurality of comparison target regions to be compared are set, the material storage amounts in the regions in the hopper corresponding to the respective comparison target regions are estimated from the storage information of the plurality of comparison target regions, the respective material storage amounts are compared, and control for supplying the material to the region where the material storage amount is small is performed. The storage information is a depth image obtained by imaging the hopper from above. A plurality of image regions to be compared are set from the depth image, and the material storage amount in the region in the hopper corresponding to each image region is estimated from the depth image of the plurality of image regions.SELECTED DRAWING: Figure 12

Description

[Technical Field]

[0001] The present disclosure relates to a replenishment control device, a replenishment control method, and a replenishment control program. [Background technology]

[0002] Conventionally, there has been a technique for measuring the amount of material (aggregate) remaining in a hopper installed in a material storage facility such as a batcher plant, and acquiring the amount of remaining material. Furthermore, material is replenished using a bucket according to the amount of remaining material acquired by this technique (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-123464 Summary of the Invention [Problem to be solved by the invention]

[0004] The material stored in the hopper is discharged from the bottom of the hopper, but the surface formed by the stored (piled) material after discharge will have uneven surfaces (ridges and valleys) and will be uneven (will cause bias).

[0005] Therefore, it has been difficult to efficiently store aggregate in the hopper simply by using a technique for obtaining the remaining amount of material and replenishing aggregate.

[0006] The present disclosure aims to provide a technique for efficiently storing material in a hopper. [Means for solving the problem]

[0007] In order to solve the above problem, the replenishment control device of the present disclosure is a replenishment control device that controls the replenishment of material to a hopper based on storage information of the material stored in the hopper, and includes a comparison target area setting unit that sets multiple comparison target areas to be compared, a hopper storage amount estimation unit that estimates the material storage amount in the area within the hopper corresponding to each of the comparison target areas based on the storage information of the multiple comparison target areas, and a replenishment control unit that compares each of the material storage amounts and controls the replenishment of material to the area with the smallest material storage amount.

[0008] In addition, in order to solve the above-mentioned problems, the supply control method disclosed herein is a supply control method in which a computer controls the supply of material to a hopper based on storage information of the material stored in the hopper, and includes a comparison target area setting process for setting multiple comparison target areas to be compared, a hopper storage amount estimation process for estimating the material storage amount in the area within the hopper corresponding to each of the comparison target areas based on the storage information of the multiple comparison target areas, and a supply control process for comparing each of the material storage amounts and controlling the supply of material to the area with the smallest material storage amount.

[0009] In addition, in order to solve the above problem, the replenishment control program of the present disclosure is a replenishment control program that causes a computer to execute control to replenish the material to a hopper based on storage information of the material stored in the hopper, and executes a comparison target area setting procedure that sets multiple comparison target areas to be compared, a hopper storage amount estimation procedure that estimates the material storage amount in the area within the hopper corresponding to each of the comparison target areas based on the storage information of the multiple comparison target areas, and a replenishment control procedure that compares each of the material storage amounts and controls the replenishment of the material to the area with the smallest material storage amount. [Effects of the Invention]

[0010] According to the present disclosure, a technique for efficiently storing material in a hopper can be provided. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a side view showing the overall configuration of an aggregate storage system according to an embodiment of the present invention. [Figure 2] 1 is a top view showing the overall configuration of an aggregate storage system according to this embodiment. [Figure 3] 1 is a system configuration diagram of an aggregate storage system according to an embodiment of the present invention. [Figure 4] FIG. 10 is a diagram showing an initial setting screen. [Figure 5] FIG. 10 is a diagram illustrating the movement position of the bucket. [Figure 6] FIG. 10 is a diagram showing an image of the positions of buckets initially set corresponding to each aggregate bin. [Figure 7] FIG. 10 is a diagram showing an image of the positions of buckets initially set corresponding to each hopper. [Figure 8] 10 is a diagram showing a method for setting information for estimating the amount of aggregate stored in a hopper. FIG. [Figure 9] FIG. 10 is a diagram illustrating an image of a method for estimating the amount of aggregate stored in a hopper. [Figure 10] 10 is a diagram showing a method for setting information for estimating the amount of aggregate stored in an aggregate bin. FIG. [Figure 11] FIG. 10 is a diagram illustrating an image of a method for estimating the amount of aggregate stored in an aggregate bin. [Figure 12] FIG. 10 is a flowchart showing a crane control process. [Figure 13] FIG. 4 is a flowchart showing a first control process in the crane control process. [Figure 14] FIG. 10 is a flowchart showing a second control process in the crane control process. [Figure 15] FIG. 10 is a flowchart showing a third control process in the crane control process. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. However, more detailed explanation than necessary, for example, detailed explanation of well-known matters or redundant explanation of substantially the same configuration, may be omitted.

[0013] The drawings described below and referenced below are provided to enable those skilled in the art to understand the present disclosure, and are not intended to limit the scope of the claims of the present disclosure.

[0014] <Overall structure> In the embodiment of the present disclosure, an aggregate storage system for storing aggregate as an example of a material will be described as an example. FIGS. 1 and 2 are diagrams showing the overall configuration of the aggregate storage system according to the present embodiment. FIG. 1 is a side view showing an example of the overall configuration of the aggregate storage system according to the present embodiment. FIG. 2 is a top view showing an example of the overall configuration of the aggregate storage system according to the present embodiment. The aggregate storage system according to the present embodiment is installed in an aggregate storage facility such as a batcher plant or a concrete plant.

[0015] 1 and 2, the aggregate storage system 1 includes, for example, a crane apparatus 10, a hopper facility 40, and an aggregate storage facility 50. Note that the crane apparatus 10, the hopper facility 40, and the aggregate storage facility 50 are already well-known technologies, and therefore in the following description, technologies related to the features of the present disclosure will be described in detail, but well-known technologies will be described briefly or omitted.

[0016] The crane apparatus 10 is, for example, a hoist-type overhead crane, and is supported by a plurality of platforms 63 attached to a plurality of support columns 62. The crane apparatus 10 includes a first saddle 22a that travels on a first runway 21a and a second saddle 22b that travels on a second runway 21b. The first saddle 22a and the second saddle 22b include wheels and a drive device (not shown) such as a motor that drives the wheels. In the following description, the first saddle 22a and the second saddle 22b may be collectively referred to as the "saddle apparatus 22," and the first runway 21a and the second runway 21b may be collectively referred to as the "runway 21." The saddle apparatus 22 travels in the X direction (see FIG. 1) along the runway 21.

[0017] A first distance sensor 31 is provided above the first saddle 22a, and another second distance sensor 32 is provided below the first saddle 22a. The first distance sensor 31 and the second distance sensor 32 are configured, for example, by sensors using a triangulation method (triangulation distance measurement method) that projects laser light onto an object and receives the light reflected by the object with a light receiving element to detect changes in the distance between the first distance sensor 31 and the object. The first distance sensor 31 calculates the distance (distance in the X direction) between the first distance sensor 31 and the first reflector 24 by detecting changes in the distance to the first reflector 24 provided on one end of the first runway 21a. The second distance sensor 32 calculates the distance (distance in the Y direction) between the second distance sensor 32 and the second reflector 14 by detecting changes in the distance to the second reflector 14 provided on the traversing device 13 (described later).

[0018] The crane apparatus 10 also includes a crane girder 23 supported by a first saddle 22a and a second saddle 22b, and a traverse device 13 that travels on the crane girder 23. The traverse device 13 is composed of, for example, a hoist (hoisting device) 12 equipped with a drive device (not shown) such as a motor that winds up and down a wire 15 that suspends a bucket 11 such as a clamshell bucket, a bucket opening / closing device (not shown) equipped with a drive device (not shown) such as a motor that opens and closes the bucket 11, wheels, a drive device (not shown) such as a motor that drives the wheels, etc. The traverse device 13 also includes a second reflector 14 on the surface facing the second distance sensor 32. The traverse device 13 travels in the Y direction (see FIG. 1) along the crane girder 23.

[0019] The hoist 12 is equipped with a first limit switch (not shown) and a second limit switch (not shown) that hang down from the hoist 12, and an over-winding prevention device (not shown) that stops the winding up of the wire 15 in response to the activation of the first limit switch or the second limit switch, and the second limit switch hangs down higher than the first limit switch. The hoist 12 normally stops winding up the wire when the top of the bucket 11 comes into contact with the first limit switch as the bucket 11 is being wound up. The stop position at this time becomes the initial position of the bucket 11. The second limit switch is a backup switch in case the first limit switch fails, and the hoist 12 stops winding up the wire when the top of the bucket 11 comes into contact with the second limit switch.

[0020] The hopper facility 40 includes a first hopper 41 and a second hopper 42 supported on a support base 94. The aggregate stored in the first hopper 41 is, for example, gravel (coarse aggregate), and the aggregate stored in the second hopper 42 is, for example, sand (fine aggregate). A first conveyor 43 that transports the aggregate discharged from the first hopper 41 and a second conveyor 44 that transports the aggregate discharged from the second hopper 42 are also provided. In this embodiment, sand (fine aggregate) is stored in the first hopper 41, and gravel (coarse aggregate) is stored in the second hopper 42. The number of hoppers, the types of aggregate to be stored, the number of hoppers corresponding to each type of aggregate, and the like are not limited to those in this embodiment and may be determined appropriately for each aggregate storage facility.

[0021] The aggregate storage facility 50 as a material storage facility includes a first aggregate bin (first material bin) 51, a second aggregate bin (second material bin) 52, and a third aggregate bin (third material bin) 53 as aggregate storage tanks for storing aggregate transported by trucks or the like, and each aggregate bin is buried in the ground and separated by a partition wall 54. The aggregate stored in the first aggregate bin 51 and the third aggregate bin 53 is, for example, sand (fine aggregate), and the aggregate stored in the second aggregate bin 52 is, for example, gravel (coarse aggregate). The first aggregate bin 51 is the main aggregate bin, and normally the crane apparatus 10 scoops up sand from the first aggregate bin 51 and transports it to the second hopper 42, but when the amount of sand stored in the first aggregate bin 51 decreases to a predetermined amount, the crane apparatus 10 scoops up sand stored in the third aggregate bin 53 and transports it to the second hopper 42. Note that the number of aggregate storage tanks, the types of aggregate to be stored, and the number of storage tanks corresponding to each type of aggregate are not limited to those in this embodiment and may be determined appropriately for each aggregate storage facility.

[0022] Additionally, a first depth camera 33 and a second depth camera 34 are installed on the beam 61. The first depth camera 33 is installed at a position where it can capture images of the inside of the first hopper 41 from above, and the second depth camera 34 is installed at a position where it can capture images of the inside of the second hopper 42 from above. Note that a first depth camera ID is set as depth camera identification information for the first depth camera 33, and a second depth camera ID is set as depth camera identification information for the second depth camera 34.

[0023] The first depth camera 33 and the second depth camera 34 are imaging devices equipped with a depth sensor that uses, for example, LIDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging). The depth sensor is a sensor that can measure the distance between each point on the surface of a target object in real space and the depth sensor using light. In detail, the depth sensor irradiates the target object with pulsed laser light or the like (irradiation light) having a predetermined period and receives light reflected by the surface of the target object (reflected light). By using the phase difference or time difference between the irradiated light and the reflected light, the depth information (distance information) is obtained as an example of stored information, which is information such as the target object's outline (outline) and surface irregularities.

