Loading system and loading method for transported item

Abstract

To provide technique that reliably loads a transported item at a specific position on an upper surface of a transport table.SOLUTION: A loading system 10 of the present invention comprises: multiple imaging devices 11 arranged above a cargo bed 101 of a trailer 100 and capable of imaging at least an upper surface of the cargo bed 101; first calculation means for calculating coordinates of a predetermined position provided on the upper surface of the cargo bed 101 from an image obtained by each of the multiple imaging devices 11; second calculation means for obtaining, by using coordinates of a reference position when a position of a crane device 50 that is stopped when a transported item is loaded onto the cargo bed 101 in a state in which the cargo bed 101 is arranged at a predetermined position is set as the reference position and coordinates of the predetermined position of the cargo bed 101 calculated by the first calculation means, a position deviation amount at the predetermined position relative to the reference position; and position adjustment means for adjusting a stop position of the crane device 50 when loading a slab S onto the cargo bed 101 by using the position deviation amount of the predetermined position relative to the reference position calculated by the second calculation means.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a system and method for loading products such as slabs onto the bed of a transport trailer, where the stopping position of a transport crane device varies depending on the operator's operation when the device is automatically operated. [Background technology]

[0002] In casting lines for steel products, cranes, hoists, etc. are used to load slabs cut to the desired length onto the bed of a transport trailer. Hereinafter, cranes, hoists, etc. will be collectively referred to as crane equipment. Furthermore, transport trailers will be simply referred to as trailers.

[0003] In recent years, the task of loading slabs onto trailer beds has been automated with the aim of improving productivity and reducing labor. However, because trailers are stopped by operators, there is variation in the stopping position. Variation in the stopping position causes variation in the loading position of the slabs. Furthermore, since variation in the loading position of the slabs may cause the slabs to fall during transport by the trailer, control of the crane device when loading slabs onto the bed of a stopped trailer is extremely important.

[0004] For example, Patent Document 1 discloses setting a pallet for transporting coils in a fixed position using an optical wide sensor that detects the longitudinal position of the pallet and an ultrasonic distance meter that detects the lateral positional deviation and tilt of the pallet. Also, Patent Document 2 discloses automatically connecting a hoisting tool of a container crane to a container while calculating the relative position between the hoisting tool and a corner fitting on the top surface of the container from an image of the corner fitting on the top surface of the container taken by imaging means such as a CCD camera installed on the hoisting tool or in the driver's cab of the crane. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 6-329387 [Patent Document 2] Japanese Patent Application Laid-Open No. 2001-97670 Summary of the Invention [Problem to be solved by the invention]

[0006] For example, if detection means such as the optical wide-angle sensor or ultrasonic rangefinder disclosed in Patent Document 1 were to be installed on a trailer, it would be necessary to install these detection means on all trailers transporting slabs, which would be extremely costly. Furthermore, since the height and shape of the trailer bed vary depending on the type of trailer, it would be difficult to perform point measurements using a rangefinder installed on the trailer. Furthermore, while it is possible to install a rangefinder on the ground instead of on the trailer, installing a rangefinder on the ground poses the problem of limitations on installation locations, such as the need to ensure a clear path for the trailer's movement.

[0007] Furthermore, as disclosed in Patent Document 2, it is possible to install a common reference object on the trailer for all measurement targets, but because the shape of each trailer is different, it is difficult to install a common reference object on all trailers. Furthermore, because the common reference object and the camera installed on the crane to detect the reference object are in one-to-one correspondence, there is a problem that measurement becomes impossible if the camera malfunctions or detects the object incorrectly due to a dirty lens. Furthermore, in this case, if the camera is installed on the crane, maintenance work such as camera replacement and cleaning, and wiring inspection in the event of an abnormality, must be performed on the crane, which poses problems with maintainability and safety.

[0008] The present invention has been made in consideration of the above, and aims to provide a loading system and a loading method that enable transported objects, such as slabs, to be reliably loaded at a specific position on the top surface of a transport platform, such as the bed of a trailer. [Means for solving the problem]

[0009] According to one aspect, the loading system for transported goods of the present invention is a system that automatically loads transported goods onto a transport platform using a lifting device, and is characterized by having: multiple imaging devices arranged above the transport platform and capable of capturing at least an image of the top surface of the transport platform; a first calculation means that calculates the coordinates of a predetermined position on the top surface of the transport platform from images obtained from each of the multiple imaging devices; a second calculation means that, when the position of the lifting device at which the transported goods are stopped when the transport platform is placed in a predetermined position and the lifting device is stopped when the transported goods are loaded onto the transport platform, calculates the amount of positional deviation of the predetermined position from the reference position using the coordinates of the reference position and the coordinates of the predetermined position of the transport platform calculated by the first calculation means; and a position adjustment means that adjusts the stopping position of the lifting device when the transported goods are loaded onto the transport platform using the amount of positional deviation of the predetermined position from the reference position calculated by the second calculation means.

[0010] According to another aspect, the method for loading transported objects of the present invention is a method for automatically loading transported objects onto a transport platform using a lifting device, and is characterized by including: an imaging step for imaging at least the top surface of the transport platform using multiple imaging devices arranged above the transport platform; a first calculation step for calculating the coordinates of a predetermined position on the top surface of the transport platform from the images obtained from each of the multiple imaging devices; a second calculation step for determining the amount of positional deviation of the predetermined position from the reference position using the coordinates of the reference position and the coordinates of the predetermined position calculated by the first calculation means, when the position of the lifting device at which the transported objects are stopped when the transport platform is placed at a predetermined position is taken as the reference position; and a position adjustment step for adjusting the stopping position of the lifting device when the transported objects are loaded onto the transport platform using the amount of positional deviation of the predetermined position from the reference position calculated by the second calculation means. [Effects of the Invention]

