Unloading equipment, calibration equipment, calibration method for unloading equipment, calibration program for unloading equipment

Abstract

The present invention provides a loading / unloading device that can calibrate detection units such as distance measuring sensors without relying on ground-based reference objects. [Solution] The unloading device 1A for unloading cargo from a ship comprises a movable part that is movable relative to the ship, a rotating part that is rotatable relative to the movable part, an unloading part provided on the rotating part for unloading cargo, a detection unit 19A that detects a second unloading device 1B that is different from the unloading device 1A, and a calibration unit 311 that calibrates the detection unit 19A based on the detection result of the second unloading device 1B by the detection unit 19A. It also comprises a state data acquisition unit 310 that acquires state data regarding the state of the second unloading device 1B, and the calibration unit 311 calibrates the detection unit 19A based on the detection result and state data of the second unloading device 1B.

Description

[Technical Field]

[0001] This disclosure relates to unloading equipment, etc. [Background technology]

[0002] Cargo handling machines are known for handling cargo or loads on ships and other vessels. Cargo handling machines are broadly classified into loading machines that load cargo into the ship's hold and unloading machines or devices that unload cargo from the ship's hold onto land. Among loading machines, those that load bulk cargo or bulk loads such as coal or iron ore are also called ship loaders, and among unloading machines, those that unload bulk loads are also called ship unloaders. This disclosure is applicable to any unloading machine or unloading device, but will mainly describe ship unloaders in an illustrative and representative manner. Some ship unloaders continuously unload bulk loads from the ship's hold and are called continuous unloaders or continuous ship unloaders. In this disclosure, the abbreviation CSU will be used.

[0003] Patent Document 1 discloses a method for calibrating a distance measuring sensor by measuring its distance to a reference object such as a rail on a pier. With a calibrated distance measuring sensor, the position and orientation of the loading or unloading section for unloading cargo can be measured with high precision. [Prior art documents] [Patent Documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2022-158930 [Overview of the Initiative] [Problems that the invention aims to solve]

[0005] Depending on the position and / or orientation of the CSU, the distance measuring sensor may not be able to measure ground reference objects, and the technology described in Patent Document 1 may not be able to properly calibrate the distance measuring sensor.

[0006] This disclosure is made in view of these circumstances and aims to provide a loading / unloading device, etc., that can calibrate detection units such as distance measuring sensors without relying on ground reference objects. [Means for solving the problem]

[0007] To solve the above problems, a cargo unloading device according to one embodiment of the present disclosure is a cargo unloading device for unloading cargo from a ship, comprising: a movable part that is movable relative to the ship; a swivel part that is rotatable relative to the movable part; an unloading part provided on the swivel part for unloading cargo; a detection unit for detecting a second cargo unloading device different from the first unloading device; and a calibration unit for calibrating the detection unit based on the detection result of the detection unit for the second cargo unloading device.

[0008] According to this embodiment, the detection unit can be appropriately calibrated based on the detection result of a second unloading device that is different from the unloading device being calibrated.

[0009] Another aspect of the present disclosure is a calibration device. This device comprises: a first calibration unit that calibrates a first detection unit, which is provided in a first unloading device comprising a first movable unit movable relative to a first vessel, a first pivotable unit pivotable relative to the first movable unit, and a first unloading unit provided in the first pivotable unit for unloading a first cargo from the first vessel, based on the detection result of a second unloading device different from the first unloading device; a second calibration unit that calibrates a second detection unit, which is provided in a second unloading device comprising a second movable unit movable relative to a second vessel, a second pivotable unit pivotable relative to the second movable unit, and a second unloading unit provided in the second pivotable unit for unloading a second cargo from the second vessel, based on the detection result of an object to be measured by a second detection unit; and a second calibration data acquisition unit that acquires second calibration data of the second detection unit by the second calibration unit. The first calibration unit calibrates the first detection unit based on the detection results of the second unloading device by the first detection unit and the second calibration data.

[0010] A further aspect of the present disclosure is a method for calibrating a cargo unloading device. The method is a method for calibrating a cargo unloading device comprising a movable part that is movable relative to a ship, a pivoting part that is pivotable relative to the movable part, and an unloading part provided on the pivoting part for unloading cargo from a ship, wherein the method involves detecting a second cargo unloading device different from the first cargo unloading device using a detection unit provided on the cargo unloading device, and calibrating the detection unit based on the detection result of the second cargo unloading device by the detection unit.

[0011] Furthermore, any combination of the above components, as well as any representations thereof converted into methods, apparatus, systems, recording media, computer programs, etc., are also included in this disclosure. [Effects of the Invention]

[0012] According to this disclosure, detection units such as distance measuring sensors can be calibrated without relying on ground-based reference objects. [Brief explanation of the drawing]

[0013] [Figure 1] This is a front view showing the overall configuration of the lifting machine. [Figure 2] This is a perspective view showing the overall configuration of the lifting machinery. [Figure 3] This diagram shows the detailed configuration of the loading / unloading section. [Figure 4] This diagram shows the external appearance of the distance measuring sensor. [Figure 5] This is a top view showing an example of the arrangement of distance measuring sensors. [Figure 6] This is a functional block diagram of the calibration device according to the first embodiment. [Figure 7] This diagram schematically shows the coordinate systems set for lifting machinery. [Figure 8] This is a top view showing an example of measuring a reference object using a lifting machine. [Figure 9] This flowchart shows an example of the calibration process for a distance measuring sensor using the calibration device according to the first embodiment. [Figure 10]This is a functional block diagram of the calibration device according to the second embodiment. [Figure 11] This is a flowchart showing an example of camera calibration processing using a calibration device according to the second embodiment. [Figure 12] This is a functional block diagram of the calibration device according to the third embodiment. [Figure 13] This is a flowchart showing an example of calibration processing of multiple detection units by a calibration device according to the third embodiment. [Figure 14] A schematic diagram shows a first unloading device equipped with a detection unit to be calibrated, and a second unloading device that the said detection unit can detect. [Figure 15] This is a functional block diagram of the calibration device according to the fourth embodiment. [Figure 16] A schematic example of a settings screen where the user can configure the detection target area in the second unloading device is shown. [Figure 17] This is a functional block diagram of the calibration device according to the fifth embodiment. [Figure 18] This is a flowchart showing an example of a calibration process using a calibration device according to the fifth embodiment. [Figure 19] This is a functional block diagram of the calibration device according to the sixth embodiment. [Figure 20] A schematic diagram of a vertical screw type unloader is shown. [Modes for carrying out the invention]

