Cargo handling operation management device and cargo handling operation management method

Abstract

To provide a cargo handling work management device and a cargo handling work management method capable of easily acquiring information on a hatch position of a ship with respect to cargo handling equipment for performing cargo handling work to the ship.SOLUTION: The cargo handling work management device 30 includes a relative position information storage unit 311 and a hatch position estimation unit 324. The relative position information storage unit 311 stores relative position information of the hatch of the ship X with respect to a predetermined position of the ship X which is a cargo handling work target. The hatch position estimator 324 acquires absolute position information of the marine vessel X and correspondence information indicating a correspondence relationship between absolute position information of the cargo-handling equipment Y that performs cargo-handling work on the marine vessel X and a coordinate system unique to the cargo-handling equipment Y, and estimates a position of the hatch in the coordinate system unique to the cargo-handling equipment Y on the basis of the acquired absolute position information and correspondence information of the marine vessel and the stored relative position information of the hatch of the marine vessel X.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a cargo handling operation management device and a cargo handling operation management method. [Background technology]

[0002] A cargo handling operation management system has been developed to manage the status of cargo handling operations carried out on ships at ports. For example, cargo handling operations carried out on ships include unloading coal from the ship's hold (hatch) using cargo handling equipment such as an unloader.

[0003] The cargo handling work management system automatically generates and saves work record data that records the status of cargo handling work on ships based on operation data of cargo handling equipment, etc. This significantly reduces the workload of workers in managing cargo handling work on ships. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-80081 Summary of the Invention [Problem to be solved by the invention]

[0005] Because ships are equipped with multiple hatches, when the cargo handling operation management system generates work record data, it needs to know from which hatch the cargo handling equipment has unloaded how many tons of coal. In light of this, workers monitor the work site and visually confirm the hatch where cargo handling operation is being performed and input the identification information of this hatch into the cargo handling operation management system, or the cargo handling operation management system analyzes data related to past cargo handling operations performed on the ship to estimate the position of each hatch and, based on this, identify the hatch where operation is currently being performed.

[0006] However, there was a problem that the task of inputting the identification information of hatches visually confirmed while monitoring work into the cargo handling work management system was a heavy burden on the workers.In addition, the cargo handling work management system's process of analyzing past work data to estimate the ship's hatch positions could not be carried out unless a certain amount of work data had been accumulated, which meant there were problems with the timing at which it could be carried out.

[0007] The present invention has been made in consideration of the above circumstances, and aims to provide a loading and unloading operation management device and a loading and unloading operation management method that can easily obtain information on the hatch positions of a ship for loading and unloading equipment that performs loading and unloading operations on the ship. [Means for solving the problem]

[0008] In order to achieve the above-mentioned object, the loading and unloading operation management device of the present invention comprises a relative position information memory unit that stores relative position information of a hatch of a ship that is the subject of loading and unloading operation with respect to a predetermined position of the ship, and a hatch position estimation unit that acquires absolute position information of the ship and correspondence information that indicates the correspondence between absolute position information of loading and unloading equipment that performs loading and unloading operation on the ship and a coordinate system specific to the loading and unloading equipment, and estimates the position of the hatch in the coordinate system specific to the loading and unloading equipment as a first hatch position based on the acquired absolute position information of the ship and the correspondence information and the relative position information of the hatch of the ship stored in the relative position information memory unit.

[0009] In addition, the loading and unloading operation management method of the present invention includes a loading and unloading operation management device having a relative position information memory unit that stores relative position information of a hatch of a ship that is the subject of loading and unloading operation with respect to a predetermined position of the ship, which acquires absolute position information of the ship and correspondence information that indicates the correspondence between absolute position information of loading and unloading equipment that performs loading and unloading operation on the ship and a coordinate system specific to the loading and unloading equipment, and estimates the position of the hatch in the coordinate system specific to the loading and unloading equipment as the first hatch position based on the acquired absolute position information of the ship and the correspondence information and the relative position information of the hatch of the ship stored in the relative position information memory unit. [Effects of the Invention]