[0011] According to the present disclosure, it is possible to reliably load an object to be transported, such as a slab, at a specific position on the top surface of a transport platform, such as the bed of a trailer. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a schematic perspective view showing an example of the configuration of a loading system according to an embodiment of the present invention; [Figure 2] (a) is a schematic top view when the trailer stops at a predetermined position in the slab loading area, and (b) is a schematic top view when the trailer stops at a position shifted from the predetermined position in the slab loading area. [Figure 3] FIG. 2 is a schematic diagram illustrating an example of the configuration of a deviation amount calculation device. [Figure 4] FIG. 2 is a schematic diagram showing the positional relationship between a pole and a trailer bed. [Figure 5] 10 is a table showing an example of an evaluation result of a reliability evaluation unit. [Figure 6] 10 is a flowchart showing a flow of processing in a deviation amount calculation device. [Figure 7] 7 is a flowchart showing a specific process flow of steps S105 and S106 in FIG. 6. DETAILED DESCRIPTION OF THE INVENTION

[0013] Hereinafter, a loading system according to an embodiment of the present invention will be described with reference to the drawings. However, the present invention is not limited to the embodiment described below.

[0014] The loading system 10 in this embodiment is a system for loading slabs S onto the loading platform 101 of a trailer 100 by automatic operation of a crane apparatus 50, and is a system that can adjust the stopping position of the crane apparatus 50 when loading the slabs S according to the position and orientation of the loading platform 101 of the stopped trailer 100. The crane apparatus 50 corresponds to the lifting device in the claims, and the slabs S correspond to the transported object in the claims. The loading platform 101 of the trailer 100 corresponds to the transport platform in the claims.

[0015] In the following, the area where the trailer 100 stops when loading the slab S will be referred to as the slab loading area A1. The slab loading area A1 is, for example, a rectangular area surrounded by a white line 60 or the like (see FIG. 2). The trailer 100 stopped in the slab loading area A1 is stopped so that the upper left side in FIG. 1 is in front of the trailer 100, for example. Therefore, in the following description, the left-right direction of the trailer 100 stopped in the slab loading area A1 will be referred to as the X-axis direction, the front-rear direction of the trailer 100 as the Y-axis direction, and the up-down direction of the trailer 100 as the Z-axis direction.

[0016] 1, the loading system 10 includes a plurality of imaging devices 11, a lighting device 12, a deviation amount calculation device 13, a process computer (P / C) 14, a crane control device 16, and a crane device 50. Here, the crane control device 16 corresponds to the position adjustment means recited in the claims.

[0017] The imaging device 11 captures images of the upper surface of the loading platform 101 of the trailer 100 stopped in the slab loading area A1 and the poles 51, 52 erected at two locations on the ground surface G near the slab loading area A1 in the same imaging range. Although not shown, a plurality of imaging devices 11 are disposed above the slab loading area A1, for example, on a crane girder disposed across the traveling platform of the crane device 50. In this embodiment, a case where four imaging devices 11 are used will be described. Here, the poles 51, 52 correspond to the objects recited in the claims.

[0018] It should be noted that the imaging devices 11 only need to be placed in positions where they can capture an image including the upper surface of the loading platform 101 of the trailer 100 and the poles 51, 52 erected at two locations on the ground surface G near the slab loading area A1, and it is not necessary for all imaging devices 11 to be placed on the crane girder. Also, in this embodiment, an example is given in which the number of imaging devices 11 is four, but it is preferable that the number of imaging devices 11 is four or more.

[0019] Although not shown in the figures, the lighting device 12, like the imaging device 11, is provided on a crane girder that is arranged across the traveling platform of the crane device 50. For example, when the brightness of the slab loading area A1 and its vicinity falls below a predetermined brightness, the lighting device 12 illuminates the loading platform 101 of the trailer 100 stopped in the slab loading area A1 and the poles 51 and 52 erected at two locations on the ground surface. The lighting device 12 is driven and controlled by the deviation amount calculation device 13.

[0020] The lighting device 12 does not need to illuminate the entire trailer 100 stopped in the slab loading area A1, as it is sufficient to illuminate the loading platform 101 of the trailer 100 stopped in the slab loading area A1 and the poles 51, 52 erected at two locations on the ground surface G. Also, although Fig. 1 illustrates an example in which one lighting device 12 is installed, it is also possible to use multiple lighting devices to illuminate the slab loading area A1 and its vicinity.

[0021] The deviation amount calculation device 13 is a device that uses the image captured by the above-mentioned imaging device 11 to calculate the deviation amount ΔX in the X-axis direction and the deviation amount ΔY in the Y-axis direction at the stopping position of the crane device 50 when loading the slab S onto the loading platform 101 of the trailer 100.

[0022] Hereinafter, the center position on the XY plane of the crane apparatus 50 when loading a slab S onto the loading platform 101 of the trailer 100 that stops at a predetermined position within the slab loading area A1 will be referred to as the reference position C0. As shown in FIG. 2(a), stopping at a predetermined position within the slab loading area A1 means that the trailer 100 stops with the center C10 of the slab loading area A1 and the center C11 of the trailer 100 aligned on the XY plane, for example.

[0023] The center position on the top surface of the bed 101 of the trailer 100 is referred to as the center position C1. Furthermore, the center position on the XY plane of the crane device 50 when loading a slab S onto the bed 101 of the trailer 100 stopped in the slab loading area A1 is referred to as the loading position C2. Here, the center position C1 corresponds to the predetermined position described in the claims.

[0024] As shown in Figure 2(a), for example, when the trailer 100 is stopped at a preset position within the slab loading area A1, the reference position C0, center position C1, and loading position C2 described above are all coincident. On the other hand, as shown in Figure 2(b), the trailer 100 may be stopped within the slab loading area A1 without the center position C10 of the slab loading area A1 and the center position C11 of the trailer 100 being coincident. For example, if the loading position C2 when loading the slab S is the reference position C0, the reference position C0 and the loading position C2 will be coincident, but the center position C1 will be shifted from the reference position C0 and the loading position C2.