[0014] The following describes in detail the forms (hereinafter also referred to as embodiments) for carrying out this disclosure, with reference to the drawings. In the description and / or drawings, identical or equivalent components, members, processes, etc., are denoted by the same reference numerals, and redundant descriptions are omitted. The scale and shape of the illustrated parts are set for convenience in order to simplify the description and are not to be interpreted restrictively unless otherwise specified. The embodiments are illustrative and do not limit the scope of this disclosure in any way. Not all features or combinations thereof presented in the embodiments are necessarily essential to this disclosure. For convenience, embodiments are presented by breaking them down into components for each function and / or group of functions that realize them. However, one component in an embodiment may actually be realized by a combination of multiple components as separate entities, and multiple components in an embodiment may actually be realized by a single component as a whole. Furthermore, multiple embodiments and modifications may be disclosed in parallel, and any components of each embodiment and / or modification may be combined in any manner as long as they do not interfere with each other's functions.

[0015] Figure 1 shows the overall configuration of a lifting machine 1 as a cargo handling device or cargo handling machine according to an embodiment of the present disclosure. The lifting machine 1 is a continuous unloader or ship-mounted continuous unloader that unloads bulk cargo M loaded on a ship 200 or as cargo onto land. Hereinafter, the lifting machine 1 will also be referred to as CSU1. The CSU1 continuously transports bulk cargo M stored in the cargo hold 201 of a ship 200 docked at a quay 101 of a pier 102 in a port or the like to land. Examples of typical bulk cargo M include coal, coke, ore, etc. The ship 200 or cargo hold 201 is the storage location for the bulk cargo M, and is also the handling location or unloading location where the CSU1 handles or unloads the bulk cargo M.

[0016] The CSU1 is operated by an operator in the main control room 16 located in its main body. The control room for operating the CSU1 may be located elsewhere within the CSU1, or it may be located anywhere on land outside the CSU1.

[0017] The pier 102 where the ship 200 docks constitutes the land area where the bulk cargo M is unloaded, and is constructed of high-strength materials such as reinforced concrete. As shown in the perspective view of Figure 2, the pier 102 is provided with a pair of parallel rails 3 that serve as a track along the longitudinal direction (the direction perpendicular to the plane of the paper in Figure 1) of the ship 200 while it is docked and anchored at the quay 101. The rails 3 constitute a track on which the running section 2, which is the mobile part of the CSU 1, can move or travel. These rails 3 allow the CSU 1 to move relative to the anchored ship 200. As shown in Figure 2, the direction in which the rails 3 are installed is preferably the same as the longitudinal direction of the anchored ship 200 or the quay 101, but it may be any other direction. The rails 3 may also include curved sections and bends. When unloading cargo from the ship 200, the CSU 1 moves along the rails 3 and approaches the hatch 21, which is the upper opening of the cargo hold 201 to be unloaded. Subsequently, the running section 2, the slewing frame 5, the unloading section 9, etc., are driven, and the bulk cargo M is unloaded from the cargo hold 201.

[0018] At the pier 102, a belt conveyor 45 is provided between a pair of rails 3 to transport the unloaded bulk cargo M in a constant direction. As shown in Figure 2, it is preferable that the installation direction of the belt conveyor 45, i.e., the transport direction, coincides with the installation direction of the rails 3, but it may be any other direction. The belt conveyor 45 may also include curved sections and bends. The belt conveyor 45 needs to be provided between the pair of rails 3 where it receives the bulk cargo M unloaded from the CSU 1, but it may be provided outside the pair of rails 3 at other locations.

[0019] The CSU1 comprises a traveling section 2 as a mobile section that can move relative to the ship 200, a slewing frame 5 as a slewing section that can rotate relative to the traveling section 2, and a lifting section 9 provided at the tip of the slewing frame 5 as an unloading or handling section for unloading bulk cargo M. The slewing frame 5 is supported on the traveling section 2 so as to be able to rotate around a slewing axis in the vertical direction (up and down direction in Figure 1). The slewing frame 5 is provided with a boom 7 that extends laterally and intersects the slewing axis, and a bucket elevator, which constitutes the main part of the lifting section 9 as a conveying section, is supported at its tip.

[0020] The lifting section 9 maintains a vertical position regardless of the luffing angle of the boom 7 (the angle of rotation around the luffing axis perpendicular to the plane of the paper in Figure 1) through a parallel link mechanism consisting of the slewing frame 5, boom 7, and parallel link 8. A counterweight 13 is provided at the rear end of the slewing frame 5 opposite to the tip of the boom 7. The counterweight 13 is connected to the tip of the boom 7 via a balancing lever 12. Due to the action of this counterweight 13, the lifting section 9 becomes virtually unloaded, achieving a stable load balance. The main components of the slewing section, such as the slewing frame 5, boom 7, balancing lever 12, and counterweight 13, will collectively be referred to as the main body below.

[0021] A cylinder 15 is provided to adjust the luffing angle of the boom 7. When the cylinder 15 is at its standard length, the luffing angle is 0 degrees, meaning the boom 7 is parallel or horizontal to the ground (left-right direction in Figure 1). Extending the cylinder 15 beyond its standard length causes the tip of the boom 7 to rise, resulting in a positive luffing angle. Reducing the cylinder 15 beyond its standard length causes the tip of the boom 7 to lower, resulting in a negative luffing angle. The lifting section 9, supported at the tip of the boom 7, rises while maintaining a vertical position when the luffing angle of the boom 7 increases, and lowers while maintaining a vertical position when the luffing angle of the boom 7 decreases. In this way, the lifting section 9, as a cargo handling or lifting device, moves up and down integrally with the luffing of the boom 7.