[0024] Depth information is a set of three-dimensional coordinate information, which is a collection of relative three-dimensional coordinate information of each point on the surface of the object based on the position of the depth sensor. Therefore, using the set of three-dimensional coordinate information, the first depth camera 33 and the second depth camera 34 can acquire a depth image of the object by projecting the three-dimensional coordinate information onto a plane with a gradation according to the depth (distance) of each point on the surface of the object. The first depth camera 33 and the second depth camera 34 may be any imaging device capable of acquiring depth information, such as a stereo camera that measures the parallax between two images and calculates depth distance using triangulation, a ToF (Time of Flight) camera that measures the time it takes for irradiated light to reflect off the object and return and calculates depth distance using the formula distance = speed x time, or a structured camera that projects a pattern and calculates depth information from the distortion of the pattern depending on the projection conditions. Alternatively, a 3D lidar using LiDAR (light detection and ranging) technology may be used without using an imaging device.

[0025] In the following description, the traveling direction of the saddle device 22 is referred to as the X direction, the traveling direction of the traverse device 13 as the Y direction, and the lifting direction of the bucket 11 as the Z direction.

[0026] <control block> Next, the system configuration of the aggregate storage system according to this embodiment will be described with reference to Fig. 2. Fig. 2 is an example of a system configuration diagram of the aggregate storage system according to this embodiment.

[0027] The aggregate storage system 1 is composed of an information processing device 100, a traversing device 13, a first saddle 22a, a second saddle 22b, a first depth camera 33, and a second depth camera .

[0028] The information processing device 100 functions as a crane control device and a replenishment control device. The information processing device 100 is, for example, a personal computer, a server computer, a smartphone, a tablet terminal, etc. The information processing device 100 includes a CPU, a memory unit (storage, ROM, RAM), an input / output I / F, a communication unit, a display unit (monitor), etc. Note that the information processing device 100 is a well-known technology, so a detailed description thereof will be omitted.

[0029] The information processing device 100 communicates with the traversing device 13, the first saddle 22a, the first depth camera 33, and the second depth camera via a communication network. When the information processing device 100 is installed inside an aggregate storage facility, the communication network is configured to enable communication between the information processing device 100 and the traversing device 13, the first saddle 22a, the first depth camera 33, and the second depth camera, for example, via a local area network (LAN) or a signal cable. When the information processing device 100 is installed outside the aggregate storage facility, the communication network is configured to enable communication between the information processing device 100 and the traversing device 13, the first saddle 22a, the first depth camera 33, and the second depth camera, for example, via the Internet, a LAN, a wireless base station, a provider device, etc. Note that the configuration of the communication network is not limited to these and may be determined as appropriate.

[0030] The crane control unit 110 (supply control unit) performs crane control processing by executing a crane control program stored in storage or the like by a processor such as a CPU of the information processing device 100. The crane control unit 110 includes a crane travel control unit 111, a hoist / bucket control unit 112, a hopper storage volume estimation unit 113, an aggregate bin storage volume estimation unit 114, and the like.

[0031] The first saddle 22a includes a first traveling drive unit 210 that drives the wheels of the first saddle 22a, and the second saddle 22b includes a second traveling drive unit 250 that drives the wheels of the second saddle 22b. The first traveling drive unit 210 includes a microcomputer and is communicably connected to the crane control unit 110. The first traveling drive unit 210 outputs a control signal to the second traveling drive unit 250 to drive the second saddle 22b.

[0032] The traversing device 13 is equipped with a traversing device control unit 310. The traversing device control unit 310 has a microcomputer and is connected to be able to communicate with the crane control unit 110. The traversing device control unit 310 is equipped with a third traveling drive unit 311 that drives the wheels of the traversing device 13, a hoist drive unit 312 that drives the hoist 12, a bucket opening / closing unit 313 that opens and closes the bucket 11, and the like.

[0033] The first traveling driver 210 acquires distance information in the X direction detected by the first distance sensor 31 and transmits it as X distance information to the crane traveling control unit 111. The crane traveling control unit 111 recognizes the current position (current distance) of the saddle device 22 by receiving the X distance information. The crane traveling control unit 111 compares the current position of the saddle device 22 with a movement position (target movement distance) to which the saddle device 22 is to be moved, and transmits a forward rotation signal or a reverse rotation signal to the first traveling driver 210. In response to the forward rotation signal transmitted from the crane traveling control unit 111, the first traveling driver 210 causes the first saddle 22a to travel in a direction that increases the distance between the first distance sensor 31 and the first reflector 24, and in response to the reverse rotation signal transmitted from the crane traveling control unit 111, causes the first saddle 22a to travel in a direction that decreases the distance between the first distance sensor 31 and the first reflector 24. Furthermore, the first traveling drive unit 210 outputs the forward rotation signal or reverse rotation signal received from the crane traveling control unit 111 to the second traveling drive unit 250. The second traveling drive unit 250 causes the second saddle 22b to travel in accordance with the input forward rotation signal or reverse rotation signal. As a result, the first saddle 22a and the second saddle 22b travel in synchronization (the saddle device 22 travels).

[0034] In addition, the first traveling drive unit 210 acquires distance information in the Y direction detected by the second distance sensor 32 and transmits it as Y distance information to the crane traveling control unit 111. The crane traveling control unit 111 recognizes the current position (current distance) of the traverse device 13 by receiving the Y distance information. The crane traveling control unit 111 compares the current position of the traverse device 13 with a movement position (target movement distance) to which the traverse device 13 is to be moved, and transmits a forward rotation signal or a reverse rotation signal to the third traveling drive unit 311. In response to the forward rotation signal transmitted from the crane traveling control unit 111, the third traveling drive unit 311 causes the traverse device 13 to travel in a direction that increases the distance between the second distance sensor 32 and the second reflector 14, and in response to the reverse rotation signal transmitted from the crane traveling control unit 111, causes the traverse device 13 to travel in a direction that decreases the distance between the second distance sensor 32 and the second reflector 14.

[0035] The hoist bucket control unit 112 functions as a timing unit. The hoist bucket control unit 112 transmits a forward rotation signal to the hoist drive unit 312 when winding up the wire 15, and transmits a reverse rotation signal when winding down the wire 15. The hoist drive unit 312 winds up the wire 15 in response to the forward rotation signal transmitted from the hoist bucket control unit 112, and winds down the wire 15 in response to the reverse rotation signal. The hoist drive unit 312 A / D converts the load current value (amount of drive current) applied when the drive device winds up or winds down the wire 15, and transmits the result to the hoist bucket control unit 112. In addition, the hoist drive unit 312 transmits first stop information when the upper part of the bucket 11 contacts a first limit switch to stop winding up the wire, and transmits second stop information when the upper part of the bucket 11 contacts a second limit switch to stop winding up the wire. In response to receiving the first stop information, the hoist / bucket control unit 112 determines that the hoist drive unit 312 has normally stopped winding the wire (the bucket 11 has stopped at the initial position), while in response to receiving the second stop information, it determines that an abnormality has occurred in the hoist 12 or the bucket 11.

[0036] The hoist / bucket control unit 112 includes a timer (not shown) that rotates the bucket 11 in response to the winding down of the wire 15. When the hoist / bucket control unit 112 transmits a reverse rotation signal to the hoist driving unit 312 while the bucket 11 is stopped at the initial position, the hoist / bucket control unit 112 starts timing from that point. The hoist / bucket control unit 112 also monitors the load current value transmitted from the hoist driving unit 312 to determine whether the bucket 11 is descending, has landed on the floor, or is empty or gripping aggregates. The hoist / bucket control unit 112 stops transmitting the reverse rotation signal and timing when it determines that the bucket 11 has landed on the floor. The timing result from the initial position to the time the bucket has landed on the floor is used for estimating the amount of accumulated aggregate, detecting abnormalities in the hoist driving unit 312 and the wire 15, which will be described later, and the like. The bucket having landed on the floor means that the bucket has landed on the aggregate (aggregate surface) or has come into contact with the surface of the aggregate.

[0037] Furthermore, when the hoist / bucket control unit 112 transmits a forward rotation signal to the hoist driving unit 312 while the bucket 11 is in a floor-mounted state on the aggregate, the hoist / bucket control unit 112 starts timing from that point. The hoist / bucket control unit 112 determines that the bucket 11 is rising by monitoring the load current value transmitted from the hoist driving unit 312. The hoist / bucket control unit 112 stops transmitting the forward rotation signal and timing when it determines that the bucket 11 has stopped at the initial position or is at a predetermined raised position. The timing result from when the bucket 11 has landed on the floor to the initial position is used to detect abnormalities in the hoist driving unit 312 and the wire 15, for example.

[0038] Furthermore, the hoist / bucket control unit 112 transmits an open signal to the bucket opening / closing unit 313 when opening the bucket 11, and transmits a close signal when closing the bucket 11. The bucket opening / closing unit 313 opens the bucket 11 in response to the open signal transmitted from the hoist / bucket control unit 112, and closes the bucket 11 in response to the close signal. The bucket opening / closing unit 313 transmits an opening operation in progress signal to the hoist / bucket control unit 112 while the bucket 11 is being opened, transmits a fully open state signal when the bucket 11 is in a fully open state, transmits a closing operation in progress signal while the bucket 11 is being closed, and transmits a fully closed state signal when the bucket 11 is in a fully closed state. The hoist / bucket control unit 112 recognizes the state of the bucket 11 from these signals transmitted from the bucket opening / closing unit 313.

[0039] When the bucket 11 is in the initial position, the hoist / bucket control unit 112 sends an open signal to the bucket opening / closing unit 313 after sending a reverse signal to the hoist driving unit 312 and a preset predetermined descent time (the time before the bucket 11 reaches a floor-contact state) has elapsed. Furthermore, when the hoist / bucket control unit 112 determines that the bucket 11 has reached the floor on the aggregate, it sends a close signal to the bucket opening / closing unit 313. Furthermore, when the hoist / bucket control unit 112 determines that the bucket 11 has reached the floor on the aggregate and is also in a fully closed state, it sends a forward rotation signal to the hoist driving unit 312. As a result, the bucket 11 descends in a fully closed state from the initial position until the predetermined descent time, and then descends while changing from the fully closed state to the fully open state from the predetermined descent time until it reaches the aggregate, and the bucket 11 lands on the aggregate in a fully open state. When the bucket 11 lands on the aggregate, it moves from a fully open state to a fully closed state to grip the aggregate, and then rises to the initial position while gripping the aggregate and stops.

[0040] The hopper storage amount estimation unit 113 functions as an image area setting unit and a hopper storage amount estimation unit. The hopper storage amount estimation unit 113 estimates the aggregate storage amount in the first hopper 41 based on the depth image captured by the first depth camera 33, and estimates the aggregate storage amount in the second hopper 42 based on the depth image captured by the second depth camera 34. Details of the method of estimating the aggregate storage amount by the hopper storage amount estimation unit 113 will be described later.

[0041] The aggregate bin storage volume estimation unit 114 functions as an aggregate storage volume estimation unit in an aggregate storage tank. The aggregate bin storage volume estimation unit 114 estimates the aggregate storage volumes in the first aggregate bin 51, the second aggregate bin 52, and the third aggregate bin 53 based on the timing information measured by the hoist / bucket control unit 112. Details of the method for estimating the aggregate storage volume by the aggregate bin storage volume estimation unit 114 will be described later.