[0025] The coordinates of the reference position C0, the central position C1, and the loading position C2 are expressed using coordinates based on the intersection P1 between the central axis L1 of the pole 51 and the ground surface G. Instead of using the intersection P1 between the central axis L1 of the pole 51 and the ground surface G as the base point, the intersection P2 between the central axis L2 of the pole 52 and the ground surface G may also be used as the base point.

[0026] 3, the deviation amount calculation device 13 has a control unit 21, an image processing unit 22, a center position calculation unit 23, a reliability evaluation unit 24, and a deviation amount calculation unit 25. Here, the image processing unit 22 corresponds to the image processing means set forth in the claims, and the center position calculation unit 23 corresponds to the first calculation means set forth in the claims. Also, the reliability evaluation unit 24 corresponds to the evaluation means set forth in the claims, and the deviation amount calculation unit 25 corresponds to the second calculation means set forth in the claims.

[0027] The control unit 21 transmits and receives signals to and from the P / C 14, and controls each unit of the deviation amount calculation device 13. Furthermore, upon receiving a calculation start command from the P / C 14, the control unit 21 transmits an imaging command to each of the imaging devices 11 to be used among the imaging devices 11. Upon receiving the imaging command, the imaging device 11 that has received the imaging command performs imaging and transmits the image obtained by imaging to the deviation amount calculation device 13.

[0028] The image processing unit 22 performs geometric correction and edge extraction on each image transmitted from the imaging device 11. The geometric correction corrects, for example, aberrations in the lens (shown in the appendix) of the imaging device 11, and is performed using, for example, well-known affine transformation or projective transformation. The edge extraction extracts, for example, areas with large luminance changes as edge components in the image. The edge extraction is performed using, for example, an edge extraction filter such as a Sobel filter.

[0029] The image processing unit 22 extracts edge components corresponding to the bed 101 of the trailer 100 from the edge image generated by performing edge extraction processing. Here, the edge image typically includes two parallel edge components corresponding to the left and right edges of the bed 101, and an edge component corresponding to the rear edge of the bed 101. Of these edge components, the edge component corresponding to the rear edge of the bed 101 is an edge component that is perpendicular to the two parallel edge components corresponding to the left and right edges of the bed 101. Therefore, the image processing unit 22 identifies an edge component that exists at a position corresponding to the height of the bed 101, and extracts the two parallel edge components and the edge component perpendicular to the identified edge components as edge components corresponding to the bed 101 of the trailer 100. Note that if an edge component corresponding to the bed 101 of the trailer 100 cannot be extracted, the image processing unit 22 retains information to that effect.

[0030] The edge component corresponding to the bed 101 of the trailer 100 can be extracted by using vehicle information of the trailer 100 (information on the height and width of the bed), information on the poles P1 and P2 erected on the ground surface G (information on the spacing between the poles 51 and 52, the height of the poles 51 and 52, etc.), as well as information on the imaging conditions of the imaging device 11 (optical axis direction of the imaging device 11, imaging magnification of the imaging device 11, etc.).

[0031] Here, the vehicle information of the trailer 100 is information transmitted from the P / C 14. Information relating to the poles 51 and 52 and information relating to the imaging conditions of the imaging device 11 may be stored in advance in a storage medium (not shown) provided in the deviation amount calculation device 13, or may be transmitted from the P / C 14 together with the vehicle information of the trailer 100.

[0032] The center position calculation unit 23 calculates the coordinates (X1, Y1) of the center position C1 of the loading platform 101 of the trailer 100 using the edge components corresponding to the loading platform 101 of the trailer 100 extracted by the image processing unit 22, vehicle information about the trailer 100, and information about the poles 51, 52 erected on the ground surface G.

[0033] 4, in the width direction (X-axis direction) of the bed 101 of the trailer 100, the length W2 from the center position C1 of the bed 101 to the left edge and the right edge is half the width W1 of the bed 101. Similarly, in the front-to-rear direction (Y-axis direction) of the bed 101 of the trailer 100, the length D2 from the center position C1 of the bed 101 to the rear end is half the length D1 of the bed 101.

[0034] Furthermore, points P5 and P6 are defined as points where a line L3 connecting points P3 and P4 corresponding to the height of the loading platform 101 intersects with lines L4 and L5 extending the two parallel edge components on the central axis L1 of pole 51 and the central axis L2 of pole 52. For example, the length from base point P1 to point P3 and the length from point P2 to point P4 represent the height of the loading platform 101, and this information is obtained from vehicle information. The distance between the two points P1 and P6 can be calculated from the number of pixels between the two points, the length per pixel, or the like. As a result, the coordinates (X1, Y1) of the center position C1 can be calculated when intersection point P1 is used as the base point.

[0035] If the image processing unit 22 does not extract an edge component, the center position calculation unit 23 sets the measurement value of the center position C1 of the bed 101 of the trailer 100 to "0." Additionally, if, for example, an abnormality occurs in the imaging device 11 or if the poles 51 and 52 cannot be detected, the center position calculation unit 23 determines that it cannot calculate the coordinates (X1, Y1) of the center position C1 of the bed 101 of the trailer 100, and sets the measurement value to "0."

[0036] The reliability evaluation unit 24 evaluates the reliability of the imaging device 11 that performed the imaging, out of the four imaging devices 11. The reliability evaluation unit 24 calculates the difference dX1 in the X coordinate and the difference dY1 in the Y coordinate at the center position C1 of the loading platform 101 using the coordinates of the center position C1 of the loading platform 101 obtained from two of the images captured by the imaging devices 11. Note that the calculation of the difference dX1 in the X coordinate and the difference dY1 in the Y coordinate at the center position C1 of the loading platform 101 covers all combinations of two images selected from the captured images.