[0022] The main control room 16 for operating the CSU1 is located on the CSU1 or the main body of the slewing unit. In the example shown in Figure 1, the main control room 16 is located on the lifting unit 9 side of the slewing frame 5. The operator in the main control room 16 can safely operate the CSU1 while visually monitoring the lifting unit 9. Alternatively, the operator in the main control room 16 may operate the CSU1 while viewing images or videos of the cargo hold 201 captured by a camera or other imaging device on a monitor. In response to the operation of the CSU1 through the main control room 16, parameters related to the position, posture, and operation of the CSU1 (hereinafter collectively referred to as the CSU state), such as the position of the traveling unit 2, the slewing angle of the slewing frame 5, and the elevation angle of the boom 7, are controlled. Furthermore, the operation of unloading bulk cargo M by the lifting unit 9 can also be operated through the main control room 16.

[0023] The unloading section 9 includes a scraping section 11 at its lower end for scraping bulk cargo M from within the cargo hold 201, and a bucket elevator as a transport or unloading section for transporting or unloading the bulk cargo M scraped by the scraping section 11 upward or toward the upper end to the outside of the cargo hold 201. The scraping section 11 is located at the lower part of the unloading section 9. A number of buckets 27 (see Figure 3) are provided along the outer circumference of the scraping section 11 so as to be movable in one direction (W in Figure 1), and the bulk cargo M from within the cargo hold 201 is continuously excavated and scraped off. The bulk cargo M scraped by the scraping section 11 is transported upward together with the buckets 27 by the bucket elevator.

[0024] Figure 3 shows the detailed configuration of the lifting section 9. The bucket elevator comprises a cylindrical elevator body 14 extending vertically and a chain bucket 29 that rotates along the outer circumference of the elevator body 14 and the scraping section 11. The chain bucket 29 comprises a pair of roller chains 25, each composed of an endless chain, and a plurality of buckets 27 supported on both sides by the pair of roller chains 25. Specifically, the pair of roller chains 25 are arranged side by side in a direction perpendicular to the plane of the paper in Figure 3(B), and each bucket 27 is mounted so as to be suspended between the pair of roller chains 25.

[0025] The bucket elevator includes a drive roller 31a that rotationally drives a stretched roller chain 25, driven rollers 31b and 31c, and a steering roller 33. The drive roller 31a is located at the top 9a of the bucket elevator and is rotationally driven by a motor (not shown) or the like, causing the chain bucket 29 to rotate. The driven roller 31b is located in front of the scraping section 11 (to the left in Figure 3(B)), and the driven roller 31c is located behind the scraping section 11 (to the right in Figure 3(B)), each guiding the rotating chain bucket 29. The steering roller 33 is a driven roller located below the drive roller 31a, which guides the rotating chain bucket 29 and changes its direction of motion. An extendable cylinder 35 is provided between the driven rollers 31b and 31c. When the cylinder 35 extends or retracts, the distance between the axes of the two driven rollers 31b and 31c changes, altering the trajectory of the chain bucket 29's orbital motion. The extension and retraction of the cylinder 35 may be controlled by operation through the main control room 16, or it may be controlled automatically by a computer built into the CSU1 according to a program. In addition, corresponding to the provision of two roller chains 25, two drive rollers 31a, two driven rollers 31b and 31c, and two turning rollers 33 are each provided and arranged side by side in a direction perpendicular to the plane of the paper in Figure 3(B).

[0026] Driven by rotation through the drive roller 31a, the chain bucket 29 revolves along the outer circumference of the elevator body 14 and the scraping section 11. For example, the chain bucket 29 revolves counterclockwise along the arrow W shown in Figure 3(B). During this movement, the chain bucket 29 reciprocates between the scraping section 11 located at the bottom of the bucket elevator and the drive roller 31a located at the top 9a of the bucket elevator.

[0027] Each bucket 27 of the chain bucket 29 rises along the elevator body 14 while maintaining an orientation with its opening facing upward. As each bucket 27 passes the drive roller 31a at the top 9a of the bucket elevator, its direction of motion changes from upward to downward, and the opening of each bucket 27 also rotates from upward to downward. Below the openings of each bucket 27 that have rotated downward in this way, there is a discharge chute (not shown) to which the bulk load M scooped up by each bucket 27 is discharged. The discharge chute discharges the bulk load M onto a rotating feeder 37 (Figure 1) provided on the outer circumference of the upper part of the lifting section 9.

[0028] The rotary feeder 37 rotates around the rotation axis in the extension direction, i.e., the vertical direction, of the elevator body 14, and transfers the bulk load M discharged from the discharge chute to the boom conveyor 39 on the boom 7. The boom conveyor 39 transports the bulk load M along the boom 7 to the vicinity of the rotation axis of the slewing frame 5, and supplies it to a hopper (not shown) located there. An internal conveyor 43 for receiving the bulk load M is provided in the running section 2 below the discharge opening of this hopper. The internal conveyor 43 transfers the bulk load M to the aforementioned belt conveyor 45 located on the pier 102, which is land.

[0029] Next, the basic unloading operation of the CSU1 having the above configuration will be explained. In this unloading operation, the unloading unit 9 and / or CSU1 transport the bulk cargo M (ship cargo) from the ship's hold 201 to the outside of the ship's hold 201.

[0030] The operator of the CSU1 operates the CSU1 from the main control room 16. First, the running section 2 is moved along the rails 3 to a position close to the hatch 21 of the cargo hold 201 to be unloaded. Next, the slewing frame 5 is rotated around a vertical slewing axis located in a position overlapping with the running section 2 in the top view in Figure 1, moving the lifting section 9, located at the tip of the boom 7, above the hatch 21 of the cargo hold 201 to be unloaded. Here, it is preferable that the boom 7 is raised and lowered in the positive direction (clockwise in Figure 1) to prevent the lifting section 9 from colliding with the pier 102 or the ship 200, and that the running and slewing operations are performed when the lifting section 9 is sufficiently raised. Next, the boom 7 is raised and lowered in the negative direction (counterclockwise in Figure 1), and the scraping section 11, located at the tip of the lifting section 9, is inserted into the cargo hold 201 through the hatch 21. Furthermore, the movement of the travel unit 2, the rotation of the slewing frame 5, and the raising and lowering of the boom 7 may be performed simultaneously if there are no safety issues.