[0042] <Initial Setup Method> Next, an initial setting method for the aggregate storage system according to this embodiment will be described with reference to FIGS.

[0043] 4 shows examples of various initial setting screens (images). These initial setting screens are displayed when the user selects a desired menu from the "Initial Setting" menu displayed on the display unit of the information processing device 100. The various pieces of information that are initially set are used in the crane control processing executed by the crane control unit 110.

[0044] (Pairing settings) 4(a) is an example of a pairing setting screen TA that is displayed when the "Pairing Setting" menu is selected. When a new aggregate storage system 1 is introduced or when the aggregate storage system 1 is reconstructed, first, pairing between each hopper and each aggregate bin is set. Note that in this embodiment, two aggregate bins can be set in correspondence with one hopper, but this is not limiting, and three or more aggregate bins can also be set in correspondence with one hopper.

[0045] The pairing setting screen TA displays the items "Hopper Settings," "Aggregate," and "Aggregate Bin." The "Hopper Settings" item has input fields for the hopper ID (hopper number) and hopper name of each hopper, while the "Aggregate" item has an input field for the type of aggregate (name). The "Aggregate Bin Settings" item has input fields for the aggregate bin ID (aggregate bin number) of each aggregate bin, the aggregate bin name, and "Main" to be entered when setting the main aggregate bin and sub aggregate bin. After entering information in each input field, clicking the "Register" button will store the input information in storage as pairing information. Clicking the "Clear" button will clear the information entered in the input field.

[0046] Here, an example of setting using the pairing setting screen TA will be described. When setting the first hopper 41, "first hopper ID" is entered in the hopper ID input field. Then, "gravel hopper" and "gravel" are entered in the hopper name and aggregate type input fields in the row corresponding to the first hopper ID. When setting the second hopper 42, "second hopper ID" is entered in the hopper ID input field. Then, "sand hopper" and "sand" are entered in the hopper name and aggregate type input fields in the row corresponding to the second hopper ID.

[0047] Next, when associating the second aggregate bin 52 with the first hopper 41, enter "second aggregate bin ID" in the aggregate bin ID input field in the row corresponding to the first hopper ID. Then, enter "gravel bin" in the aggregate bin name input field in the row corresponding to the second aggregate bin ID, and when setting the second aggregate bin 52 as the main aggregate bin, select "○" in the main input field. Note that since the second aggregate bin 52 is the only aggregate bin associated with the first hopper 41, the second aggregate bin 52 becomes the main aggregate bin (there are no sub aggregate bins).

[0048] Next, when associating the first aggregate bin 51 and the third aggregate bin 53 with the second hopper 42, enter "first aggregate bin ID" in the first field and "third aggregate bin ID" in the second field in the aggregate bin ID input field in the row corresponding to the second hopper ID. Then, enter "main sand bin" in the aggregate bin name input field in the row corresponding to the first aggregate bin ID, and enter "sub sand bin" in the aggregate bin name input field in the row corresponding to the third aggregate bin ID. Then, when setting the first aggregate bin 51 as the main aggregate bin and the third aggregate bin 53 as the sub aggregate bin, select "○" in the main input field in the row corresponding to the first aggregate bin ID.

[0049] After entering the information as described above, clicking the "Register" button will store the information that can identify the correspondence between the first hopper 41 and the second aggregate bin 52, and the information that can identify the correspondence between the second hopper 42 and the first aggregate bin 51 and the third aggregate bin 53 as pairing information.

[0050] (Crane positioning) Fig. 4(b) is an example of a crane position setting screen TB that is displayed when the "Crane Position Setting" menu is selected. Fig. 6 is a diagram showing an image of the position of the bucket 11 according to the X distance information and Y distance information that are initially set in correspondence with each of the aggregate bins 51 to 53 using the "Crane Position Setting" menu, and Fig. 7 is a diagram showing an image of the position of the bucket 11 according to the X distance information and Y distance information that are initially set in correspondence with each of the hoppers 41 and 42 using the "Crane Position Setting" menu. Before proceeding with the following explanation, the movement position of the bucket 11 in the aggregate storage system according to this embodiment will be explained using Fig. 5.

[0051] As shown in FIG. 5 , in this embodiment, the bucket 11 moves to the following positions (movement positions). First, the movement positions corresponding to the first aggregate bin 51 are MPA1 and MPA2, the movement positions corresponding to the second aggregate bin 52 are MPA3 and MPA4, and the position corresponding to the third aggregate bin 53 is MPA5 and MPA6. Next, the movement positions corresponding to the first hopper 41 are MPB1 and MPB2, and the movement positions corresponding to the second hopper 42 are MPB3 and MPB4. Furthermore, the standby positions of the bucket 11 are SP1 and SP2. Note that the movement positions and the number of movement positions of the bucket 11 corresponding to each aggregate bin, the movement positions and the number of movement positions of the bucket 11 corresponding to each hopper, the standby positions and the number of standby positions of the bucket 11, etc. are not limited to those in this embodiment and may be determined appropriately.

[0052] Returning to Figure 4(b), the crane position setting screen TB displays a crane standby position setting screen TB1, a crane movement position (aggregate bin) setting screen TB2, a crane movement position (hopper) setting screen TB3, and a crane travel operation screen TB20. The setting of the crane's standby position and movement position is performed, for example, by an operator who operates the information processing device 100 and a checker who checks the actual position of the crane apparatus 10. If cameras or the like are provided on the bucket 11, traversing device 13, saddle device 22, etc., it is also possible for the operator alone to set the crane's standby position and movement position while checking images captured by the cameras.

[0053] The crane standby position setting screen TB1 is a setting screen for setting position information (distance information) that is used when the above-mentioned crane travel control unit 111 travels the crane apparatus 10 to the standby position. It is possible to set multiple standby positions for the crane apparatus 10. The crane standby position setting screen TB1 displays the following items: "Standby position," "X (X distance information)," and "Y (Y distance information)." The "Standby position" item has an input field for standby position identification information for identifying the standby position, and for example, SP1 and SP2 are input into this input field as the standby position identification information.

[0054] Next, information is entered into each of the "X" and "Y" input fields, and when entering this information, the crane apparatus 10 is actually traveled to determine the desired movement position. At this time, the crane apparatus 10 is operated using the crane travel operation screen TB20. The crane travel operation screen TB20 displays a "Saddle" button SA1 selected when traveling the saddle apparatus 22, a "Traveling device" button SA2 selected when traveling the traverse device 13, a "Hoist" button SA3 selected when driving the wire 15 with the hoist 12, a "Bucket" button SA4 selected when opening and closing the bucket 11, a "CW" button SC1 operated when driving each drive device in the forward direction, and a "CCW" button SC2 operated when driving each drive device in the reverse direction.

[0055] To travel the saddle device 22, first select the "saddle" button SA1, then operate the "CW" button SC1 to drive the wheels of the saddle device 22 in the forward direction, and operate the "CCW" button SC2 to drive the wheels of the saddle device 22 in the reverse direction. Furthermore, to travel the traverse device 13, first select the "traverse device" button SA2, then operate the "CW" button SC1 to drive the wheels of the traverse device 13 in the forward direction, and operate the "CCW" button SC2 to drive the wheels of the traverse device 13 in the reverse direction. Furthermore, to drive the hoist 12, operate the "hoist" button SA3, to lower the bucket 11 by winding down the wire 15, operate the "CCW" button SC2, and to lift the bucket 11 by winding up the wire 15, operate the "CW" button SC1. Furthermore, to open the bucket 11, the "BUCKET" button SA4 is operated followed by the "CW" button SC1, and to close the bucket 11, the "BUCKET" button SA4 is operated followed by the "CCW" button SC2. When the "CW" button SC1 or the "CCW" button SC2 is in an operating state, the crane control unit 110 sends a forward or reverse rotation signal to the selected device, and when the "CW" button SC1 or the "CCW" button SC2 is in an inoperable state, it sends a stop signal to the selected device.

[0056] When setting a standby position corresponding to standby position identification information SP1, the input field for SP1 in the "standby position" field is clicked. Clicking the input field for SP1 enables input of information into the "X" and "Y" fields corresponding to SP1. When inputting information into the "X" field, the saddle device 22 is caused to travel by operating on the crane travel operation screen TB20. As the saddle device 22 travels, the current distance information (X distance information) between the first distance sensor 31 and the first reflector 24 displayed in the input field corresponding to SP1 in the "X" field is updated. When inputting information into the "Y" field, the traversing device 13 is caused to travel by operating on the crane travel operation screen TB20. As the traversing device 13 travels, the current distance information (Y distance information) between the second distance sensor 32 and the second reflector 14 displayed in the input field corresponding to SP1 in the "Y" field is updated.

[0057] After setting the X-distance information and Y-distance information corresponding to SP1, the standby position corresponding to standby position identification information SP2 is set. The X-distance information and Y-distance information for SP2 are set using the same procedure as for SP1. Note that when the saddle device 22 and the traversing device 13 are positioned according to the X-distance information and Y-distance information set for SP1, clicking the input field for SP2 inputs the same distance information as the X-distance information set for SP1 into the “X” field corresponding to SP2, and the same distance information as the Y-distance information set for SP1 into the “Y” field. It is also possible to move the saddle device 22 and the traversing device 13 to a position according to the input distance information by directly entering distance information into the “X” and “Y” fields. In this way, the standby positions corresponding to SP1 and SP2 of the crane device 10 are provisionally set as “X=X0, Y=Y0” and “X=X10, Y=Y0,” respectively (see FIG. 6).

[0058] The crane movement position (aggregate bin) setting screen TB2 is a setting screen for setting position information (distance information) used when the above-mentioned crane travel control unit 111 travels the crane apparatus 10 to movement positions corresponding to the aggregate bins 51 to 53. In this embodiment, two movement positions are set in association with one aggregate bin, but the crane movement position (aggregate bin) setting screen TB2 can set three or more movement positions in association with one aggregate bin.

[0059] The crane movement position (aggregate bin) setting screen TB2 displays the items "Aggregate Bin," "Movement Position," "X," and "Y." The input field for the "Aggregate Bin" field displays each aggregate bin ID set by the pairing setting described above. The "Movement Position" field has an input field for movement position identification information to identify the movement position for each aggregate bin 51 to 53. For example, MPA1 and MPA2 are entered as movement position identification information in the input field for the first aggregate bin ID, MPA3 and MPA4 are entered as movement position identification information in the input field for the second aggregate bin ID, and MPA5 and MPA6 are entered as movement position identification information in the input field for the third aggregate bin ID.

[0060] Next, X distance information and Y distance information for each of the movement position identification information MPA3 to 6 are set by the same operation as for setting the standby position described above. Furthermore, if it is necessary to drive the hoist 12 or open or close the bucket 11 when setting the movement position of the crane apparatus 10 corresponding to each of the aggregate bins 51 to 53, the bucket is lowered, raised, opened, or closed by the operation described above. Note that when setting MPAs 3 to 6 in this embodiment, the standby position corresponding to SP1 of the crane apparatus 10 has already been temporarily set and the Y distance information is unchanged from SP1, so the Y distance information (Y0) is set by directly inputting it into the "Y" item corresponding to each of the movement position identification information MPA3 to 6. In this manner, the movement positions corresponding to MPA1 and MPA2 corresponding to the first aggregate bin 51 of the crane apparatus 10 are provisionally set to "X=X1, Y=Y0" and "X=X2, Y=Y0", the movement positions corresponding to MPA3 and MPA4 corresponding to the second aggregate bin 52 are provisionally set to "X=X3, Y=Y0" and "X=X4, Y=Y0", and the movement positions corresponding to MPA5 and MPA6 corresponding to the third aggregate bin 53 are provisionally set to "X=X5, Y=Y0" and "X=X6, Y=Y0" (see Figure 6).