[0010] According to the cargo handling operation management device and cargo handling operation management method of the present invention, it is possible to easily obtain information on the hatch position of a ship relative to cargo handling equipment that performs cargo handling operations on the ship. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is an overall view showing the configuration of a cargo handling operation management system using a cargo handling operation management device according to an embodiment. [Figure 2] 1 is a block diagram showing a configuration of a loading and unloading operation management device according to an embodiment; [Figure 3A] 1 is a side view of a ship that is a management target of a cargo handling operation management system according to an embodiment. FIG. [Figure 3B] 1 is a top view of a ship that is a management target of a cargo handling operation management system according to an embodiment. [Figure 4A] FIG. 1 is an explanatory diagram showing a state in which a part of a ship managed by a cargo handling operation management system according to an embodiment has entered a docking area. [Figure 4B] 1 is an explanatory diagram showing a state in which a ship to be managed by a cargo handling operation management system according to an embodiment has entered a docking area and is moored at a pier. FIG. [Figure 4C] FIG. 1 is an explanatory diagram showing a state in which a ship managed by a cargo handling operation management system according to an embodiment has started to leave the quay. [Figure 4D] FIG. 10 is an explanatory diagram showing a state in which a ship managed by a cargo handling operation management system according to an embodiment has left the docking area. [Figure 5] 4 is a flowchart showing a process executed by a cargo handling operation management device according to an embodiment. [Figure 6] 1 is an explanatory diagram showing the positions of a wharf PL and a ship X on an equipment coordinate system recognized by a cargo handling operation management device according to an embodiment. FIG. [Figure 7] FIG. 2 is a diagram showing an example of work record data generated by a cargo handling work management device according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] A cargo handling operation management system using a cargo handling operation management device will be described below with reference to the drawings as one embodiment of the present invention. In this embodiment, the cargo handling operation management system manages the status of cargo handling operations performed by cargo handling equipment Y for a ship X calling at a specified port. The cargo handling equipment Y is, for example, a continuous unloader (CUL).

[0013] <Configuration of cargo handling operation management system according to one embodiment> 1 is an overall diagram showing the configuration of a cargo handling operation management system 1 according to this embodiment. The cargo handling operation management system 1 includes an AIS (Automatic Identification System) receiver 10, an operation data receiver 20, a cargo handling operation management device 30, and a communication device 40, all installed in a cargo handling site office M, and a data management server 50 installed at a location away from the cargo handling site.

[0014] The AIS receiver 10 receives an AIS signal transmitted from a vessel X within a predetermined area. The AIS signal will be described in detail later.

[0015] The operation data receiver 20 acquires correspondence information indicating the correspondence between the latitude and longitude information, which is the absolute position information of the cargo handling equipment Y, acquired using GPS (Global Positioning System) information by a position sensor (not shown) installed on the cargo handling equipment Y, and an equipment coordinate system specific to the cargo handling equipment Y. The operation data receiver 20 also receives operation data transmitted from the cargo handling equipment Y by a PLC (programmable logic controller) of the cargo handling equipment Y.

[0016] 2 is a block diagram showing the configuration of the cargo handling operation management device 30. The cargo handling operation management device 30 is configured as, for example, a personal computer (PC), and is connected to the AIS receiver 10 using communication via USB (Universal Serial Bus) or the like.

[0017] The cargo handling operation management device 30 has a memory unit 31 and a CPU 32. The memory unit 31 is configured from a nonvolatile memory device such as a hard disk or flash memory, or a volatile memory device such as RAM (Random Access Memory), and has a relative position information memory unit 311 and a processing data memory unit 312.

[0018] The relative position information storage unit 311 stores information including relative position information of the holds (hatches) of the ship X relative to a predetermined position of the ship X (hereinafter referred to as "hatch relative position information"), which is acquired in advance as background data of the ship X. The processing data storage unit 312 stores work record data generated by the CPU 32 as described below.

[0019] The CPU 32 is, for example, a CPU (Central Processing Unit) provided in a general-purpose microcomputer, and by installing and executing a predetermined cargo handling operation management program, constitutes one or more of the following information processing units.

[0020] The CPU 32 includes an AIS signal acquisition unit 321 , an operation data acquisition unit 322 , a relative position information acquisition unit 323 , a hatch position estimation unit 324 , and a data processing unit 325 .