[0031] After the scraping section 11 is inserted into the cargo hold 201, the roller chain 25 begins to rotate along the arrow W. The multiple buckets 27 attached to the roller chain 25 excavate and scrape the bulk cargo M stored in the cargo hold 201 as they rotate together with the roller chain 25. The bulk cargo M scraped by each bucket 27 is transported upward along the elevator body 14 as the roller chain 25 rotates.

[0032] The scraping unit 11 may change its three-dimensional position within the cargo hold 201 as appropriate in order to efficiently scrape bulk cargo M from various locations within the cargo hold 201. For example, if the surface position of the bulk cargo M becomes lower as the unloading operation progresses, the boom 7 is raised and lowered in the negative direction, causing the scraping unit 11 to descend. In addition, in order to scrape bulk cargo M near the walls of the cargo hold 201, the position of the scraping unit 11 in the horizontal plane may be changed to move closer to the wall through the operation of the traveling unit 2 and / or the slewing frame 5. The scraping unit 11 may change not only its three-dimensional position but also its posture and shape. For example, the scraping unit 11 is rotatable around the axis of rotation in the extension direction, i.e., the vertical direction, of the elevator body 14, and its orientation can be changed arbitrarily. Also, as shown by the dashed line in Figure 3(B), the scraping unit 11 can take on an inclined shape or a horizontally elongated shape that contracts vertically and extends horizontally. This allows the scraping section 11 to be brought closer to the wall and efficiently scrape off bulk cargo M, even in a cargo hold 201 with a large horizontal distance from the hatch 21 to the wall.

[0033] The control of the CSU state, such as the position, posture, movement, and shape of the scraping section 11 or the lifting section 9 within the cargo hold 201 in relation to the CSU1's unloading operation, may be performed autonomously by the CSU1 using a camera or other imaging device or a distance measuring sensor described later (i.e., the lifting section 9 and / or CSU1 may be operated automatically), or it may be performed manually by an operator in the main control room 16 while communicating with workers in the cargo hold 201.

[0034] As described above, the bucket 27 that has scooped up the bulk cargo M from the cargo hold 201 rises along the elevator body 14, and as it passes the drive roller 31a at its uppermost point 9a, it turns from upward to downward. The bulk cargo M that falls due to the turning of the bucket 27 enters the discharge chute and is discharged onto the rotating feeder 37. Thereafter, the bulk cargo M is transported via the boom conveyor 39 and the in-machine conveyor 43 to the belt conveyor 45 located at the pier 102, which serves as land. This unloading operation is repeated by multiple buckets 27, thereby continuously unloading the bulk cargo M from the cargo hold 201.

[0035] Next, we will describe the distance measuring sensor installed in the CSU1 to improve the safety and efficiency of cargo unloading. The distance measuring sensor constitutes a cargo hold detection unit or position measuring unit that detects the position of a part of the cargo hold 201, for example, the edge of the opening 21, the upper / side surface facing the edge, the ceiling / walls / bottom of the cargo hold 201, structures inside the cargo hold 201, etc.

[0036] As shown in Figure 1, multiple distance measuring sensors 19 are provided on the upper part of the loading section 9 to measure the distance to objects located below and to the side. In the illustrated example, any object that can be measured by the distance measuring sensors 19 is any object such as the edge of the opening 21, the ceiling / walls / bottom of the cargo hold 201, bulk cargo M and other objects, people / structures inside the cargo hold 201, a bulldozer for bottom dredging, the scraping section 11, the ship 200, other parts of the CSU1 such as the boom 7 / slewing frame 5 / traveling section 2 / main control room 16, the quay 101, the dock 102, the rails 3, the belt conveyor 45, etc. Multiple distance measuring sensors 19 may be arranged, for example, on the upper part of a cylindrical elevator body 14, surrounding the outer circumference of the elevator body 14. Alternatively, multiple distance measuring sensors 19 may be provided on a flange section 91 that rotatably supports the upper part of the elevator body 14, surrounding the outer circumference of the elevator body 14. It is preferable that the multiple distance measuring sensors 19 be positioned below the connection point between the lifting section 9 and the boom 7 so that the boom 7 does not fall within the measurement range below and to the side of the multiple distance measuring sensors 19. On the other hand, if the multiple distance measuring sensors 19 are positioned above the connection point between the lifting section 9 and the boom 7, it is sufficient that each distance measuring sensor 19 is positioned so as not to overlap with the boom 7 when viewed from above (as seen from above in Figure 1). An example of the arrangement of the multiple distance measuring sensors 19 in a top view will be described later. The number of distance measuring sensors 19 is arbitrary. For example, any number of distance measuring sensors 19 that measure distance mainly below the lifting section 9 and any number of distance measuring sensors 19 that measure distance mainly to the side of the lifting section 9 may be provided.

[0037] The scraping section 11 at the bottom of the unloading section 9 is equipped with multiple distance measuring sensors 18 to measure the distance to objects to be measured above, to the side, and below. In the illustrated example, any object can be measured by the distance measuring sensors 18, such as the edge of the opening 21, the ceiling / walls / bottom of the cargo hold 201, bulk cargo M and other objects, people / structures inside the cargo hold 201, a bulldozer for bottom scraping, or other parts of the CSU1 such as the boom 7. The distance measuring sensors 18 are provided at the front (left side in Figure 1) and rear (right side in Figure 1) of the scraping section 11, respectively. To avoid deterioration of measurement accuracy due to dust from the bulk cargo M scraped by the bucket 27 of the scraping section 11, it is preferable that the multiple distance measuring sensors 18 be provided at a location away from the point where the bucket 27 excavates the bulk cargo M (for example, the bottom of the scraping section 11) (for example, the top of the scraping section 11). The number of distance measuring sensors 18 is arbitrary. For example, any number of distance measuring sensors 18 that measure distances mainly to the side of the scraping section 11 and any number of distance measuring sensors 18 that measure distances mainly below the scraping section 11 may be provided.