[0061] The crane movement position (hopper) setting screen TB3 is a setting screen for setting positions corresponding to the hoppers 41, 42 of the crane apparatus 10. In this embodiment, two movement positions are set in association with one hopper, but the crane movement position (hopper) setting screen TB3 can set three or more movement positions in association with one hopper.

[0062] The crane movement position (hopper) setting screen TB3 displays the items "Hopper," "Movement position," "X," and "Y." The input field for the "Hopper" item displays each hopper ID set by the pairing setting described above. The "Movement position" item has an input field for movement position identification information for identifying the movement position for each hopper 41, 42. For example, MPB1, MPB2 are input as movement position identification information in the input field for the first hopper ID, and MPB3, MPB4 are input as movement position identification information in the input field for the second hopper ID.

[0063] Next, X distance information and Y distance information for each of the movement position identification information MPB1 to 4 are set by the same procedure as in setting the movement positions corresponding to the standby positions and aggregate bins described above. In this manner, the movement positions corresponding to MPB1 and MPB2 corresponding to the hopper 41 of the crane apparatus 10 are provisionally set as "X=X11, Y=Y1" and "X=X12, Y=Y1", respectively, and the movement positions corresponding to MPB3 and MPB4 corresponding to the second hopper 42 are provisionally set as "X=X13, Y=Y1" and "X=X14, Y=Y1", respectively (see FIG. 7).

[0064] When the provisional setting work for the crane standby position, crane movement position (aggregate bin), and crane movement position (hopper) has been completed, clicking the "Register" button will store the input information in storage as crane position information. Clicking the "Clear" button will clear the information entered in the input field.

[0065] After entering the above information, clicking the "Register" button will store SP1 and SP2 as standby position identification information for the crane device 10, and MPA1-6 and MPB1-4 as movement position identification information in the storage as crane position information, and also store "X distance information" and "Y distance information" in the storage in association with SP1, SP2, MPA1-6, and MPB1-4, respectively.

[0066] (Setting information for estimating storage volume in hopper) 4(c) is an example of the hopper storage volume estimation information setting screen TC that is displayed when the "Hopper storage volume estimation information setting" menu is selected. As described above, the hopper storage volume estimation unit 113 of this embodiment estimates the aggregate storage volume in the first hopper 41 based on the depth image captured by the first depth camera 33, and estimates the aggregate storage volume in the second hopper 42 based on the depth image captured by the second depth camera 34. The settings for this are made on the hopper storage volume estimation information setting screen TC.

[0067] The hopper storage volume estimation information setting screen TC is a setting screen for setting storage volume estimation information that is used when the hopper storage volume estimation unit 113 described above estimates the volume of aggregate stored in each of the hoppers 41 and 42. In this embodiment, two detection areas are set in association with one hopper, but the hopper storage volume estimation information setting screen TC can set three or more detection areas in association with one hopper.

[0068] The hopper storage volume estimation information setting screen TC displays the following items: "Hopper," "Movement position," "Depth camera," "Detection area," and "Estimation information." The input field for the "Hopper" item displays the ID of each hopper set by the pairing setting described above. The input field for the "Movement position" item displays the movement position identification information of the crane corresponding to each hopper associated by the crane movement position (hopper) setting described above. The input field for the "Depth camera" item is used to input a depth camera ID for identifying the depth camera corresponding to each hopper. For example, when associating the first depth camera 33 with the first hopper 41, the "first depth camera ID" is input in the depth camera input field in the row for the first hopper ID. Furthermore, for example, when associating the second depth camera 34 with the second hopper 42, the "second depth camera ID" is input in the depth camera input field in the row for the second hopper ID.

[0069] In addition, in the input field for the "Detection Area" item, enter the imaging area (detection area) to be used for estimating the storage volume, and in the input field for the "Estimation Information" item, enter the storage volume estimation information to be used when estimating the storage volume.

[0070] Next, we will explain how to enter information into the input fields for the "detection area" item and the "information for estimation" item using Figure 8.

[0071] FIG. 8 shows an example of a method for setting information for estimating the amount of aggregate stored in a hopper. First, as shown in FIG. 8(a), a detection area is set by capturing an image of the target hopper. Here, when a first depth camera ID is clicked in the input field for the "Depth Camera" item, a first depth image DA, which is an image of the first hopper 41 captured from above by the first depth camera 33, is displayed on the display unit of the information processing device 100. A first hopper image HA is displayed in the first depth image DA. Furthermore, when a second depth camera ID is clicked in the input field for the "Depth Camera" item, a second depth image DB, which is an image of the second hopper 42 captured from above by the second depth camera 34, is displayed on the display unit of the information processing device 100. A second hopper image HB is displayed in the second depth image DB. The angle of view SR1 of the first depth camera 33 and the angle of view SR2 of the second depth camera 34 are set to the desired angle of view by operating a PTZ (pan-tilt-zoom) operation unit (not shown) in the information processing device 100.

[0072] In this embodiment, two locations, the first detection area WR11 and the second detection area WR12, can be specified from the first depth image DA, and two locations, the third detection area WR21 and the fourth detection area WR22, can be specified from the second depth image DB. Each storage amount detection area is determined by checking the depth image displayed on the display unit and specifying the range using a mouse or other device. Note that FIG. 8(a) shows an image in which the first detection area WR11 and the second detection area WR12 are specified from the first depth image DA, and the third detection area WR21 and the fourth detection area WR22 are specified from the second depth image DB. By specifying each detection area in this manner, each detection area information is entered into the input field for the "detection area" item, as shown in FIG. 4(c).

[0073] Next, the hopper storage volume estimation unit 113 sets storage volume estimation information (depth images for determining storage volume), which are reference depth images that serve as a basis for estimating the storage volumes of the first hopper 41 and the second hopper 42. In this embodiment, three types of depth images are set as storage volume estimation information for each of the first hopper 41 and the second hopper 42: a depth image that serves as a reference for estimating that the aggregate storage volume is 100% (hereinafter referred to as a "100% depth image"), a depth image that serves as a reference for estimating that the aggregate storage volume is 50% (hereinafter referred to as a "50% depth image"), and a depth image that serves as a reference for estimating that the aggregate storage volume is 0% (hereinafter referred to as a "0% depth image").

[0074] FIG. 8(b) shows examples of a 100% depth image and a 0% depth image as an example of a method for setting information for estimating storage volume. To capture a 100% depth image, a state in which aggregate is actually stored up to a 100% level is created, a depth image is captured using a depth camera in this state, and the captured 100% depth image is stored as 100% depth image information. To capture a 0% depth image, a state in which aggregate is actually stored up to a 50% level is created, a depth image is captured using a depth camera in this state, and the captured 50% depth image is stored as 50% depth image information. In each depth image, if there are contours or surface irregularities of the object, they are expressed using gradation. Therefore, a depth image is an image that can grasp the contour (outline) and surface shape of an object, and therefore contains information about the relative distance from the depth sensor to the object and the surface shape of the object.

[0075] For example, when the storage capacity of the first hopper 41 is set to 100%, an image of the first hopper 100% depth image DA1 is obtained by the first depth camera 33, and the detection area WR11 in this depth image is stored under the file name A1.bmp (100% depth image information for estimation), and the detection area WR12 is stored under the file name A4.bmp (100% depth image information for estimation). Also, when the storage capacity of the first hopper 41 is set to 0%, an image of the first hopper 0% depth image DA2 is obtained by the first depth camera 33, and the detection area WR11 in this depth image is stored under the file name A3.bmp (0% depth image information for estimation), and the detection area WR12 is stored under the file name A6.bmp (0% depth image information for estimation). Similarly, the detection area WR21 in the second hopper 100% depth image DB1 captured by the second depth camera 34 is stored as B1.bmp (100% depth image information for estimation), the detection area WR22 as B4.bmp (100% depth image information for estimation), the detection area WR21 in the second hopper 0% depth image DB2 as B3.bmp (0% depth image information for estimation), and the detection area WR22 as B6.bmp (0% depth image information for estimation). Similarly, the first hopper 50% depth image and the second hopper 50% depth image (not shown) are stored as A2.bmp, A5.bmp, B2.bmp, and B5.bmp (all 50% depth image information for estimation) for WR11, WR12, WR21, and WR22, respectively. Then, as shown in Figure 4(c), each of these stored depth images is entered into the input field for the "Information for Estimation" item. After entering information into each input field, click the "Register" button, and the input information will be stored in the storage as information for estimating the amount of storage in the hopper. Clicking the "Clear" button will clear the information entered in the input field.

[0076] By setting the information for estimating the storage volume in the hoppers in the manner described above, the first hopper ID (first hopper 41) is associated with the movement position identification information MPB1 and MPB2, the first depth camera ID (first depth camera 33), the detection areas WR11 and WR12, and the 100% to 0% estimation information A1 to A6.bmp. The second hopper ID (second hopper 42) is associated with the movement position identification information MPB3 and MPB4, the second depth camera ID (second depth camera 34), the detection areas WR21 and WR22, and the 100% to 0% estimation information B1 to B6.bmp. These are stored in the storage as information for estimating the storage volume in the hoppers. In addition, the information for estimating the storage volume in the hopper includes, for example, color information (e.g., the number of pixels of each color) for each color of the gradient in the storage volume determination depth images A1 to A6.bmp, when the types of gradient colors displayed in the depth image are expressed in the order of red → orange → yellow → green → blue, etc., with the depth being expressed as shallow to deep.

[0077] Here, an image of a method for estimating the amount of stored aggregate by the in-hopper storage amount estimating unit 113 will be explained with reference to FIG.

[0078] FIG. 9(a) is an image of a method for estimating (calculating) the amount of stored aggregate when the first hopper 41 is imaged from above by the first depth camera 33, for example.

[0079] The hopper storage volume estimation unit 113 calculates the difference by comparing the depth image (WR11 depth image) of the detection area WR11 in the depth image captured by the first depth camera 33 with each of the registered storage volume determination depth images A1.bmp (100% estimation depth image information), A2.bmp (50% estimation depth image information), and A3.bmp (0% estimation depth image information), and estimates the aggregate storage volume in the first hopper 41 corresponding to the detection area WR11 based on the calculation result.

[0080] The hopper storage amount estimation unit 113 also calculates the distance difference by comparing the depth image of the detection area WR12 (WR12 depth image) in the depth image captured by the first depth camera 33 with the registered storage amount determination depth images A4.bmp (100% estimation depth image information), A5.bmp (50% estimation depth image information), and A6.bmp (0% estimation depth image information), and estimates the amount of aggregate stored in the first hopper 41 corresponding to the detection area WR12 based on the calculation result. The depth image captured by the first depth camera 33, the amount of aggregate stored in the first hopper 41 corresponding to the detection area WR11, and the amount of aggregate stored in the first hopper 41 corresponding to the detection area WR12 can be output to the display unit.