[0021] The AIS signal acquisition unit 321 acquires the AIS signal received by the AIS receiver 10. The operation data acquisition unit 322 acquires information received by the operation data receiver 20. The relative position information acquisition unit 323 acquires, from the relative position information storage unit 311, hatch relative position information corresponding to the AIS signal acquired by the AIS signal acquisition unit 321.

[0022] The hatch position estimation unit 324 estimates the hatch position in the equipment coordinate system, which is a coordinate system specific to the loading equipment Y, based on the AIS signal and hatch relative position information acquired by the relative position information acquisition unit 323 and the information acquired by the operation data acquisition unit 322.

[0023] The data processing unit 325 uses the information on the hatch position estimated by the hatch position estimation unit 324 to generate work record data that records what work was performed at which hatch by cargo handling equipment Y, and stores the work record data in the processing data storage unit 312. The data processing unit 325 also appropriately acquires the work record data from the processing data storage unit 312 and transmits it to the data management server 50 via the communication device 40.

[0024] The data management server 50 is configured, for example, by a virtual server in a cloud environment on a wide area communication network, and acquires the work record data transmitted from the cargo handling operation management device 30. The data management server 50 provides the acquired work record data to a device that creates a daily cargo handling operation report, a work analysis report, etc., or to a customer's terminal that views the status of cargo handling operation on ship X, etc.

[0025] <Operation of the cargo handling operation management system according to one embodiment> Fig. 3A is a side view of ship X, which is the object of management by the cargo handling operation management system 1, and Fig. 3B is a top view of ship X. In Figs. 3A and 3B, the right end of ship X is the bow, and the left end is the stern. Ship X is provided with four hatches H1, H2, H3, and H4, arranged in order from a position closer to the bow toward the stern. In this embodiment, a case will be described in which ship X is provided with four hatches, but this number is not limited to four, and there may be one to three, or five or more.

[0026] The ship X is equipped with a position sensor T. The position sensor T, for example, receives GNSS signals from multiple satellites for a Global Navigation Satellite System (GNSS) and calculates position information to obtain latitude and longitude information, which is current position information of the ship X. An example of the GNSS is the Global Positioning System (GPS).

[0027] Ship X is equipped with an AIS transmitter (not shown). The AIS transmitter transmits an AIS signal at predetermined intervals. The data of message types (1, 2, 3) of the AIS signal transmitted by the AIS transmitter includes the MMSI, latitude, longitude, and heading information of ship X, which are the identification information of ship X. In addition, the data of message type (5) of the AIS signal transmitted by the AIS transmitter includes the MMSI, which is the identification information of ship X, the ship's name, and the position information of the position sensor T on ship X. The position information of the position sensor T on ship X is indicated by the distance from the position sensor T to the bow (ToBow; TB), the distance from the position sensor T to the stern (ToStern; TS), the distance from the position sensor T to the port side (ToPort; TP), and the distance from the position sensor T to the starboard side (ToStarBoard; TSB). The AIS signal also includes information such as the course, speed, and destination of ship X.

[0028] The relative position information storage unit 311 of the cargo handling operation management device 30 stores background data related to ship X. The background data related to ship X includes the registration date and time of this background data, the name of ship X, the MMSI (Maritime Mobile Service Identity) number and IMO (International Maritime Organization) number which are identification information of ship X, the ship's overall length L, the position of the position sensor T within ship X, and relative position information of hatches H1, H2, H3, and H4 within ship X.

[0029] The position information of the position sensor T within the ship X is indicated by the distance TB from the position sensor T to the bow, the distance TS to the stern, the distance TP to the port side, and the distance TSB to the starboard side.

[0030] The relative position information of hatches H1, H2, H3, and H4 within ship X is the relative position information of each hatch H1, H2, H3, and H4 with respect to a predetermined position of ship X. Specifically, the relative position information of hatch H1 is indicated by the distance from position P corresponding to the bow to the closest position hs1 corresponding to hatch H1, and the distance from position P to the farthest position he1 corresponding to hatch H1, on line La parallel to the line indicating the ship's overall length L.