[0038] Figure 4 shows the external appearance of the distance measuring sensors 18 and 19. The distance measuring sensors 18 and 19 are, for example, distance-measuring laser sensors and constitute a distance measuring unit that measures the distance to an object to be measured. The distance measuring sensors 18 and 19 as laser sensors include a laser light-emitting unit (not shown) that emits laser light toward the object to be measured, including the ship's hold 201, and a laser light-receiving unit (not shown) that receives the laser light reflected by the object to be measured. A translucent portion 171 that allows laser light to pass through is formed in an endless band shape around the entire circumference of the side surface of the cylindrical housing 17 of the distance measuring sensors 18 and 19.

[0039] Multiple laser emitters are provided in the housing 17, facing the translucent portion 171, and emit a linear laser beam to the outside of the housing 17 through the translucent portion 171. Each laser emitter is arranged at a predetermined interval along the direction of the central axis A of the housing 17 (the vertical direction in Figure 4), although Figure 4 simply shows the laser beam being emitted from a single point. Also, as schematically illustrated, there is a difference of about 0.1 to 3 degrees in the emission angle of each laser emitter. Such distance measuring sensors 18 and 19 irradiate laser beam within a predetermined angular range above and below the reference plane S (in the illustrated example, within the range of θ- to θ+), with the plane perpendicular to the central axis A of the housing 17 as the reference plane S. θ- and θ+ can be designed arbitrarily, but in the following example, -θ- = θ+ = 15 degrees. In this case, distance measuring sensors 18 and 19 irradiate laser beam within a range of ±15 degrees centered on the reference plane S. Furthermore, these multiple laser light-emitting units can be rotated 360 degrees integrally around the central axis A of the housing 17. Therefore, the distance measuring sensors 18 and 19 can irradiate laser light onto virtually all objects to be measured around (to the side of) the housing 17. Note that the laser light-emitting units of the distance measuring sensors 18 and 19 may irradiate laser light within any angular range smaller than 360 degrees around the central axis A of the housing 17 (for example, an angular range of 180 degrees or less or an angular range of 120 degrees or less). In addition, it is preferable to use laser light of an invisible wavelength such as near-infrared light so as not to disturb people inside or around the CSU1 or the ship 200.

[0040] The distance measuring sensors 18 and 19 rotate multiple laser light-emitting units together, emitting pulsed laser light at predetermined rotational angles. The pulsed laser light emitted by each laser light-emitting unit is reflected or scattered by the object to be measured and returns to the distance measuring sensors 18 and 19, where it is received by a laser light-receiving unit provided together with each laser light-emitting unit within the housing 17. The calculation unit (not shown) of the distance measuring sensors 18 and 19 calculates the distance to the object to be measured based on the time from when the laser light-emitting unit emits a pulse of laser light until the laser light-receiving unit receives the pulse of laser light reflected from the object to be measured. This technology is also called LiDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging).

[0041] While laser sensors were given as examples of distance measuring sensors 18 and 19 above, distance measuring sensors 18 and 19 may also use other types of light or electromagnetic waves. For example, a millimeter-wave sensor using so-called millimeter waves with a wavelength of about 1 mm to 10 mm may be used as distance measuring sensors 18 and 19. Millimeter waves have high directivity due to their high frequency of about 30 GHz to 300 GHz, and can be handled in the same way as lasers. A millimeter-wave sensor is configured similarly to the laser sensor in Figure 4, except that a millimeter-wave transmitter (a broad-sense light-emitting unit) that emits millimeter waves toward the object to be measured is provided instead of a laser light-emitting unit, and a millimeter-wave receiver (a broad-sense light-receiving unit) that receives millimeter waves reflected by the object to be measured is provided instead of a laser light-emitting unit. Furthermore, optical sensors that use light other than laser light, such as Time of Flight (ToF) image sensors, may also be used as distance measuring sensors 18 and 19. Moreover, distance measuring sensors 18 and 19 may not have a light-emitting unit that emits light or electromagnetic waves toward the object to be measured. For example, a stereo camera capable of measuring distance by simultaneously photographing the object to be measured from different directions may be used as the distance measuring sensors 18 and 19.

[0042] The distance measuring sensors 18 and 19 shown in Figure 4 can be attached to the CSU shown in Figure 1 at any position and orientation according to the measurement purpose. For example, the distance measuring sensor 18 installed in the scraping section 11 is mounted so that its central axis A in Figure 4 is vertical and its reference plane S is horizontal. This distance measuring sensor 18 can measure the distance within the cargo hold 201, centered on the side of the scraping section 11. Alternatively, the distance measuring sensor 18 may be mounted so that its central axis A in Figure 4 is horizontal and its reference plane S is vertical. This distance measuring sensor 18 can measure the distance to the opening 21 above the scraping section 11 or the bulk load M below the scraping section 11. Note that the orientation of the central axis A of the distance measuring sensor 18 is not limited to the vertical or horizontal direction; it can be any orientation.

[0043] The distance measuring sensor 19, installed on the upper part of the unloading section 9, may be mounted so that its central axis A in Figure 4 is horizontal and its reference plane S is a vertical plane. This distance measuring sensor 19 can measure the distance to the edge of the opening 21 of the cargo hold 201 below, or to bulk cargo M inside the cargo hold 201. Although this distance measuring sensor 19 can also emit laser light upwards, if there is no object to be measured above, the upward measurement may be disabled by covering the upper side of the distance measuring sensor 19 with a light-shielding cover. Alternatively, the distance measuring sensor 19 may be mounted so that its central axis A in Figure 4 is vertical and its reference plane S is parallel to the horizontal plane. This distance measuring sensor 19 can efficiently measure the distance to any object outside the cargo hold 201 located to the side. The orientation of the central axis A of the distance measuring sensor 19 is not limited to the horizontal or vertical direction, but in the following example, it is assumed to be horizontal.

[0044] By installing the distance measuring sensors 18 and 19 described above in the unloading section 9, the position of any object to be measured can be accurately determined, such as the edge of the opening 21, the ceiling / walls / bottom of the cargo hold 201, bulk cargo M and other objects, people / structures inside the cargo hold 201, the bulldozer for bottom dredging, and the scraping section 11. Therefore, collisions between the unloading section 9 and other objects during unloading can be prevented, and bulk cargo M can be unloaded efficiently.