[0037] The reliability evaluation unit 24 also determines whether the calculated X-coordinate difference dX1 is equal to or less than a threshold value TH1, and simultaneously determines whether the Y-coordinate difference dY1 is equal to or less than a threshold value TH1. If the calculated X-coordinate difference dX1 exceeds the threshold value TH1 or the Y-coordinate difference dY1 exceeds the threshold value TH1, the reliability evaluation unit 24 evaluates the target imaging device 11 as an abnormal (i.e., low-reliability) imaging device 11. The reliability evaluation unit 24 then sets the imaging device 11 evaluated as low-reliability as an imaging device 11 that will not be used in subsequent imaging.

[0038] Fig. 5 shows an example of the processing results performed on four imaging devices by the reliability evaluation unit 24. In Fig. 1, among the imaging devices 11a, 11b, 11c, and 11d, the imaging device 11a is designated as "camera 1," the imaging device 11b is designated as "camera 2," the imaging device 11c is designated as "camera 3," and the imaging device 11d is designated as "camera 4."

[0039] For example, in Example 1, the differences (X-axis component, Y-axis component) between camera 1 and camera 2, between camera 2 and camera 3, and between camera 2 and camera 4 exceed the threshold value TH1. In this case, the reliability evaluation unit 24 sets the imaging devices 11a, 11c, and 11d, among the imaging devices 11a, 11b, 11c, and 11d, as highly reliable imaging devices and as imaging devices to be used when calculating the coordinates of the center position C1. On the other hand, the reliability evaluation unit 24 sets the imaging device 11b as a less reliable imaging device and as an imaging device 11 not to be used in subsequent imaging.

[0040] In Example 2, the differences (X-axis component, Y-axis component) between camera 1 and camera 3, between camera 2 and camera 3, and between camera 3 and camera 4 exceed the threshold value TH1. In this case, the reliability evaluation unit 24 determines that the imaging devices 11a, 11b, 11c, and 11d are highly reliable and set them as imaging devices to be used when calculating the coordinates of the center position C1 among the imaging devices 11a, 11b, 11c, and 11d. On the other hand, the reliability evaluation unit 24 determines that the imaging device 11c is less reliable and set it as the imaging device 11 not to be used in subsequent imaging.

[0041] In Example 3, the difference (X-axis component, Y-axis component) between camera 1 and camera 3 exceeds the threshold TH1. However, the differences between the other images do not exceed the threshold TH1. In this case, the reliability evaluation unit 24 determines the difference between the imaging devices 11a and 11c as a measurement error, and determines all of the imaging devices 11a, 11b, 11c, and 11d as highly reliable imaging devices.

[0042] The deviation amount calculation unit 25 calculates the average coordinates (X1_ave, Y1_ave) of the center position C1 of the loading platform 101 from the coordinates (X1, Y1) of the center position C1 obtained from each of the images captured by the imaging device evaluated as having high reliability. Furthermore, the deviation amount calculation unit 25 calculates the deviation amount ΔX in the X-axis direction and the deviation amount ΔY in the Y-axis direction from the calculated average coordinates (X1_ave, Y1_ave) of the center position C1 of the loading platform 101 and the coordinates (X0, Y0) of the reference position C0.

[0043] The values ​​of the deviation ΔX in the X-axis direction and the deviation ΔY in the Y-axis direction can be calculated using the following equations (1) and (2). ΔX=X1_ave-X0 (1) ΔY=Y1_ave-Y0 (2)

[0044] Returning to FIG. 1, the P / C14 is, for example, a general-purpose computer such as a workstation or a personal computer. The P / C14 accepts input of registration information for the trailer 100 stopped in the slab loading area A1 using an input means (not shown). The registration information is, for example, a multi-digit code consisting of numbers, letters, symbols, or a combination of these. Although not shown, the registration information is stored as information associated with the vehicle information of the trailer 100 transporting the slab S, for example, in a storage medium (such as a hard disk) possessed by the P / C14 or in a server connected to the P / C14.

[0045] When the P / C 14 receives the registration information, it reads out the vehicle information associated with the registration information and then transmits the read-out vehicle information to the deviation amount calculation device 13 along with a measurement start command. Furthermore, when the P / C 14 receives deviation amount information (information on the deviation amount ΔX in the X-axis direction and the deviation amount ΔY in the Y-axis direction) from the deviation amount calculation device 13, it determines whether the deviation amount is equal to or less than a threshold value TH2. If the deviation amount ΔX in the X-axis direction and the deviation amount ΔY in the Y-axis direction are each equal to or less than the threshold value TH2, the P / C 14 transmits the deviation amount information to the crane control device 16. On the other hand, if either the deviation amount ΔX in the X-axis direction or the deviation amount ΔY in the Y-axis direction exceeds the threshold value TH2, the P / C 14 issues a notification urging the user to change the trailer stop position or to perform remeasurement.

[0046] Crane control device 16 is connected to P / C 14 via a telecommunications line such as a LAN or the Internet. Crane control device 16 controls the operation of crane apparatus 50 by executing a control program (not shown). Furthermore, based on deviation amount information transmitted from P / C 14 (information on deviation amount ΔX in the X-axis direction and deviation amount ΔY in the Y-axis direction), crane control device 16 corrects reference position C0 of crane apparatus 50 to loading position C2 of crane apparatus 50 when loading onto bed 101 of trailer 100, and controls the operation of crane apparatus 50.

[0047] The flow of the deviation amount calculation process executed in the deviation amount calculation device 13 will be described below with reference to the flowchart shown in Fig. 6. The flowchart shown in Fig. 6 starts when the deviation amount calculation device 13 receives a measurement start command from the P / C 14. The measurement start command is transmitted from the P / C 14 to the deviation amount calculation device 13 when an operator inputs registration information using the P / C 14.