[0081] FIG. 9(b) is an image of a case where there is a bias in the amount of aggregate stored in the hoppers corresponding to the detection areas WR11 and WR12, and the detection areas WR21 and WR22.

[0082] The hopper storage amount estimation unit 113 estimates the amount of aggregate stored in the first hopper 41 corresponding to the detection area WR11 by comparing the depth image (WR11 depth image) of the detection area WR11 in the depth image captured by the first depth camera 33 with each of the estimation depth image information A1-A3.bmp. As an estimation method here, for example, the amount of aggregate stored is estimated by comparing the amount of color gradation of each color in the depth image of the detection area WR11 with the amount of color gradation of each color (e.g., the number of pixels, etc.) in the storage amount determination depth images A1-A3.bmp and calculating the difference. In addition, in a similar manner to the detection area WR11, the hopper storage amount estimation unit 113 estimates the amount of aggregate stored in the first hopper 41 corresponding to the detection area WR12 by comparing the depth image of the detection area WR12 (WR12 depth image) in the depth image captured by the first depth camera 33 with each of the estimation depth image information A4 to A6.bmp.

[0083] Furthermore, using the same method as above, the hopper storage amount estimation unit 113 compares the depth image of the detection area WR21 (WR21 depth image) in the depth image captured by the second depth camera 34 with each of the estimation depth image information B1 to B3.bmp to estimate the amount of aggregate stored in the second hopper 42 corresponding to the detection area WR21. Furthermore, using the same method as above, the hopper storage amount estimation unit 113 compares the depth image of the detection area WR22 (WR22 depth image) in the depth image captured by the second depth camera 34 with each of the estimation depth image information B4 to B6.bmp to estimate the amount of aggregate stored in the second hopper 42 corresponding to the detection area WR22.

[0084] (Setting information for estimating the amount of storage in the aggregate bin) 4(d) is an example of the aggregate bin storage volume estimation information setting screen TD that is displayed when the "Set information for estimating storage volume in aggregate bin" menu is selected. As described above, the aggregate bin storage volume estimation unit 114 of this embodiment estimates the aggregate storage volumes in the first aggregate bin 51, the second aggregate bin 52, and the third aggregate bin 53 based on the timing information measured by the hoist / bucket control unit 112. The settings for this are made on the aggregate bin storage volume estimation information setting screen TD.

[0085] The aggregate bin storage volume estimation information setting screen TD is a setting screen for setting storage volume estimation information that is used by the aggregate bin storage volume estimation unit 114 described above when estimating the volume of aggregate stored in each of the aggregate bins 51 to 53. The aggregate bin storage volume estimation information setting screen TD displays an "Estimation Information" item. This "Estimation Information" item has a 100% estimation information input field that serves as the basis for the aggregate bin storage volume estimation unit 114 to estimate the aggregate storage volume as 100%, and a 0% estimation information input field that serves as the basis for the aggregate bin storage volume estimation unit 114 to estimate the aggregate storage volume as 0%.

[0086] Next, the input method for each input field of the "Information for Estimation" item will be explained with reference to FIG.

[0087] 10 is a diagram showing a method for setting information for estimating the amount of aggregate stored in an aggregate bin. In this embodiment, when setting information for 100% estimation, for example, the first aggregate bin 51 is actually filled with aggregate up to a level corresponding to 100%, and the crane apparatus 10 is moved to a position corresponding to the first aggregate bin 51. The position of the bucket 11 at this time is the initial position.

[0088] Next, when the "Measure" button SB1 shown in FIG. 4(d) is clicked, the hoist / bucket control unit 112 sends a reverse rotation signal to the hoist drive unit 312 to wind down the wire 15. In response to this reverse rotation signal, the hoist drive unit 312 winds down the wire 15, causing the bucket 11 to begin descending from the initial position (timing start point) toward the surface of the aggregate stored in the first aggregate bin 51. In response to the transmission of the reverse rotation signal, the hoist / bucket control unit 112 starts measuring a first descent time T1 using a timer and monitors the load current value transmitted from the hoist drive unit 312. When the hoist / bucket control unit 112 begins timing the first descent time, the first descent time T1 is updated and displayed in the 100% estimation information input field of the "Estimation Information" item shown in FIG. 4(d). When the predetermined descent time has elapsed since transmitting the reverse rotation signal, the hoist / bucket control unit 112 transmits an open signal to the bucket opening / closing unit 313. As a result, the bucket 11 descends while moving from a fully closed state to a fully open state, and lands on the surface of the accumulated aggregate to a level that corresponds to 100% full open. When the bucket 11 lands on the surface of the aggregate, the load current value associated with the hoist drive unit 312 decreases, and upon detecting this decrease in the load current value, the hoist / bucket control unit 112 stops timing the first descent time T1. In response to the halt in timing, the updated display of the first descent time T1 in the 100% estimation information input field in the "Estimation Information" item also stops. In this way, the first descent time T1 (seconds (s)) is entered in the 100% estimation information input field in the "Estimation Information" item.

[0089] Next, information for 0% estimation is set. When setting information for 0% estimation, for example, a state where the first aggregate bin 51 is at 0% level is created, and the crane apparatus 10 is moved to a position corresponding to the first aggregate bin 51. The position of the bucket 11 at this time is the initial position. Next, when the "Measure" button SB2 shown in FIG. 4(d) is clicked, the hoist / bucket control unit 112 controls the hoist driving unit 312 and the bucket opening / closing unit 313 to lower the bucket 11 to the same position (first position) as during the first descent time T1. In other words, the bucket 11 is lowered to a position where the amount of stored aggregate is estimated to be 100% and then stopped. At this time, the bucket 11 is in a fully open state.

[0090] Next, a reverse rotation signal is sent to the hoist driver 312 from a position (first position) estimated to be 100% to cause the wire 15 to be wound down. In response to this reverse rotation signal, the hoist driver 312 winds down the wire 15, causing the bucket 11 to begin descending from the first position (timing start point) toward the bottom of the first aggregate bin 51. In response to the transmission of the reverse rotation signal, the hoist / bucket control unit 112 also starts timing a second descent time T2 using a timer, and monitors the load current value sent from the hoist driver 312. When the hoist / bucket control unit 112 starts timing the second descent time T2, the information (T2(s)) in the 0% estimation information input field in the "Estimation Information" item shown in Figure 4(d) is updated and displayed. When the bucket 11 is fully open, it lands on the surface of the level that is considered to be 0% (the bottom of the first aggregate bin 51 if the first aggregate bin 51 is empty, or the surface of the aggregate if the first aggregate bin 51 contains a small amount of aggregate). When the bucket 11 lands, the load current value of the hoist drive unit 312 decreases. When the hoist / bucket control unit 112 detects this decrease in the load current value, it stops timing the second descent time T2. As the timing of the second descent time T2 stops, the update display of the second descent time T2 in the 0% estimation information input field in the "Estimation Information" item also stops. In this way, the second descent time T2 (s) is entered in the 0% estimation information input field in the "Estimation Information" item. After entering information in each input field, clicking the "Register" button stores the input information in storage as information for estimating the amount of aggregate stored in the aggregate bin. Clicking the "Clear" button clears the input information in the input field.

[0091] By setting the information for estimating the amount of storage in the aggregate bin in the manner described above, T1(s) is associated with 100% estimation information and T2(s) is associated with 0% estimation information, and these are stored in storage as information for estimating the amount of storage.

[0092] Here, an image of a method for estimating the amount of stored aggregate by the aggregate bin storage amount estimating unit 114 will be explained with reference to FIG.

[0093] 11 is a diagram illustrating an image of a method for estimating the amount of aggregate stored in an aggregate bin. As described above, the hoist / bucket control unit 112 starts timing using a timer in response to the transmission of a reverse rotation signal, and measures the time from the start of timing until the bucket 11 hits the floor by monitoring the load current value transmitted from the hoist driving unit 312. Then, based on this timing result, the aggregate bin storage amount estimating unit 114 sets and registers a first descent time T1 used to estimate the amount of aggregate stored to be 100% and a second descent time T2 used to estimate the amount of aggregate stored to be 0%.

[0094] For example, if the first descent time T1, which is information for 100% estimation, is 30 (s) and the second descent time T2, which is information for 0% estimation, is 10 (s), the aggregate bin storage amount estimation unit 114 estimates the aggregate storage amount to be 100% when the timing result T from the initial position until the bucket 11 lands on the aggregate, etc. is 30 (s). Also, the aggregate bin storage amount estimation unit 114 estimates the aggregate storage amount to be 90% when the timing result T is 31 (s), 80% when the timing result T is 32 (s), 70% when the timing result T is 33 (s), ... 10% when the timing result T is 39 (s), and 0% when the timing result T is 40 (s).

[0095] <Crane control processing> Next, a description will be given of the crane control processing executed by the crane control unit 110. Fig. 9 is a flow chart showing the crane control processing.

[0096] First, when the crane control unit 110 is started, the crane control unit 110 executes a startup process that includes reading out the pairing information, crane position information, information for estimating the amount of aggregate stored in the hopper, information for estimating the amount of aggregate stored in the aggregate bin, and information for estimating the amount of aggregate stored in the aggregate bin, all of which are stored in the storage. In this embodiment, since the amount of aggregate stored in each of the aggregate bins 51-53 may change due to the addition of aggregate while the crane control unit 110 is not in operation (shut down), the information on the amount of aggregate stored is stored in RAM without being backed up. Therefore, when the startup process is completed, the crane control unit 110 is in a state where it has not yet acquired information on the amount of aggregate stored in each of the aggregate bins 51-53.

[0097] When the start-up process is completed, in step S1, the crane control section 110 acquires depth images of the first detection area WR11 to the fourth detection area WR22.

[0098] In step S2, the crane control unit 110 estimates the aggregate storage amounts in the areas corresponding to WR11 (first detection area) to WR22 (fourth detection area) in the first hopper 41 and the second hopper 42 from the acquired depth images, and determines whether the estimated aggregate storage amounts are all 90% or more. If it is determined that all the estimated aggregate storage amounts are 90% or more (YES), the process proceeds to step S3. On the other hand, if it is determined that all the estimated aggregate storage amounts are not 90% or more (NO), the process proceeds to step S6.

[0099] If it is determined in step S2 that all of the estimated aggregate storage volumes are 90% or more (YES), then in step S3 the crane control unit 110 determines whether Nb (the number of times sand has been scooped up from the first aggregate bin 51) is 0 (times). If it is determined that Nb is 0 (times) (YES), the process proceeds to step S5. On the other hand, if it is determined that Nb is not 0 (times) (NO), the process proceeds to step S4. Note that since Nb (the number of times sand has been scooped up from the first aggregate bin 51), Na (the number of times gravel has been scooped up from the second aggregate bin 52), and Nc (the number of times sand has been scooped up from the third aggregate bin 53), which will be described later, are stored in RAM, the values of Na, Nb, and Nc after the crane control unit 110 is started up will each be 0 (times).

[0100] If it is determined in step S3 that Nb is not 0 (times) (NO), then in step S4 the crane control unit 110 determines whether the aggregate storage volume in the area corresponding to MPA1 and the aggregate storage volume in the area corresponding to MPA2 in the first aggregate bin 51 are 20% or more. If it is determined that the aggregate storage volume in the area corresponding to MPA1 and the aggregate storage volume in the area corresponding to MPA2 are 20% or more (YES), then the process proceeds to step S5. On the other hand, if it is determined that this is not the case (NO), then the process proceeds to step S6.