[0045] Figure 5 shows an example of the arrangement of the distance measuring sensors 19 in a top view. Three distance measuring sensors 191, 192, and 193 are arranged to surround the outer circumference of the flange portion 91 or the elevator body 14. Distance measuring sensor 191 is positioned so that its central axis A in Figure 4 is in the left-right direction in Figure 5, and its reference surface S1, corresponding to the reference surface S in Figure 4, is in the up-down direction in Figure 5. Distance measuring sensor 191 measures distance by irradiating laser light within a range of ±15 degrees centered on the reference surface S1. Distance measuring sensors 192 and 193 are positioned so that their central axis A in Figure 4 is in the up-down direction in Figure 5, and their reference surfaces S2 and S3, corresponding to the reference surface S in Figure 4, are in the left-right direction in Figure 5. Distance measuring sensors 192 and 193 measure distance by irradiating laser light within a range of ±15 degrees centered on the reference surfaces S2 and S3. The reference planes S2 and S3 of the distance measuring sensors 192 and 193 are different planes that are parallel to each other and are perpendicular to the reference plane S1 of the distance measuring sensor 191.

[0046] The CSU1 unloads bulk cargo M from the cargo hold 201 using the posture shown in Figure 5 as its basic posture during unloading. In this basic posture, the running section 2 is positioned offset from the front of the cargo hold 201, and the slewing frame 5 and boom 7 are in a slewing position that forms an acute angle with respect to the rails 3 that constitute the track of the running section 2. In this case, the unloading section 9 is located above the cargo hold 201 of the ship 200, and its lower scraping section 11 is inserted into the cargo hold 201 through the opening 21.

[0047] The opening 21 of the cargo hold 201 is often a long rectangle in the direction of the ship 200's movement (left-right direction in Figure 5). In this case, the upper edge E11 and lower edge E12 of the opening 21 can be detected by the distance measuring sensor 191, which irradiates laser light parallel to the short side of the opening 21 (the vertical side in Figure 5). The points shown at the center of edges E11 and E12 represent the positions where the laser light on the reference plane S1 of the distance measuring sensor 191 strikes the edge of the opening 21, and the small rectangle surrounding it schematically represents the range in which the laser light irradiated within a ±15 degree range centered on the reference plane S1 strikes the edge of the opening 21. The same notation is used for distance measuring sensors 192 and 193.

[0048] Similarly, distance measuring sensors 192 and 193, which irradiate laser light parallel to the long side of the opening 21 (the left-right side in Figure 5), can detect the left edge E21, E31 and the right edge E22, E32 of the opening 21. By using the two distance measuring sensors 192 and 193, high-precision distance measurement becomes possible even in the long direction, where distance measurement is more difficult than in the short direction. Thus, the arrangement of distance measuring sensors 191, 192, and 193 in Figure 5 is suitable for detecting the edges of an opening 21 that is long in one direction, such as a rectangle.

[0049] Furthermore, even if the CSU1 is not in the basic position shown in Figure 5, as long as the lifting section 9 is inside the opening 21 when viewed from above, the three distance sensors 191, 192, and 193 can acquire six distance measurement point groups on the edge of the opening 21 corresponding to E11, E12, E21, E22, E31, and E32, allowing the position of the opening 21 to be accurately determined.

[0050] Furthermore, the basic position of the CSU1 during unloading is not limited to that shown in Figure 5. For example, the traveling section 2 may be in front of the cargo hold 201, and the slewing frame 5 and boom 7 may be perpendicular to the rail 3. In this case, since the extension direction of the boom 7 coincides with the short side direction of the opening 21, the reference plane S1 of the distance measuring sensor 191 becomes parallel to the extension direction of the boom 7, and the reference planes S2 and S3 of the distance measuring sensors 192 and 193 become perpendicular to the extension direction of the boom 7. If the distance measuring sensors 191, 192, and 193 are made rotatable integrally around the axis of the cylindrical elevator body 14, then it is easy to arrange the distance measuring sensors 191, 192, and 193 in a manner suitable for the elongated opening 21 as described above, in accordance with changes in the basic position of the CSU1 during unloading.

[0051] The number and / or arrangement of the distance measuring sensors 19 described above is merely an example, and any number and / or arrangement of distance measuring sensors 19 may be used. The number of distance measuring sensors 19 is preferably at least two, and more preferably three or more, in order to efficiently measure the position, orientation, shape, and other conditions of the cargo hold 201 surrounding the unloading section 9 in a top view. Multiple distance measuring sensors 19 may be arranged at equal intervals along the outer circumference of the flange portion 91 or the elevator body 14. In this case, the installation orientation of each distance measuring sensor 19 is arbitrary, but for example, each distance measuring sensor 19 may be installed so that its reference surface S is in contact with the outer circumference of the flange portion 91 or the elevator body 14. With such a symmetrical arrangement, the position, orientation, shape, and other conditions of the cargo hold 201 can be measured stably regardless of the orientation of the CSU 1 during unloading.

[0052] In accordance with the distance measured by the distance measuring sensors 18 and 19 to the cargo hold 201 itself or to objects to be measured inside or outside the cargo hold 201, each movable part of the CSU1, namely the movable traveling part 2, the swivelable swivel frame 5, the luffing boom 7, the rotatable and deformable scraping part 11, etc., is controlled to prevent the unloading part 9 from colliding with the cargo hold 201 itself or other objects (objects to be measured) inside or outside the cargo hold 201 during unloading, and the bulk cargo M is unloaded efficiently. In addition to or instead of the distance measuring sensors 18 and 19, optical sensors such as image sensors or cameras that photograph objects to be measured may be used to detect the cargo hold 201 itself or objects inside or outside the cargo hold 201.