[0031] Similarly, the relative position information of hatch H2 is indicated by the distance on line La from position P to the closest position hs2 corresponding to hatch H2 and the distance from position P to the farthest position he2 corresponding to hatch H2. The relative position information of hatch H3 is indicated by the distance on line La from position P to the closest position hs3 corresponding to hatch H3 and the distance from position P to the farthest position he3 corresponding to hatch H3. The relative position information of hatch H4 is indicated by the distance on line La from position P to the closest position hs4 corresponding to hatch H4 and the distance from position P to the farthest position he4 corresponding to hatch H4.

[0032] The relative position information of these hatches H1, H2, H3, and H4 may be obtained in advance from the design drawings of ship X, or may be obtained by analyzing work status information obtained when loading and unloading operations were previously carried out on ship X.

[0033] In addition, the operation data acquisition unit 322 of the loading and unloading work management device 30 acquires in advance information indicating the correspondence between the latitude and longitude information of the loading and unloading equipment Y at a specified time, which is acquired using GPS information from a position sensor installed on the loading and unloading equipment Y, and the equipment coordinate system specific to the loading and unloading equipment Y.

[0034] The AIS receiver 10 receives an AIS signal transmitted from an AIS transmitter of a vessel X located within a docking area AR of a port under management. Figures 4A, 4B, 4C, and 4D are explanatory diagrams showing the position of the vessel X from the time it enters the docking area AR until it leaves it.

[0035] Figure 4A shows a state in which part of ship X has entered the docking area AR, Figure 4B shows a state in which ship X has entered the docking area AR and docked and moored at pier PL for loading and unloading operations, Figure 4C shows a state in which ship X has begun to leave the dock after loading and unloading operations have been completed, and Figure 4D shows a state in which ship X has left the docking area AR.

[0036] In the cases of Figures 4A, 4B, and 4C, the position sensor T of ship X is within the docking area AR, and the AIS signal transmitted from the AIS transmitter of ship X is received by the AIS receiver 10 as a signal transmitted from a ship within the docking area AR. In the case of Figure 4D, the position sensor T of ship X is not within the docking area AR, and the AIS signal transmitted from the AIS transmitter of ship X is not received as a signal transmitted from a ship within the docking area AR.

[0037] FIG. 5 is a flowchart showing the processing executed by the cargo handling operation management device 30 when the vessel X enters the docking area AR.

[0038] When vessel X enters docking area AR, the AIS receiver 10 transmits the AIS signal received from vessel X to the cargo handling operation management device 30. The AIS signal acquisition unit 321 of the cargo handling operation management device 30 sends the AIS signal acquired from the AIS receiver 10 to the relative position information acquisition unit 323. The relative position information acquisition unit 323 monitors whether vessel X has docked at pier PL based on the acquired AIS signal.

[0039] When the relative position information acquisition unit 323 determines that ship X has docked at pier PL ("YES" in S1), it acquires information on ship X's MMSI, latitude, longitude, and bow direction from the data of message type (1, 2, 3) of ship X's AIS signal (S2).

[0040] Furthermore, the relative position information acquisition unit 323 acquires information about the position of the position sensor T within the ship X from the data of the message type (5) of the AIS signal of the ship X (S3).

[0041] The relative position information acquisition unit 323 also estimates the absolute anchoring position of the vessel X based on the acquired information on the latitude, longitude, bow direction of the vessel X, and the position of the position sensor T (S4).

[0042] Next, the relative position information acquisition unit 323 acquires hatch relative position information for hatches H1, H2, H3, and H4 from the back data related to ship X stored in the relative position information storage unit 311, using the MMSI acquired from the AIS signal of ship X as a key (S5). The relative position information acquisition unit 323 sends the estimated information on the absolute anchoring position of ship X and the acquired hatch relative position information to the hatch position estimation unit 324.

[0043] The hatch position estimation unit 324 estimates the positions of hatches H1, H2, H3, and H4 in the equipment coordinate system based on the information on the absolute anchoring position of ship X and the hatch relative position information acquired from the relative position information acquisition unit 323, and the correspondence information between the latitude and longitude information of loading and unloading equipment Y and the equipment coordinate system specific to loading and unloading equipment Y acquired by the operation data acquisition unit 322 (S6).