[0101] If it is determined in step S4 that the aggregate storage volume in the area corresponding to MPA1 and the aggregate storage volume in the area corresponding to MPA2 are 20% or more (YES), in step S5, the crane control unit 110 drives the crane apparatus 10 toward SP1 (by appropriately driving the saddle apparatus 22 and the traversing apparatus 13) and stops it at the standby position of SP1. Once the crane apparatus 10 has been stopped at the standby position of SP1, the process returns to step S1.

[0102] If it is determined in step S4 that the aggregate storage volume in the area corresponding to MPA1 and the aggregate storage volume in the area corresponding to MPA2 are not 20% or more (NO), in step S6, the crane control unit 110 causes the crane apparatus 10 to travel toward SP2 and stop it at the standby position of SP2. After the crane apparatus 10 has been stopped at the standby position of SP2, the process returns to step S1.

[0103] In this embodiment, in consideration of the traveling efficiency (movement efficiency) of the crane apparatus 10, when sand stored in the first aggregate bin 51 is being replenished to the second hopper 42, the crane apparatus 10 is made to wait at the standby position SP1 close to the first aggregate bin 51. When sand stored in the third aggregate bin 53 is being replenished to the second hopper 42, the crane apparatus 10 is made to wait at the standby position SP2 close to the third aggregate bin 53.

[0104] If the crane control unit 110 determines in step S2 that all of the estimated aggregate storage amounts are not 90% or more, it sets the detection area among WR11 to WR22 with the smallest storage amount as HA (smallest detection area) in step S7.

[0105] Next, in step S8, the crane control unit 110 determines whether HA is WR11 or WR12. If it is determined that HA is WR11 or WR12 (YES), the process proceeds to step S9. On the other hand, if it is determined that HA is not WR11 or WR12 (NO), the process proceeds to step S10.

[0106] If it is determined in step S8 that HA is WR11 or WR12 (YES), the crane control section 110 executes a first control process in step S9. Fig. 13 is a flow chart showing the first control process in the crane control process. The first control process is a crane control process executed in response to the second aggregate bin 52.

[0107] In step S101, the crane control unit 110 determines whether Na (the number of times gravel has been scooped up from the second aggregate bin 52) is 0 (times). If it is determined that Na is 0 (times) (YES), the process proceeds to step S104. On the other hand, if it is determined that Na is not 0 (times) (NO), the process proceeds to step S102.

[0108] If it is determined in step S101 that Na is not 0 (times) (NO), the crane control unit 110 determines in step S102 whether Na is 1 (times). If it is determined that Na is 1 (times) (YES), the process proceeds to step S107. On the other hand, if it is determined that Na is not 1 (times) (NO), the process proceeds to step S103.

[0109] If it is determined in step S102 that Na is not 1 (times) (NO), the crane control unit 110 compares the amount of aggregate stored in the area corresponding to MPA3 and the amount of aggregate stored in the area corresponding to MPA4 in the second aggregate bin 52 in step S103, and if it is determined that the amount of aggregate stored in the area corresponding to MPA3 is greater than the amount of aggregate stored in the area corresponding to MPA4, or that the amount of aggregate stored in the area corresponding to MPA3 and the amount of aggregate stored in the area corresponding to MPA4 are equal (YES), the process proceeds to step S104. On the other hand, if it is determined that this is not the case (NO), the process proceeds to step S107.

[0110] If it is determined in step S101 that Na is 0 (times) (YES), or if it is determined in step S103 that the amount of aggregate stored in the area corresponding to MPA3 is greater than the amount of aggregate stored in the area corresponding to MPA4, or that the amount of aggregate stored in the area corresponding to MPA3 and the amount of aggregate stored in the area corresponding to MPA4 are equal (YES), then in step S104 the crane control unit 110 drives the crane device 10 toward MPA3 and stops it at the movement position of MPA3.

[0111] Next, in step S105, crane control unit 110 sends a reverse rotation signal to hoist driving unit 312 to wind down wire 15. In response to the sending of the reverse rotation signal, crane control unit 110 starts clocking. When crane control unit 110 detects that bucket 11 has landed on the floor, it stops sending the reverse rotation signal and stops clocking. As described above, bucket 11 is released during descent and lands in an open state.

[0112] Subsequently, in step S106, the crane control unit 110 estimates the amount of aggregate stored in the area corresponding to MPA3 from the time measurement result, and stores it in the RAM as the amount of aggregate stored in MPA3.

[0113] If it is determined in step S102 that Na is 1 (times) (YES), or if it is determined in step S103 that the amount of aggregate stored in the area corresponding to MPA3 is less than the amount of aggregate stored in the area corresponding to MPA4 (NO, MPA4 is greater), in step S107 the crane control unit 110 drives the crane device 10 toward MPA4 and stops it at the movement position of MPA4.

[0114] Next, in step S108, the crane control unit 110 sends a reverse rotation signal to the hoist driving unit 312 to wind down the wire 15. In response to the sending of the reverse rotation signal, the crane control unit 110 starts clocking. In addition, when the crane control unit 110 detects that the bucket 11 has landed on the floor, it stops sending the reverse rotation signal and stops clocking.

[0115] Subsequently, in step S109, the crane control unit 110 estimates the amount of aggregate stored in the area corresponding to MPA4 from the time measurement result, and stores it in the RAM as the amount of aggregate stored in MPA4.

[0116] When the processing of step S106 or step S109 is completed, in step S110, the crane control section 110 adds 1 to the value of Na and ends the first control processing.

[0117] In this way, in the first control process, when the value of Na is 0 (times), the amount of aggregate stored in the area corresponding to MPA3 in the second aggregate bin 52 is stored in the RAM, and when the value of Na is 1 (times), the amount of aggregate stored in the area corresponding to MPA4 in the second aggregate bin 52 is stored in the RAM. Therefore, the crane control unit 110 can grasp the amount of aggregate stored in the area corresponding to MPA3 by the first access to the second aggregate bin 52 after the start-up process is completed, and can grasp the amount of aggregate stored in the area corresponding to MPA4 by the second access to the second aggregate bin 52. Therefore, when the value of Na is 2 (times) or more (third or subsequent accesses), the crane control unit 110 can execute control by comparing the amount of aggregate stored in the area corresponding to MPA3 with the amount of aggregate stored in the area corresponding to MPA4.

[0118] In step S8, if it is determined that HA is not WR11 or WR12 (NO), the crane control unit 110 determines in step S10 whether Nb is 0 (times). If it is determined that Nb is 0 (times) (YES), the process proceeds to step S12. On the other hand, if it is determined that Nb is not 0 (times) (NO), the process proceeds to step S11.

[0119] If it is determined in step S10 that Nb is not 0 (times) (NO), then in step S11 the crane control unit 110 determines whether the aggregate storage volume in the area corresponding to MPA1 and the aggregate storage volume in the area corresponding to MPA2 in the first aggregate bin 51 are 20% or more. If it is determined that the aggregate storage volume in the area corresponding to MPA1 and the aggregate storage volume in the area corresponding to MPA2 are 20% or more (YES), then the process proceeds to step S12. On the other hand, if it is determined that this is not the case (NO), then the process proceeds to step S13.

[0120] In this embodiment, when the amount of sand stored in the areas corresponding to MPA1 and MPA2 in the first aggregate bin 51 falls below 20% (a predetermined amount set in advance), it is necessary to replenish the first aggregate bin 51 with sand, and therefore control is performed so that the sand stored in the third aggregate bin 53 is supplied to the second hopper 42 (the target aggregate bin is switched from the first aggregate bin 51 to the third aggregate bin 53). Furthermore, when the crane control unit 110 determines that the amount of aggregate stored in the area corresponding to MPA1 and the amount of aggregate stored in the area corresponding to MPA2 are not 20% or more (NO), it displays information on the display unit instructing the replenishment of sand to the first aggregate bin 51.

[0121] If it is determined in step S11 that the aggregate storage volume in the area corresponding to MPA1 and the aggregate storage volume in the area corresponding to MPA2 are 20% or more (YES), the crane control unit 110 executes a second control process in step S12. Fig. 14 is a flow chart showing the second control process in the crane control process. The second control process is a crane control process executed in response to the first aggregate bin 51.

[0122] In step S201, the crane control unit 110 determines whether Nb (the number of times sand is scooped up from the first aggregate bin 51) is 0 (times). If it is determined that Nb is 0 (times) (YES), the process proceeds to step S204. On the other hand, if it is determined that Nb is not 0 (times) (NO), the process proceeds to step S202.

[0123] If it is determined in step S201 that Nb is not 0 (times) (NO), the crane control unit 110 determines in step S202 whether Nb is 1 (times). If it is determined that Nb is 1 (times) (YES), the process proceeds to step S207. On the other hand, if it is determined that Nb is not 1 (times) (NO), the process proceeds to step S203.

[0124] If it is determined in step S102 that Nb is not 1 (times) (NO), the crane control unit 110 compares the amount of aggregate stored in the area corresponding to MPA1 and the amount of aggregate stored in the area corresponding to MPA2 in the first aggregate bin 51 in step S203, and if it is determined that the amount of aggregate stored in the area corresponding to MPA1 is greater than the amount of aggregate stored in the area corresponding to MPA2, or that the amount of aggregate stored in the area corresponding to MPA1 and the amount of aggregate stored in the area corresponding to MPA2 are equal (YES), the process proceeds to step S204. On the other hand, if it is determined that this is not the case (NO), the process proceeds to step S207.

[0125] If it is determined in step S201 that Nb is 0 (times) (YES), or if it is determined in step S203 that the amount of aggregate stored in the area corresponding to MPA1 is greater than the amount of aggregate stored in the area corresponding to MPA2, or that the amount of aggregate stored in the area corresponding to MPA1 and the amount of aggregate stored in the area corresponding to MPA2 are equal (YES), then in step S204 the crane control unit 110 drives the crane device 10 toward MPA1 and stops it at the movement position of MPA1.

[0126] Next, in step S205, crane control unit 110 sends a reverse rotation signal to hoist driving unit 312 to wind down wire 15. In response to the sending of the reverse rotation signal, crane control unit 110 starts clocking. When crane control unit 110 detects that bucket 11 has landed on the floor, it stops sending the reverse rotation signal and stops clocking. As described above, bucket 11 is released during descent and lands in an open state.

[0127] Subsequently, in step S206, the crane control unit 110 estimates the amount of aggregate stored in the area corresponding to MPA1 from the time measurement result, and stores it in the RAM as the amount of aggregate stored in MPA1.

[0128] If it is determined in step S202 that Na is 1 (times) (YES), or if it is determined in step S203 that the amount of aggregate stored in the area corresponding to MPA1 is less than the amount of aggregate stored in the area corresponding to MPA2 (NO, MPA2 is greater), in step S207 the crane control unit 110 drives the crane device 10 toward MPA2 and stops it at the movement position of MPA2.

[0129] Next, in step S208, the crane control unit 110 sends a reverse rotation signal to the hoist driving unit 312 to wind down the wire 15. In response to the sending of the reverse rotation signal, the crane control unit 110 starts clocking. In addition, when the crane control unit 110 detects that the bucket 11 has landed on the floor, it stops sending the reverse rotation signal and stops clocking.