[0053] However, if there are errors in the mounting position or orientation of the distance measuring sensors 18, 19 or the optical sensors, or if the relationship (relative position and orientation) between the distance measuring sensors 18, 19 or the optical sensors and each movable part of the CSU1 changes due to changes in the external environment such as the weight and temperature of the lifting unit 9 itself or the bulk load M during handling, the effectiveness of the distance measuring sensors 18, 19 or the optical sensors will be reduced. Therefore, in this embodiment, in order to obtain the maximum effect from the distance measuring sensors 18, 19 or the optical sensors, a calibration device 300 is provided to calibrate or correct errors in the mounting position or orientation of the distance measuring sensors 18, 19 or the optical sensors, or changes in the relationship between the distance measuring sensors 18, 19 or the optical sensors and each movable part of the CSU1.

[0054] Figure 6 is a functional block diagram of the calibration device 300 according to the first embodiment. The calibration device 300 includes a distance measurement point coordinate acquisition unit 301, a coordinate transformation unit 302, a coordinate error detection unit 303, and a coordinate system correction unit 304. These functional blocks are realized through the cooperation of hardware resources such as the central processing unit, memory, input devices, output devices, and peripheral devices connected to the computer, both inside and outside the CSU1, and software executed using them. Regardless of the type or location of the computer, each of the above functional blocks may be realized using the hardware resources of a single computer, or it may be realized by combining hardware resources distributed across multiple computers.

[0055] Before describing each functional block of the calibration device 300, the underlying coordinate systems will be explained. Figure 7 schematically shows the coordinate systems set for the CSU1. Figure 7(A) is a schematic diagram of the CSU1 in a vertical plane, including the traveling section 2, the slewing frame 5, the boom 7, and the lifting section 9, and Figure 7(B) is a schematic diagram of the CSU1 viewed from above. Figure 7(A) is a cross-sectional view taken by a plane including the boom 7 that extends diagonally downward to the left in Figure 7(B).

[0056] The coordinate system u is a ground coordinate system (or a mobile unit coordinate system based on the ground on which the mobile unit 2 travels) and is the x-axis in the xyz Cartesian coordinate system. x The axis and u as the y-axis y The axis and u as the z-axis z It is determined by the axis. The origin of coordinate system u is located on the track of the running section 2 which is made up of rail 3, u x The direction of the axis coincides with the laying direction of the rail 3, which is the direction of movement of the running section 2, u y The direction of the axis is u in the horizontal plane x It is a direction perpendicular to the axis, u z The axis is oriented vertically.

[0057] Here, "the coordinate system u is a ground coordinate system based on the ground" means that the coordinate system u takes an arbitrary point on the ground or an object with a known position on the ground as the origin. For example, the ground coordinate system u may be a coordinate system with an arbitrary position on the quay 102 as the land where the traveling unit 2 is installed as the origin, or a coordinate system with the traveling unit 2 with a known position on the ground as the origin. Note that the ground coordinate system u is also a moving unit coordinate system based on the traveling unit 2. Here, "the coordinate system u is a moving unit coordinate system based on the traveling unit 2" means that the position and orientation of the traveling unit 2 as its reference can be accurately tracked in the coordinate system u. In the illustrated example, in the coordinate system u, the traveling unit 2 moves only in the u x axis direction, so its u y coordinates and u z coordinates do not change (hereinafter, for simplicity of explanation, the u y coordinates and u z coordinates of the traveling unit 2 are set to 0). The u x coordinates of the traveling unit 2 can be accurately tracked by a position sensor or the like that measures the position x tl on the rail 3 of the traveling unit 2. Thus, since the three-dimensional coordinates (u x , u y , u z ) = (x tl , 0, 0) and the orientation of the traveling unit 2 in the coordinate system u can be accurately tracked, the coordinate system u is a moving unit coordinate system based on the traveling unit 2. Note that in the illustrated example, for simplicity of explanation, the direction of the u x axis is made to coincide with the laying direction of the rail 3, but the direction of each axis of the ground coordinate system u can be arbitrarily set.

[0058] The coordinate system r is a turning unit coordinate system based on the turning frame 5, and is defined by the r x axis as the x-axis, the r y axis as the y-axis, and the r z axis as the z-axis in the xyz orthogonal coordinate system. The origin of the coordinate system r coincides with the turning center O r of the turning frame 5 in the top view of FIG. 7(B), and coincides with a point on the ground directly below the turning center O r in the cross-sectional view of FIG. 7(A). The direction of the r x axis is the u<了 xIt rotates by an angle θ2 relative to the direction of the axis, r y The direction of the axis is r in the horizontal plane. x This is the direction perpendicular to the axis (the extension direction of boom 7 in Figure 7(B) in the top view), and r z The axis is oriented vertically.

[0059] Here, "the coordinate system r is a rotational coordinate system based on the rotational frame 5" means that the rotational center O of the rotational frame 5, which is the reference point in coordinate system r, is used. r This means that the position and orientation can be precisely tracked. In the illustrated example, the pivot center O is visible from above. r Since that coincides with the origin of coordinate system r, x Coordinates and r y The coordinate is 0. Also, the pivot center is O. r r z The coordinates are the height h from the land. r It is constant. Also, the rotation angle θ2 representing the attitude of the rotation frame 5 can be measured by an angle sensor or the like. Thus, the rotation center O of the rotation frame 5 in coordinate system r r The three-dimensional coordinates (r x ,r y ,r z )=(0,0,h r ) and attitude can be accurately tracked, therefore the coordinate system r is a slewing section coordinate system based on the slewing frame 5. Note that the slewing section coordinate system r may also be a coordinate system with the origin at any position on the slewing frame 5, boom 7, counterweight 13 that constitute the slewing section, or on the main control room 16 which can rotate integrally with the slewing section. Also, in the illustrated example, for the sake of simplicity of explanation, r y The axis direction was aligned with the extension direction of boom 7 when viewed from above, but the direction of each axis in the slewing coordinate system r can be set arbitrarily.

[0060] Coordinate system b is a luffing coordinate system based on the boom 7 and lifting section 9, and b is the x-axis in the xyz Cartesian coordinate system. x The axis and b as the y-axis y The axis and b as the z-axis z It is determined by the axis. The origin of coordinate system b is located at the connection point between boom 7 and lifting section 9. yThe axis direction is horizontal and coincides with the extension direction of boom 7 in the top view of Figure 7(B), b x The direction of the axis is b in the horizontal plane. y It is a direction perpendicular to the axis, b z The axis is oriented vertically.