[0044] Figure 6 is an explanatory diagram showing the positions of wharf PL and ship X in the equipment coordinate system recognized by the hatch position estimation unit 324. P0 in Figure 6 indicates the origin of the equipment coordinate system. The hatch position estimation unit 324 estimates the relative positions of hatches H1, H2, H3, and H4 as viewed from the origin P0 in the equipment coordinate system as position information of hatches H1, H2, H3, and H4 in the equipment coordinate system.

[0045] When cargo handling work begins on the berthed ship X by the cargo handling equipment Y, the cargo handling equipment Y transmits operation data by PLC at predetermined time intervals to the cargo handling work management device 30. The operation data receiver 20 sequentially receives the operation data of the cargo handling equipment Y transmitted from the cargo handling equipment Y (S7).

[0046] The operation data of this loading equipment Y is data indicating, for example, the center position of the CUL bucket elevator (the part that scrapes off the load), the CUL traveling position, the CUL boom rotation angle, the CUL boom hoisting angle, the instantaneous flow rate, the accumulated flow rate, the anchor deployment status, the alarm activation status, etc.

[0047] The data processing unit 325 uses the hatch position information estimated by the hatch position estimation unit 324 and the operation data of the loading and unloading equipment Y received from the operation data receiver 20 to generate work record data that records what work was performed by the loading and unloading equipment Y at which hatch.

[0048] The data processing unit 325 sequentially acquires information on the details of work performed by the cargo handling equipment Y while it moves in the direction of the arrow from the position of the origin P0 in Fig. 6, identifies the hatch corresponding to the location where the work was performed, and generates work record data. For example, the data processing unit 325 recognizes the load amount that has increased or decreased on the ship X when the center position of the bucket elevator is between positions hs4 and he4 corresponding to hatch H4 as the cargo handling amount (amount of coal unloaded) at hatch H4.

[0049] The data processing unit 325 obtains information such as the period during which cargo handling equipment Y performed work, the start time, end time, cargo handling volume, and alarms for each work at each hatch as events from the operation data and inputs the information into a report.

[0050] 7 is a diagram showing an example of work record data generated by the data processing unit 325. This work record data records events performed by cargo handling equipment Y, such as start of movement to No. 3 hatch (H3) at time 7:42, completion of movement to No. 3 hatch at time 7:53, start of coal unloading from No. 3 hatch at time 8:09, and stop of coal unloading from No. 3 hatch at time 12:00 (cargo volume 1,355.6 t / h, scraping efficiency 71.3%).

[0051] The data processing unit 325 generates aggregate data that aggregates the results of cargo handling from the input data forms and includes the data in the work record data. This aggregate data includes, for example, the cargo handling volume for each hatch and the cargo handling volume for the entire ship X.

[0052] The data processing unit 325 further includes in the work record data the information on the time when ship X arrived at pier PL, the time when it left pier PL, the ship's name, the MMSI number, the number of hatches, and the relative positions of hatches H1, H2, H3, and H4 as viewed from origin P0 in the equipment coordinate system. The data processing unit 325 stores the generated work record data in the processed data storage unit 312 (S8).

[0053] The data processing unit 325 also acquires work record data from the processed data storage unit 312 as needed and transmits it to the data management server 50 via the communication device 40. The data management server 50 provides the work record data in response to a request from a device that periodically generates a daily report or work analysis report on the status of cargo handling work on ship X, or a customer terminal that views the status of cargo handling work on ship X, etc.

[0054] In addition, the data management server 50 may provide the position information of the hatches H1, H2, H3, and H4 in the equipment coordinate system contained in the work record data acquired as described above to a device that remotely operates the loading and unloading equipment or an automatic operation control device.

[0055] In addition, the hatch position estimation unit 324 may acquire the positions of hatches H1, H2, H3, and H4 estimated in step S6 described above as first hatch positions, and may estimate the positions of hatches H1, H2, H3, and H4 in a coordinate system specific to the loading and unloading equipment, estimated based on work status information from when loading and unloading work was previously performed on ship X, as second hatch positions, and may use this information on the positions of the second hatches to correct the information on the first hatch positions.

[0056] This information on the position of the second hatch can be estimated, for example, by plotting the position data of the center position of the bucket elevator every minute from the operation data of loading and unloading equipment Y over the past few days, and identifying the position information of the point where the plots are concentrated.