[0130] Subsequently, in step S209, the crane control unit 110 estimates the amount of aggregate stored in the area corresponding to MPA2 from the time measurement result, and stores it in the RAM as the amount of aggregate stored in MPA2.

[0131] When the processing of step S206 or step S209 is completed, in step S210, the crane control section 110 adds 1 to the value of Nb and ends the second control processing.

[0132] In this way, in the second control process, when the value of Nb is 0 (times), the amount of aggregate stored in the area corresponding to MPA1 in the first aggregate bin 51 is stored in the RAM, and when the value of Nb is 1 (times), the amount of aggregate stored in the area corresponding to MPA2 in the first aggregate bin 51 is stored in the RAM. Therefore, the crane control unit 110 can grasp the amount of aggregate stored in the area corresponding to MPA1 by the first access to the first aggregate bin 51 after the startup process is completed, and can grasp the amount of aggregate stored in the area corresponding to MPA2 by the second access to the first aggregate bin 51. Therefore, when the value of Nb is 2 (times) or more (third or subsequent accesses), the crane control unit 110 can execute control by comparing the amount of aggregate stored in the area corresponding to MPA1 and the amount of aggregate stored in the area corresponding to MPA2.

[0133] If it is determined in step S11 that the aggregate storage volume in the area corresponding to MPA1 and the aggregate storage volume in the area corresponding to MPA2 are not 20% or more (NO), then in step S13 the crane control unit 110 determines whether Nc (the number of times sand has been scooped up from the third aggregate bin 53) is 0 (times). If it is determined that Nc is 0 (times) (YES), the process proceeds to step S14. On the other hand, if it is determined that Nc is not 0 (times) (NO), the process proceeds to step S15.

[0134] If it is determined in step S13 that Nc is not 0 (times) (NO), then in step S14 the crane control unit 110 determines whether the aggregate storage volume in the area corresponding to MPA5 and the aggregate storage volume in the area corresponding to MPA6 in the third aggregate bin 53 are 20% or more. If it is determined that the aggregate storage volume in the area corresponding to MPA5 and the aggregate storage volume in the area corresponding to MPA6 are 20% or more (YES), then the process proceeds to step S15. On the other hand, if it is determined that this is not the case (NO), then the process proceeds to step S16.

[0135] If it is determined in step S14 that the aggregate storage volume in the area corresponding to MPA5 and the aggregate storage volume in the area corresponding to MPA6 are not 20% or more (NO), in step S16 the crane control unit 110 sets the values of Nb and Nc to 0 and then returns the processing to step S10.

[0136] In this embodiment, when the amount of sand stored in the areas corresponding to MPA5 and MPA6 in the third aggregate bin 53 falls below 20% (a predetermined amount set in advance), it is necessary to replenish sand in the third aggregate bin 53, and therefore control is performed to supply the sand stored in the first aggregate bin 51 to the second hopper 42 (switching the target aggregate bin from the third aggregate bin 53 to the first aggregate bin 51). Furthermore, when the crane control unit 110 determines that the amount of aggregate stored in the areas corresponding to MPA5 and MPA6 is not 20% or more (NO), it displays information on the display unit instructing the user to replenish sand in the third aggregate bin 53.

[0137] If it is determined in step S14 that the aggregate storage volume in the area corresponding to MPA5 and the aggregate storage volume in the area corresponding to MPA6 are 20% or more (YES), the crane control unit 110 executes a third control process in step S15. Fig. 15 is a flow chart showing the third control process in the crane control process. The third control process is a crane control process executed in response to the third aggregate bin 53.

[0138] In step S301, the crane control unit 110 determines whether Nc (the number of times sand is scooped up from the third aggregate bin 53) is 0 (times). If it is determined that Nc is 0 (times) (YES), the process proceeds to step S304. On the other hand, if it is determined that Nc is not 0 (times) (NO), the process proceeds to step S302.

[0139] If it is determined in step S301 that Nc is not 0 (times) (NO), the crane control unit 110 determines in step S302 whether Nc is 1 (times). If it is determined that Nc is 1 (times) (YES), the process proceeds to step S307. On the other hand, if it is determined that Nc is not 1 (times) (NO), the process proceeds to step S303.

[0140] If it is determined in step S302 that Nc is not 1 (times) (NO), the crane control unit 110 compares the amount of aggregate stored in the area corresponding to MPA5 and the amount of aggregate stored in the area corresponding to MPA6 in the third aggregate bin 53 in step S303, and if it is determined that the amount of aggregate stored in the area corresponding to MPA5 is greater than the amount of aggregate stored in the area corresponding to MPA6, or that the amount of aggregate stored in the area corresponding to MPA5 and the amount of aggregate stored in the area corresponding to MPA6 are equal (YES), the process proceeds to step S304. On the other hand, if it is determined that this is not the case (NO), the process proceeds to step S307.

[0141] If it is determined in step S301 that Nc is 0 (times) (YES), or if it is determined in step S303 that the amount of aggregate stored in the area corresponding to MPA5 is greater than the amount of aggregate stored in the area corresponding to MPA6, or that the amount of aggregate stored in the area corresponding to MPA5 and the amount of aggregate stored in the area corresponding to MPA6 are equal (YES), then in step S304 the crane control unit 110 drives the crane device 10 toward MPA5 and stops it at the movement position of MPA5.

[0142] Next, in step S305, crane control unit 110 sends a reverse rotation signal to hoist driving unit 312 to wind down wire 15. In response to the sending of the reverse rotation signal, crane control unit 110 starts clocking. When crane control unit 110 detects that bucket 11 has landed on the floor, it stops sending the reverse rotation signal and stops clocking. As described above, bucket 11 is released during descent and lands in an open state.

[0143] Subsequently, in step S306, the crane control unit 110 estimates the amount of aggregate stored in the area corresponding to MPA5 from the time measurement result, and stores the amount of aggregate stored in MPA5 in the RAM.

[0144] If it is determined in step S302 that Nc is 1 (times) (YES), or if it is determined in step S303 that the amount of aggregate stored in the area corresponding to MPA5 is less than the amount of aggregate stored in the area corresponding to MPA6 (NO, MPA6 is greater), in step S307 the crane control unit 110 drives the crane device 10 toward MPA6 and stops it at the movement position of MPA6.

[0145] Next, in step S308, the crane control unit 110 sends a reverse rotation signal to the hoist driving unit 312 to wind down the wire 15. In response to the sending of the reverse rotation signal, the crane control unit 110 starts clocking. In addition, when the crane control unit 110 detects that the bucket 11 has landed on the floor, it stops sending the reverse rotation signal and stops clocking.

[0146] Subsequently, in step S309, the crane control unit 110 estimates the amount of aggregate stored in the area corresponding to the MPA 6 from the time measurement result, and stores this as the amount of aggregate stored in the MPA 6 in the RAM.

[0147] When the processing of step S306 or step S309 is completed, in step S310, the crane control section 110 adds 1 to the value of Nc and ends the third control processing.

[0148] In this way, in the third control process, when the value of Nc is 0 (times), the amount of aggregate stored in the area corresponding to MPA5 in the third aggregate bin 53 is stored in RAM, and when the value of Nc is 1 (times), the amount of aggregate stored in the area corresponding to MPA6 in the third aggregate bin 53 is stored in RAM. Therefore, the crane control unit 110 can grasp the amount of aggregate stored in the area corresponding to MPA5 by the first access to the third aggregate bin 53 after the start-up process is completed, and can grasp the amount of aggregate stored in the area corresponding to MPA6 by the second access to the third aggregate bin 53. Therefore, when the value of Nc is 2 (times) or more (third or subsequent accesses), the crane control unit 110 can execute control by comparing the amount of aggregate stored in the area corresponding to MPA5 with the amount of aggregate stored in the area corresponding to MPA6.

[0149] When the first control process in step S9, the second control process in step S12, or the second control process in step S12 is completed, the crane control unit 110 closes the bucket 11 in step S17 to grip the aggregate. Next, the crane control unit 110 sends a forward rotation signal to the hoist driving unit 312 to wind up the wire 15. In addition, timing is started in response to the sending of the forward rotation signal. In addition, when the crane control unit 110 detects that the bucket 11 has reached the initial position, it stops sending the forward rotation signal and stops timing.

[0150] In step S18, the crane control unit 110 moves the crane apparatus 10 to a movement position (any of MPB1 to MPB4) corresponding to the detection area set in HA (minimum detection area), and stops the crane apparatus 10 at the movement position corresponding to the detection area set in HA. Note that the movement position when HA=WR11 is MPB1, when HA=WR12 is MPB2, when HA=WR21 is MPB3, and when HA=WR22 is MPB4.

[0151] In step S19, the crane control unit 110 opens the bucket 11 to supply aggregate to the area of the hopper corresponding to the movement position of the minimum detection area.

[0152] In step S20, the crane control section 110 determines whether or not the control by the crane control process has ended. If it is determined that the control by the crane control process has ended (YES), the process proceeds to step S21. On the other hand, if it is determined that the control by the crane control process has not ended (NO), the process returns to step S1.

[0153] If it is determined in step S20 that the control by the crane control processing has ended, in step S21, the crane control unit 110 causes the crane apparatus 10 to travel toward SP1, stops it at the standby position of SP1, and then ends the crane control processing.

[0154] As described above, in this embodiment, even if the target object is imaged from above using a depth camera, it is unlikely to interfere with the movement of the crane equipment 10, and since the distance between the depth camera and the target object is close, when the object is installed at an installation location such as the first hopper 41 or the second hopper 42 where distance measurement is possible to a certain extent, the amount of stored aggregate is estimated by using an imaging device such as a depth camera.

[0155] Two detection areas, WR11 and WR12, are set from a depth image of the first hopper 41 captured by the first depth camera 33, and two detection areas, WR21 and WR22, are set from a depth image of the second hopper 42 captured by the second depth camera 34, allowing the amount of aggregate stored in each detection area to be estimated. As a result, if an imbalance occurs between the amount of gravel stored in the area corresponding to WR11 and the amount of gravel stored in the area corresponding to WR12 in the first hopper 41, the area with the smaller amount can be selected and replenished with gravel. Furthermore, if an imbalance occurs between the amount of sand stored in the area corresponding to WR21 and the amount of sand stored in the area corresponding to WR22 in the second hopper 42, the area with the smaller amount can be selected and replenished with sand. This makes it possible to store aggregate evenly (with minimal imbalance) in the aggregate storage areas of the first hopper 41 and the second hopper 42.

[0156] <Effects of the embodiments of the present disclosure> In a hopper structure in which stored aggregate is discharged from the bottom, such as a hopper installed in an aggregate storage facility, the surface shape of the aggregate piled up in the hopper after the aggregate is discharged is not uniform (an uneven surface is formed). Therefore, there are cases where one area in a hopper has more aggregate piled up than another area, or where one area has less aggregate piled up than another area. Conventionally, even in such cases, a crane device has been moved to a predetermined transfer position to replenish the aggregate into the hopper. Therefore, it has been difficult to efficiently store aggregate in the storage area of the hopper. Furthermore, depending on the height of the pile formed by the accumulated aggregate, the bucket comes into contact with the pile, hindering the replenishment operation. However, the technology disclosed herein makes it possible to replenish aggregate to an area with a small amount of aggregate stored, thereby enabling aggregate to be stored more evenly in the storage area of the hopper.