[0048] In step S101, the control unit 21 transmits an imaging command to each of the imaging devices 11 used to calculate the coordinates of the center position C1. The imaging devices 11 that have received the imaging command execute imaging processing. After the imaging processing has been executed, the imaging devices 11 transmit the images obtained by imaging to the deviation amount calculation device 13.

[0049] If the brightness of the image obtained during image capture by each image capture device 11 is low, the control unit 21 sends a drive command to the lighting device 12 and also sends an image capture command to the image capture device 11. In response to this, the lighting device 12 drives to illuminate the loading platform 101 of the trailer 100 stopped in the slab loading area A1 and the poles 51 and 52. The image capture device 11 also executes image capture processing. As a result, illumination light is emitted, and a bright image is transmitted from the image capture device 11 to the deviation amount calculation device 13.

[0050] In step S102, the control unit 21 determines whether or not images have been received from all of the imaging devices 11 to which the imaging command was sent. When images have been received from all of the imaging devices 11 to which the imaging command was sent (step S102: Yes), the control unit 21 proceeds to the processing of step S103. On the other hand, when images have not been received from all of the imaging devices 11 to which the imaging command was sent (step S102: No), the control unit 21 repeatedly executes the determination processing of step S102 until images have been received from all of the imaging devices 11 to which the imaging command was sent.

[0051] In step S103, the control unit 21 outputs each of the images received from all of the imaging devices 11 to be used to the image processing unit 22. The image processing unit 22 performs geometric correction processing on each of the images, and then performs edge extraction processing. The image processing unit 22 uses the edge image, vehicle information about the trailer 100, information about the poles 51 and 52, or information about the imaging conditions of the imaging device 11 to extract an edge component corresponding to the bed 101 of the trailer 100 from the edge image.

[0052] In step S104, the center position calculation unit 23 uses information on the edge components corresponding to the loading platform 101 of the trailer 100 extracted by the image processing unit 22, vehicle information on the trailer 100, information on the poles 51 and 52, and information on the imaging conditions of the imaging device 11 to determine the coordinates (X1, Y1) of the center position C1 of the loading platform 101 of the trailer 100 for each image.

[0053] In step S105, the reliability evaluation unit 24 uses the coordinates (X1, Y1) of the center position C1 calculated for each image to evaluate the reliability of the imaging device 11 to be used. The reliability evaluation unit 24 sets the imaging device 11 evaluated as having low reliability as an imaging device that will not be used in subsequent imaging.

[0054] In step S106, the deviation amount calculation unit 25 calculates the average value (X1_ave, Y1_ave) of the coordinates (X1, Y1) of the center position C1 of the bed 101 of the trailer 100, using the coordinates (X1, Y1) of the center position C1, which are obtained from the image acquired by the imaging device 11 that is evaluated to have high reliability. Furthermore, the deviation amount calculation unit 25 calculates the deviation amount ΔX in the X-axis direction and the deviation amount ΔY in the Y-axis direction from the calculated average values ​​(X1_ave, Y1_ave) and the coordinates (X0, Y0) of the reference position C0. Note that the above-mentioned steps S105 and S106 will be described in detail later.

[0055] In step S107, the control unit 21 transmits the calculated deviation amount ΔX in the X-axis direction and deviation amount ΔY in the Y-axis direction to the P / C 14. Upon receiving the deviation amount ΔX in the X-axis direction and the deviation amount ΔY in the Y-axis direction from the deviation amount calculation device 13, the P / C 14 determines whether each of these deviation amounts is equal to or less than a reference value. For example, if the deviation amount ΔX in the X-axis direction and the deviation amount ΔY in the Y-axis direction are each equal to or less than the threshold value TH2, the P / C 14 transmits information about the deviation amount to the crane control device 16. On the other hand, if either the deviation amount ΔX in the X-axis direction or the deviation amount ΔY in the Y-axis direction exceeds the threshold value TH2, the P / C 14 issues a notification urging the user to change the stopping position of the trailer 100 or to remeasure.

[0056] Next, the process of evaluating reliability in step S105 and the process of calculating the amount of deviation in step S106 will be described in detail with reference to Fig. 7. Steps S201 to S209 shown in Fig. 7 correspond to the process of evaluating reliability in step S105 shown in Fig. 6, and steps S301 to S302 shown in Fig. 7 correspond to the process of calculating the amount of deviation in step S106 shown in Fig. 6.

[0057] In step S201, the reliability evaluation unit 24 checks the number of unused imaging devices 11 (hereinafter sometimes referred to as unused). For example, if there are two or more unused imaging devices 11, that is, if the number of available imaging devices 11 is two or less, it means that the average value (X1_ave, Y1_ave) of the coordinates (X1, Y1) of the center position C1 cannot be calculated or is unreliable. Therefore, the reliability evaluation unit 24 proceeds to step S209 and transmits a measurement disabled command to the P / C 14 indicating that measurement is disabled.

[0058] Furthermore, when the number of unused imaging devices 11 is 1, i.e., the number of available imaging devices 11 is 3, the reliability evaluation unit 24 proceeds to step S202. Furthermore, when the number of unused imaging devices 11 is 0, i.e., the number of available imaging devices 11 is 4, the reliability evaluation unit 24 proceeds to step S205, which will be described later.

[0059] In step S202, the reliability evaluation unit 24 checks the number of image capture devices 11 with a measurement value of "0." Here, a measurement value of "0" indicates that the center position C1 of the bed 101 of the trailer 100 included in the image captured by the image capture device 11 cannot be determined.

[0060] For example, if there is one or more of the remaining three imaging devices 11 with a measurement value of "0," that is, if the number of available imaging devices 11 is two or less, the reliability evaluation unit 24 proceeds to step S209 and transmits a measurement disabled command indicating that measurement is disabled to the P / C 14. On the other hand, if there is no imaging device 11 with a measurement value of "0," that is, if the number of available imaging devices 11 is three, the reliability evaluation unit 24 proceeds to step S203.