[0057] In the above-described embodiment, the loading and unloading operation management device 30 acquires an AIS signal from the AIS receiver 10 using USB communication, but this is not limited to this, and the AIS signal of a desired ship may be acquired using a web service that provides AIS signals acquired from a large number of ships.

[0058] [Effects of the embodiment] According to the above-described embodiment, the loading and unloading operation management device includes a relative position information storage unit that stores relative position information of the ship's hatch relative to a predetermined position of the ship that is the subject of loading and unloading operation, and a hatch position estimation unit that acquires absolute position information of the ship and correspondence information that indicates the correspondence between the absolute position information of the loading and unloading equipment that performs loading and unloading operation on the ship and a coordinate system specific to the loading and unloading equipment, and estimates the position of the hatch in the coordinate system specific to the loading and unloading equipment as the first hatch position based on the acquired absolute position information of the ship and the correspondence information and the relative position information of the ship's hatch stored in the relative position information storage unit.

[0059] This means that when managing cargo handling operations on a ship, even for ships for which work data from past cargo handling operations has not been accumulated, workers can easily obtain information on the position of the ship's hatches relative to the cargo handling equipment without having to go to the work site.

[0060] The cargo handling operation management device may further include a data processing unit that provides information on the estimated first hatch position for generating cargo handling operation status information and for remote operation or automatic operation processing of the cargo handling equipment. This allows the information on the estimated hatch position in the coordinate system specific to the cargo handling equipment to be used for a variety of functions.

[0061] The hatch position estimation unit may also estimate the position of the hatch in a coordinate system specific to the cargo handling equipment, estimated based on work status information from previous cargo handling operations on the ship, as the second hatch position, and use this information on the second hatch position to correct the information on the first hatch position, thereby enabling the hatch position to be estimated with even greater accuracy.

[0062] Although the embodiments of the present invention have been described above, the embodiments can be modified or varied based on the above disclosure. All components of the above embodiments and all features described in the claims may be individually extracted and combined as long as they are not mutually inconsistent. [Explanation of symbols]

[0063] 1. Cargo handling management system 10 AIS receiver 20 Operational data receiver 30 Cargo handling management device 31 Storage section 32 CPU 40 Communication equipment 50 Data Management Server 311 Relative position information storage unit 312 Processing data storage unit 321 AIS signal acquisition section 322 Operational Data Acquisition Unit 323 Relative position information acquisition unit 324 Hatch position estimation unit 325 Data Processing Unit

Claims

1. a relative position information storage unit that stores relative position information of a hatch of a vessel relative to a predetermined position of the vessel that is the object of cargo handling work; a hatch position estimation unit that acquires absolute position information of the ship and correspondence information that indicates the correspondence between absolute position information of loading and unloading equipment that performs loading and unloading work on the ship and a coordinate system specific to the loading and unloading equipment, and that estimates the position of the hatch in the coordinate system specific to the loading and unloading equipment as a first hatch position based on the acquired absolute position information of the ship and the correspondence information and the relative position information of the hatch of the ship stored in the relative position information storage unit.

2. 2. The loading and unloading operation management device according to claim 1, further comprising a data processing unit that provides information on the estimated first hatch position for generating loading and unloading operation status information and for remote operation or automatic operation control of the loading and unloading equipment.

3. 2. The loading and unloading operation management device according to claim 1, wherein the hatch position estimation unit estimates the position of the hatch in a coordinate system specific to the loading and unloading equipment as the second hatch position, which is estimated based on work status information when loading and unloading operations were previously performed on the ship, and corrects the information on the first hatch position using the information on the position of the second hatch.

4. A cargo handling operation management device including a relative position information storage unit that stores relative position information of a hatch of a ship with respect to a predetermined position of the ship that is a target of cargo handling operation, A loading and unloading operation management method comprising: acquiring absolute position information of the ship; and correspondence information indicating the correspondence between absolute position information of loading and unloading equipment that performs loading and unloading operations on the ship and a coordinate system specific to the loading and unloading equipment; and estimating the position of the hatch in the coordinate system specific to the loading and unloading equipment as a first hatch position based on the acquired absolute position information of the ship and the correspondence information and the relative position information of the hatch of the ship stored in the relative position information storage unit.

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