[0157] Furthermore, while it has been difficult to grasp the amount of aggregate stored in an aggregate bin installed in an aggregate storage facility or the like, the technology disclosed herein makes it possible to estimate the amount of aggregate stored from the descent time of the bucket 11. Therefore, by grasping the amount of aggregate stored, it becomes possible to eliminate the need for workers to check the remaining amount. Furthermore, it becomes possible to automate the task of switching from the main aggregate bin to the sub aggregate bin.

[0158] Furthermore, as aggregates in aggregate bins installed in aggregate storage facilities and the like are scooped up by a bucket, the amount of aggregate stored in the bin decreases, resulting in an uneven aggregate surface formed by the remaining aggregate (an uneven surface is formed). Therefore, there are cases where one area in an aggregate bin has more aggregate accumulated therein than another area, or where one area has less aggregate accumulated therein than another area. Conventionally, even in such cases, a crane device would move to a single predetermined movement position and scoop up the aggregate with a bucket. Therefore, it was difficult to efficiently scoop up the aggregate accumulated in the aggregate bin. However, the technology disclosed herein makes it possible to scoop up aggregate with a bucket from areas with a larger amount of aggregate stored therein, thereby enabling the aggregate stored in the aggregate bin to be evenly scooped up.

[0159] <Modifications, etc.> In this embodiment, an aggregate storage facility that stores aggregates required for mixing concrete has been described as an example of a material storage facility. However, the material storage facility is not limited to this, and may be any material storage facility that stores materials such as cement, soil, sand, and gravel. Furthermore, although an aggregate storage facility having two hoppers and three aggregate bins has been described as an example, the number of hoppers and the number of aggregate bins installed in the aggregate storage facility are not limited to those in this embodiment.

[0160] In this embodiment, two detection areas are set for one hopper to estimate the amount of aggregate stored in the hopper, and the amount of aggregate stored in each detection area is estimated. In this embodiment, two movement positions are set for one aggregate bin to estimate the amount of aggregate stored in each movement position. However, this is not limited to this, and three or more detection areas may be set for one hopper to estimate the amount of aggregate stored in each detection area, and three or more movement positions may be set for one aggregate bin to estimate the amount of aggregate stored in each movement position.

[0161] In this embodiment, for example, the depth image of the detection area WR11 (WR11 depth image) captured by the first depth camera 33 is compared with the registered depth images A1.bmp (depth image information for 100% estimation), A2.bmp (depth image information for 50% estimation), and A3.bmp (depth image information for 0% estimation) to calculate the difference, and the amount of aggregate stored in the first hopper 41 corresponding to the detection area WR11 is estimated based on the calculation result. However, this is not limited to this, and the amount of aggregate stored may be estimated without using the depth image for amount determination. In such a case, for example, the gradation color displayed in the depth image within the detection area is preset to 100% when all colors are red, 80% when all colors are orange, 60% when all colors are yellow, 40% when all colors are green, 20% when all colors are blue, etc. Then, by detecting the proportion of each color in the gradation expressed in the depth image that has actually been captured, it is conceivable to estimate the amount of accumulated aggregate from that proportion.

[0162] In this embodiment, three depth images for determining the amount of stored aggregate are used when estimating the amount of aggregate stored in each detection area. However, this is not limited to this, and one or two depth images for determining the amount of stored aggregate may be used when estimating the amount of aggregate stored in each detection area. Furthermore, four depth images for determining the amount of stored aggregate may be used when estimating the amount of aggregate stored in each detection area.

[0163] In this embodiment, the amount of aggregate stored in the hopper is estimated based on a depth image captured by a depth camera as storage information for the material stored in the hopper. However, this is not limited to this. A sensor that irradiates an object with pulsed laser light, such as a 3D lidar, and measures distance based on the time it takes for the reflected scattered light to return may be used to acquire distance information for multiple points in the hopper, and the amount of aggregate stored may be estimated from this distance information. In this case, distance information for 100% estimation, distance information for 50% estimation, distance information for 0% estimation, etc. may be prepared in advance, and the distance information for multiple points in each actual detection area may be compared with the distance information for 100% estimation, distance information for 50% estimation, distance information for 0% estimation, etc. to calculate the difference, and the amount of aggregate stored in the hopper may be estimated based on the calculation result. Alternatively, the amount of aggregate stored in the hopper may be estimated without using the distance information for 100% estimation, distance information for 50% estimation, distance information for 0% estimation, etc.

[0164] In this embodiment, the amount of aggregate stored in the hopper is estimated based on a depth image captured by a depth camera as storage information for the material stored in the hopper. However, this is not limiting, and weight sensors (pressure sensors) may be installed at multiple locations on the bottom of the hopper, and the amount of aggregate stored may be estimated from the weights measured by the respective weight sensors.

[0165] In this embodiment, the aggregate storage volume is estimated in increments of 10% by rounding off values less than 1 second in the timing result T. However, the present invention is not limited to this, and the aggregate storage volume may be estimated in increments of 1%, 5%, 20%, etc.

[0166] In this embodiment, the time taken for the bucket 11 to descend from the initial position and land on the aggregate is measured as the first descent time T1. However, the present invention is not limited to this, and the first descent time T1 may be measured as the time taken for the bucket 11 to descend from a timing start position set below the initial position and land on the aggregate.

[0167] In this embodiment, the time taken for the bucket 11 to descend from the first position and land on the floor is measured as the second descent time T2. However, this is not limiting, and the time taken for the bucket 11 to descend from the initial position and land on the floor may be measured as the second descent time T2, or the time taken for the bucket 11 to descend from the timing start position and land on the floor may be measured as the second descent time T2. In this case, the percentage of the aggregate storage volume can be estimated based on the difference between T2 and T1.

[0168] <Additional Notes> Other inventions according to embodiments of the present disclosure will be described below.

[0169] Invention A1 of a crane control device is a crane control device that controls a crane that lowers a bucket from above a material storage tank and uses the bucket to grasp the material stored in the material storage tank, characterized in that it has a timing unit that measures the time it takes for the bucket to land in the material storage tank, and a material storage tank storage amount estimation unit that estimates the amount of material stored in the material storage tank based on the landing time.

[0170] The timing unit Invention A2 of the crane control device described in Invention A1 includes a first reference timing process that measures, as a first reference time, the time until the bucket, which has been lowered from a predetermined position, lands at a first reference position in the material storage tank, and a second reference timing process that measures, as a second reference time, the time until the bucket, which has been lowered from the first reference position or the predetermined position, lands at a second reference position in the material storage tank that is lower than the first reference position, wherein the timing unit measures, as the landing time, the time until the bucket, which has been lowered from the predetermined position, lands in the material storage tank, and the material storage tank storage amount estimation unit estimates the material storage amount in the material storage tank from the landing time based on the first reference time and the second reference time.

[0171] Invention A3 of the crane control device described in Invention A1 or Invention A2, characterized in that the timing unit measures the landing time for multiple areas in the material storage tank, and the storage amount estimation unit in the material storage tank estimates the material storage amount in each area of the material storage tank from the landing time for each area.

[0172] Invention A4 is a crane control method in which a computer controls a crane that lowers a bucket from above a material storage tank and uses the bucket to grasp the material stored in the material storage tank, characterized in that it includes a timing process for measuring the time it takes for the bucket to land in the material storage tank, and a material storage volume estimation process for estimating the amount of material stored in the material storage tank based on the landing time.

[0173] Invention A5 is a crane control program that causes a computer to control a crane that lowers a bucket from above a material storage tank and uses the bucket to grasp the material stored in the material storage tank, characterized in that the crane control program executes a timing procedure that measures the time it takes for the bucket to land in the material storage tank, and a material storage volume estimation procedure that estimates the amount of material stored in the material storage tank based on the landing time.

[0174] Invention B1 of a material supply system that controls a crane that lowers a bucket from above a material storage tank and uses the bucket to grasp the material stored in the material storage tank, and controls the crane to replenish the material to a hopper, and is characterized in that it sets multiple comparison target areas to be compared, estimates the amount of material stored in the areas in the hopper corresponding to each of the comparison target areas based on the storage information of the multiple comparison target areas, measures the landing time for the multiple areas in the material storage tank, estimates the amount of material stored in each area in the material storage tank from the landing time for each area, compares the amount of material stored in each of the hoppers, and uses the bucket to grasp and replenish the material from the area in the material storage tank with a large amount of material stored to the area with a small amount of material stored.

[0175] Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to the embodiments, and various modifications and changes are possible within the scope of the gist of the present disclosure described in the claims. [Explanation of symbols]

[0176] 1 Aggregate storage system, 10 Crane device, 11 Bucket, 12 Hoist, 13 Traverse device, 14 Second reflector, 15 Wire, 21a First runway, 21b Second runway, 22a First saddle, 22b Second saddle, 23 Crane girder, 24 First reflector, 31 First distance sensor, 32 Second distance sensor, 33 First depth camera, 34 Second depth camera, 40 Hopper equipment, 41 First hopper, 42 Second hopper, 43 First conveyor, 44 Second conveyor, 50 Aggregate storage equipment, 51 First aggregate bin, 52 Second aggregate bin, 53 Third aggregate bin, 100 Information processing device, 110 Crane control unit, 210 First travel drive unit, 250 Second travel drive unit, 310 Traverse device control unit

Claims

1. A replenishment control device that controls the replenishment of materials to a hopper based on storage information of the materials stored in the hopper, a comparison target area setting unit that sets a plurality of comparison target areas to be compared; a hopper storage amount estimation unit that estimates the material storage amount in an area in the hopper corresponding to each of the plurality of comparison target areas based on the storage information of the plurality of comparison target areas; a supply control unit that compares the respective amounts of the stored material and controls the supply of the material to the area with the smallest amount of the stored material; A replenishment control device comprising:

2. The storage information is a depth image obtained by capturing an image of the hopper from above, the comparison target region setting unit sets a plurality of image regions to be the comparison target regions from the depth image; The replenishment control device described in claim 1, characterized in that the hopper storage amount estimation unit estimates the material storage amount in the area in the hopper corresponding to each of the image areas from the depth images of the multiple image areas.

3. The hopper storage amount estimation unit stores reference information that serves as a reference when estimating the material storage amount, 3. The replenishment control device according to claim 1, wherein the amount of the material stored is estimated by comparing the reference information with the storage information.

4. A replenishment control method in which a computer controls the replenishment of materials to a hopper based on storage information of the materials stored in the hopper, a comparison target region setting step of setting a plurality of comparison target regions; a hopper storage amount estimation step of estimating the material storage amount in an area in the hopper corresponding to each of the plurality of comparison target areas based on the storage information of the plurality of comparison target areas; a supply control step of comparing the respective amounts of the stored material and performing control to supply the material to the area with the smallest amount of the stored material; A replenishment control method comprising:

5. A replenishment control program that causes a computer to execute control to replenish a material to a hopper based on storage information of the material stored in the hopper, a comparison region setting step for setting a plurality of comparison regions to be compared; a hopper storage amount estimation step for estimating material storage amounts in areas in the hopper corresponding to each of the comparison target areas based on the storage information of the plurality of comparison target areas; a supply control procedure for comparing the respective amounts of stored material and performing control to supply the material to the area with the smallest amount of stored material; A replenishment control program characterized by executing the above.

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