[0061] In step S203, the reliability evaluation unit 24 calculates a difference dX1 in the X-axis direction or a difference dY1 in the Y-axis direction of the center position C1 using images captured using the three imaging devices 11. The reliability evaluation unit 24 selects two images from the images captured using the three imaging devices 11 and calculates the differences dX1 and dY1. The reliability evaluation unit 24 calculates the differences dX1 and dY1 for all combinations of two images selected from the captured images. Then, the reliability evaluation unit 24 calculates a number N of the calculated differences dX1 in the X-axis direction and differences dY1 in the Y-axis direction of the center position C1 that is equal to or greater than a preset threshold value TH2.

[0062] In step S204, the reliability evaluation unit 24 checks the number N that is equal to or greater than the threshold value TH2. If the number N exceeds 1, the reliability evaluation unit 24 proceeds to step S209 and sends a command indicating that measurement is impossible to the P / C 14. If the number N of differences dX in the X-axis direction or differences dY in the Y-axis direction from the center position C1 that are equal to or greater than the threshold value TH2 is 1 or less, the reliability evaluation unit 24 evaluates all three image capture devices 11 as reliable image capture devices 11.

[0063] In step S201 described above, when the number of unused imaging devices 11 is 0, that is, when the number of available imaging devices 11 is four, the reliability evaluation unit 24 proceeds to step S205. In step S205, the reliability evaluation unit 24 checks the number of imaging devices 11 with a measurement value of "0". For example, if there is one imaging device 11 with a measurement value of "0" out of the remaining three imaging devices 11, that is, when the number of available imaging devices 11 is three, the reliability evaluation unit 24 proceeds to step S203 described above.

[0064] Also, when there are two or more imaging devices 11 with a measurement value of "0", that is, when the number of available imaging devices 11 is two or less, the reliability evaluation unit 24 proceeds to step S209 and sends a command to the P / C 14 indicating that measurement is not possible.

[0065] Also, when there is no imaging device 11 with a measurement value of "0", that is, when the number of available imaging devices 11 is four, the reliability evaluation unit 24 proceeds to step S206.

[0066] In step S206, the reliability evaluation unit 24 calculates a difference dX1 in the X-axis direction or a difference dY1 in the Y-axis direction of the center position C1 using images captured using the three imaging devices 11. The reliability evaluation unit 24 selects two images from the images captured using the three imaging devices 11 and calculates the differences dX1 and dY1. The reliability evaluation unit 24 calculates the differences dX1 and dY1 for all combinations of two images selected from the captured images. Then, the reliability evaluation unit 24 calculates a number N of the calculated differences dX1 in the X-axis direction and differences dY1 in the Y-axis direction of the center position C1 that is equal to or greater than a predetermined threshold value TH1.

[0067] In step S207, the reliability evaluation unit 24 checks the number N of the differences dX in the X-axis direction or the differences dY in the Y-axis direction of the center position C1 that are equal to or greater than a threshold value TH1. For example, if the number N that is equal to or greater than the threshold value TH1 is 0 or 1, the reliability evaluation unit 24 evaluates all four image capture devices 11 as reliable image capture devices 11. If the number N that is equal to or greater than the threshold value TH1 is 2 or 3, the reliability evaluation unit 24 proceeds to the processing of step S208. If the number N that is equal to or greater than the threshold value TH1 is 4 or greater, the reliability evaluation unit 24 proceeds to step S209 and transmits a command to the P / C 14 indicating that measurement is impossible.

[0068] In step S207, if the number N equal to or greater than the threshold value TH1 is 2 or 3, the process proceeds to step S208. In step S208, the reliability evaluation unit 24 determines whether the number of imaging devices 11 for which N=0 is the same in the X and Y coordinates among the imaging devices excluding the specific imaging device. If the number of imaging devices 11 for which N=0 is the same in the X and Y coordinates (Yes in step S208), the reliability evaluation unit 24 evaluates the three imaging devices 11 excluding the specific imaging device as reliable imaging devices 11. On the other hand, if the number of imaging devices 11 for which N=0 is the same in the X and Y coordinates, the reliability evaluation unit 24 proceeds to step S209 and transmits a command to the P / C 14 indicating that measurement is impossible.

[0069] When the reliability of the imaging device 11 is evaluated in the above-described steps S204, S207, and S208, the process of evaluating the reliability of the imaging device 11 by the reliability evaluation unit 24 ends. Then, the process of calculating the amount of deviation starts.

[0070] The process of calculating the amount of deviation includes the following two steps. In step S301, the deviation amount calculation unit 25 calculates the average coordinates (X1_ave, Y1_ave) of the center position C1 of the loading platform 101. The deviation amount calculation unit 25 calculates the average coordinate values ​​(X1_ave, Y1_ave) of the center position C1 from the coordinates (X1, Y1) of the center position C1 obtained using an image obtained from the imaging device 11 that is evaluated as having high reliability.

[0071] In step S302, the deviation amount calculation unit 25 calculates the deviation amount ΔX in the X-axis direction and the deviation amount ΔY in the Y-axis direction using the average coordinates (X1_ave, Y1_ave) of the center position C1 and the reference position (X0, Y0). Then, the deviation amount calculation unit 25 transmits the deviation amount ΔX in the X-axis direction and the deviation amount ΔY in the Y-axis direction to the P / C 14.

[0072] The P / C 14 determines whether the deviation ΔX in the X-axis direction and the deviation ΔY in the Y-axis direction are equal to or less than the threshold value TH2, and if both the deviation ΔX in the X-axis direction and the deviation ΔY in the Y-axis direction are equal to or less than the threshold value TH2, transmits these values ​​to the crane control device. On the other hand, if either the deviation ΔX in the X-axis direction or the deviation ΔY in the Y-axis direction exceeds the threshold value TH2, the P / C 14 issues a notification urging the user to change the stopping position of the trailer 100 or to take another measurement.

[0073] In this embodiment, the intersection P1 between the central axis L1 of the pole 51 and the ground surface G is used as the base point, but there are cases where the image processing unit 22 cannot detect an edge corresponding to the pole 51 from the edge image. In this case, if the image processing unit 22 detects an edge corresponding to the pole 52 from the edge image, the coordinates of the above-mentioned center position C1 may be calculated as coordinates based on the intersection P2 between the central axis L2 of the pole 52 and the ground surface G. Alternatively, the coordinates of the center position C1 based on the intersection P2 may be calculated using the coordinates of the center position C1 based on the intersection P2 and the positional relationship between the poles 51 and 52.

[0074] In this embodiment, the center position C1 of the loading platform 101 of the trailer 100 is described as the predetermined position, but if the loading position on the loading platform 101 of the trailer 100 is determined in advance, that position can be used as the predetermined position.

[0075] In this embodiment, the loading system has the deviation amount calculation device 13, the P / C 14, and the crane control device 16, but the configuration of the deviation amount calculation device 13 can also be included in the configuration of the crane control device 16.

[0076] <Summary of effects>

[0077] The loading system 10 of the present invention is a loading system that automatically loads a slab S onto the loading platform 101 of a trailer 100 using a crane device 50, and includes a plurality of image capturing devices 11 that are arranged above the loading platform 101 of the trailer 100 and are capable of capturing an image of at least the top surface of the loading platform 101 of the trailer 100, a center position calculation unit 23 that calculates the coordinates of a predetermined position on the top surface of the loading platform 101 of the trailer 100 from images obtained from each of the plurality of image capturing devices 11, and a center position calculation unit 23 that calculates the coordinates of a predetermined position on the top surface of the loading platform 101 of the trailer 100 when the loading platform 101 of the trailer 100 is arranged at a predetermined position. The system is characterized by having a deviation amount calculation unit 25 that, when the position of the crane apparatus 50 that is stopped when loading the slab S is taken as a reference position, calculates the amount of positional deviation of the specified position from the reference position using the coordinates of the reference position and the coordinates of a specified position of the loading platform 101 of the trailer 100 calculated by the center position calculation unit 23, and a crane control device 16 that adjusts the stopping position of the crane apparatus 50 when using the crane apparatus 50 to automatically load the slab S onto the loading platform 101 of the trailer 100.

[0078] According to this, the position of the bed 101 of the trailer 100 can be identified from the image obtained from the imaging device 11. In the case of the crane apparatus 50, the position of the crane apparatus 50 when loading the slab S is predetermined. However, since the trailer 100 is stopped by the operator, there is variation in the stopping position of the trailer 100. Therefore, by capturing an image of the bed when the trailer 100 is stopped and calculating the coordinates of the position of the bed 101, it is possible to grasp the amount of positional deviation from the position of the crane apparatus 50 when loading the slab S in advance. As a result, even if there is variation in the stopping position of the trailer 100, the crane apparatus 50 can reliably load the slab S at the predetermined position on the bed 101.

[0079] In addition, the multiple imaging devices 11 are arranged in at least three different positions above the loading platform 101 of the trailer 100, and take images of the top surface of the loading platform 101 of the trailer 100 and the poles 51 and 52 arranged near the loading platform 101 of the trailer 100 in the same imaging range.

[0080] According to this configuration, by capturing an image of a reference object in advance in the same imaging range as the top surface of the loading platform, it is possible to reliably calculate the coordinates of a specified position on the loading platform based on the object included in the image.

[0081] The system also has an image processing unit 22 that extracts edge components from the outer periphery of the loading platform 101 of the trailer 100 by performing edge extraction processing on the images captured by each of the multiple imaging devices 11, and a center position calculation unit 23 that uses the edge components from the outer periphery of the loading platform 101 of the trailer 100 extracted by the image processing unit 22 to calculate the coordinates of a predetermined position of the loading platform 101 of the trailer 100 based on the poles 51, 52.

[0082] For example, there is often a change in brightness between the outer periphery of the bed 101 of the trailer 100 and its vicinity. Therefore, by extracting the edge components of the outer periphery of the bed 101 of the trailer 100 from the image captured by the imaging device 11, the shape of the top surface of the bed 101 of the trailer 100 can be identified, and the coordinates of the center position C1 of the bed 101 can be easily calculated.

[0083] The image capturing device further includes a reliability evaluation unit 24 that evaluates the reliability of the imaging device 11 that captured each of the multiple images using the difference in coordinates of a predetermined position calculated from the two images for all combinations of two images selected from the multiple images.

[0084] This improves the reliability of the coordinates of the predetermined position of the loading platform 101 calculated from the images acquired by the multiple imaging devices 11. As a result, it becomes possible to reliably load the slabs S onto the loading platform 101.

[0085] In addition, the deviation amount calculation unit 25 calculates the amount of positional deviation of a predetermined position relative to a reference position using the coordinates of a predetermined position of the loading platform 101 of the trailer 100 obtained from each of the multiple images, excluding images evaluated as having low reliability by the reliability evaluation unit 24.

[0086] This improves the reliability of the coordinates of the predetermined position of the loading platform 101 calculated from the images acquired by the multiple imaging devices 11. Note that improving the reliability of the calculated coordinates of the predetermined position of the loading platform 101 leads to improving the reliability of the calculated amount of positional deviation of the loading platform 101. As a result, it is possible to appropriately adjust the stopping position of the crane device when loading the slab S onto the loading platform 101 of the trailer 100.

[0087] In addition, the deviation amount calculation unit 25 stops calculating the amount of positional deviation of a specified position from a reference position when the number of images among the multiple images, excluding images evaluated as having low reliability by the reliability evaluation unit 24, becomes less than a specified number.

[0088] According to this, the fewer the number of images, the lower the reliability of the calculated amount of displacement of the bed 101 of the trailer 100. If the slab S is loaded onto the bed 101 of the trailer 100 in a state where the reliability is reduced, the slab S cannot be properly loaded onto the bed 101 of the trailer 100, which may result in the slab S falling off the bed 101 while the trailer 100 is in operation. Therefore, when the reliability is reduced, safety can be ensured by not performing the operation of properly loading the slab S onto the bed 101 of the trailer 100.

[0089] Furthermore, according to the loading method of the present invention, the method automatically loads the slab S onto the bed 101 of the trailer 100 using the crane device 50, and includes an imaging step of imaging at least the top surface of the bed 101 of the trailer 100 using a plurality of imaging devices 11 arranged above the bed 101 of the trailer 100, a first calculation step of calculating the coordinates of a predetermined position provided on the top surface of the bed 101 of the trailer 100 from the images obtained from each of the plurality of imaging devices 11, and a second calculation step of calculating the coordinates of the trailer 100 when the bed 101 of the trailer 100 is arranged at a predetermined position. The method includes a second calculation step of determining the amount of positional deviation of the specified position from the reference position using the coordinates of the reference position and the coordinates of the specified position of the trailer 100's loading platform 101 calculated in the first calculation step, when the position of the crane apparatus 50 at which the slab S is stopped when loading the slab S onto the trailer 100's loading platform 101 is taken as the reference position, and a position adjustment step of adjusting the stopping position of the crane apparatus 50 when using the crane apparatus 50 to automatically load the slab S onto the trailer 100's loading platform 101, using the amount of positional deviation of the specified position from the reference position calculated in the second calculation step.

[0090] According to this, the position of the loading platform 101 of the trailer 100 can be identified from the image obtained from the imaging device 11. In the case of the crane apparatus 50, the position of the crane apparatus 50 when loading the slab S is predetermined. On the other hand, the trailer 100 is stopped by the operator's operation. Therefore, there is variation in the stopping position of the trailer 100. Therefore, by taking an image of the loading platform when the trailer 100 is stopped and calculating the coordinates of the position of the loading platform 101, it is possible to grasp the amount of positional deviation from the position of the crane apparatus 50 when loading the slab S in advance. As a result, even if there is variation in the stopping position of the trailer 100, the crane apparatus 50 can reliably load the slab S at the predetermined position on the loading platform 101. [Explanation of symbols]

[0091] 10 Loading System 11 Imaging device 13 Deviation amount calculation device 14 P / C (Process Computer) 16 Crane control device (position adjustment means) 21 Control section 22 Image processing unit (image processing means) 23 Center position calculation unit (first calculation means) 24 Reliability evaluation section (evaluation means) 25 Deviation amount calculation unit (second calculation means) 50 Crane equipment (lifting equipment) 51,52 Paul 100 trailer 101 Cargo platform (transport platform) S slab (transported item)

Claims

1. A system for automatically loading an object onto a transport platform using a lifting device, a plurality of imaging devices arranged above the conveyance table and capable of capturing an image of at least the top surface of the conveyance table; a first calculation means for calculating coordinates of a predetermined position provided on the upper surface of the conveyance table from images obtained from each of the plurality of imaging devices; a second calculation means for calculating a positional deviation of the predetermined position from the reference position, using the coordinates of the reference position and the coordinates of the predetermined position of the conveyance table calculated by the first calculation means, when the position of the lifting device at which the conveyance table is stopped when the conveyance table is placed at a predetermined position and the predetermined position is loaded onto the conveyance table, as a reference position; a position adjustment means for adjusting the stopping position of the lifting device when the transported object is loaded onto the transport platform using the positional deviation amount of the specified position relative to the reference position calculated by the second calculation means.

2. the imaging devices are arranged at at least three different positions above the conveyance platform, Each of the imaging devices arranged at the at least three different positions captures an image including the upper surface of the conveyance table and an object arranged near the conveyance table and serving as a base point for each of the coordinates of the reference position and the predetermined position.

2. The system for loading transported items according to claim 1.

3. an image processing unit that extracts edge components of an outer periphery of the transport table by performing edge extraction processing on the images captured by each of the imaging devices; 3. The loading system for transported items according to claim 2, wherein the first calculation means calculates the coordinates of the predetermined position based on the base point using the edge components of the outer peripheral edge of the transport table extracted by the image processing means.

4. The loading system for transported goods according to any one of claims 1 to 3, further comprising an evaluation means for evaluating the reliability of each of the imaging devices that captured the plurality of images by using the difference in coordinates of the specified position calculated from the two images for all combinations of two images selected from the plurality of images.

5. The loading system for transported items according to claim 4, characterized in that the second calculation means calculates the amount of positional deviation of the specified position from the reference position using coordinates of the specified position of the transport table obtained from each of the multiple images, excluding images evaluated as having low reliability by the evaluation means.

6. The second calculation means stops calculating the amount of positional deviation of the predetermined position from the reference position when the number of images excluding the images evaluated as low reliability by the evaluation means among the plurality of images becomes equal to or less than a threshold value.

5. The system for loading transported items according to claim 4.

7. A method for automatically loading an object onto a conveyance platform using a lifting device, comprising: an imaging step of imaging at least an upper surface of the conveyance table using a plurality of imaging devices arranged above the conveyance table; a first calculation step of calculating coordinates of a predetermined position provided on the upper surface of the conveyance table from images obtained from each of the plurality of imaging devices; a second calculation step of determining a positional deviation of the predetermined position from the reference position using the coordinates of the reference position and the coordinates of the predetermined position calculated in the first calculation step, when the position of the lifting device at which the lifting device is stopped when the transported object is loaded onto the transporting platform in a state where the transporting platform is placed at a predetermined position is defined as a reference position; a position adjustment step of adjusting a stop position of the lifting device when the load is automatically loaded onto the conveying platform using the amount of positional deviation of the predetermined position relative to the reference position calculated in the second calculation step; A method for loading an object to be transported, comprising:

Images