[0061] Here, "coordinate system b is a luffing coordinate system based on boom 7 and lifting section 9" means that the luffing center O is the reference point in coordinate system b. b This means that the position and orientation can be precisely tracked. In the illustrated example, the boom 7 is at the base end of the luffing center O b The area is raised by an elevation angle θ1 around it. As shown in Figure 7(A), the origin of coordinate system b and the elevation center O b The distance L b1 Therefore, the relief center O in coordinate system b b coordinates (b x ,b y ,b z ) is (0,-L b1 cosθ1,-L b1 It is sinθ1). Furthermore, the elevation angle θ1, which represents the attitude of the elevation, can be measured by an angle sensor or the like. Thus, the elevation center O in coordinate system b b Since the position and orientation can be accurately tracked, coordinate system b is a luffing coordinate system based on the boom 7 and the scraping section 9. The origin of luffing coordinate system b can be any point on the boom 7 that constitutes the luffing section, for example, the luffing center O b The origin of the coordinate system b of the luffing section may be taken as follows. In this case, the direction of each axis is kept as shown in the figure, and the coordinates of the connection between the boom 7 and the scraping section 9 are (b x ,b y ,b z ) is (0,L b1 cosθ1,L b1 sinθ(1) is obtained. Also, in the illustrated example, for the sake of simplicity of explanation, b y The axis direction was aligned with the extension direction of boom 7 when viewed from above, but the direction of each axis in the luffing coordinate system b can be set arbitrarily.

[0062] The coordinate system l is the distance measuring unit coordinate system based on the distance measuring sensor 19, and l is the x-axis in the xyz Cartesian coordinate system.x The axis and l as the y-axis y The axis and l as the z-axis z It is determined by the axis. The origin of coordinate system l is located at the mounting position of the distance measuring sensor 19. y The axis direction is horizontal and coincides with the extension direction of boom 7 in the top view of Figure 7(B), l x The direction of the axis is l in the horizontal plane. y It is a direction perpendicular to the axis, l z The axis direction is vertical. When multiple distance measuring sensors are provided, as shown by distance measuring sensors 191-193 in Figure 5, the coordinate system l may be common to all distance measuring sensors, or a separate coordinate system l may be set for each distance measuring sensor.

[0063] Here, "the coordinate system l is a distance measuring unit coordinate system based on the distance measuring sensor 19" means that the position and orientation of the distance measuring sensor 19, which is the reference point in coordinate system l, can be accurately tracked. In the example above, the three-dimensional coordinates (l) of the distance measuring sensor 19 coincide with the origin of coordinate system l. x ,l y ,l z ) is always (0,0,0) and its orientation is constant. Note that the coordinate system l of the distance measuring unit may have an origin at any position on the upper part of the lifting unit 9 to which the distance measuring sensors 19 are attached. In this case, if the mounting position and orientation of each distance measuring sensor 19 on the upper part of the lifting unit 9 are recorded, the position and orientation of each distance measuring sensor 19 relative to the origin of the coordinate system l of the distance measuring unit can be calculated. Also, in the illustrated example, for the sake of simplicity of explanation, l y The axis direction was aligned with the extension direction of boom 7 when viewed from above, but the direction of each axis in the rangefinder coordinate system l can be set arbitrarily.

[0064] The coordinate system d is the distance measuring unit coordinate system based on the distance measuring sensor 18, and d is the x-axis in the xyz Cartesian coordinate system. x The axis and d as the y-axis y The axis and d as the z-axis z It is determined by the axis. The origin of coordinate system d is located at the connection point between the elevator body 14 and the scraping section 11. yThe direction of the axis is horizontal and coincides with the direction of extension of the scraping portion 11 (not shown) in the top view of Figure 7(B), d x The direction of the axis is d in the horizontal plane. y It is a direction perpendicular to the axis, d z The axis direction is vertical. As shown in Figure 7(B), d y The direction of the axis is b y axis and r y The axis direction, that is, the extension direction of the boom 7 as viewed from above, is shifted by a rotation angle of θ4. This indicates that the scraping section 11 is rotating by θ4 around the axis of the elevator body 14.

[0065] Here, "the coordinate system d is the distance measuring unit coordinate system based on the distance measuring sensor 18" means that the position and orientation of the distance measuring sensor 18, which is the reference, can be accurately tracked in coordinate system d. In Figure 1, the mounting positions and orientations of the multiple distance measuring sensors 18 on the scraping section 11 are known, so the three-dimensional coordinates and orientations of each distance measuring sensor 18 can be calculated with respect to the origin of the distance measuring unit coordinate system d located at the connection point between the elevator body 14 and the scraping section 11. The origin of the distance measuring unit coordinate system d can be any position on the scraping section 11; for example, the mounting position of the distance measuring sensor 18 may be used as the origin of the distance measuring unit coordinate system d. Here, if multiple distance measuring sensors 18 are provided as in Figure 1, the coordinate system d may be common to all distance measuring sensors, or a coordinate system d may be set for each distance measuring sensor. Also, in the illustrated example, for the sake of simplicity of explanation, d z Although the axis direction is set to the vertical, the direction of each axis in the distance measuring unit coordinate system d can be set arbitrarily.

[0066] In Figure 7(A), the scraping section 11 is shown as a rectangle extending in a direction perpendicular to the axial direction of the elevator body 14. However, as schematically shown in Figure 7(C), the scraping section 11 may also be composed of a main section 11A for scraping the bulk load M and a bendable section 11B that can bend relative to the elevator body 14. In this case as well, the origin of the distance measuring unit coordinate system d can be set at any position on the scraping section 11, i.e., on the main section 11A and the bendable section 11B. In the coordinate transformation described later, the bending angle θ5 of the bendable section 11B is also taken into consideration.

[0067] Next, each functional block of the calibration device 300 in FIG. 6 will be described. The distance measurement point coordinate acquisition unit 301 measures a reference object with known coordinates in the ground coordinate system u based on the ground on which the traveling unit 2 travels using the distance measurement sensors 18 and 19 respectively, and acquires the distance measurement point coordinates in the distance measurement unit coordinate systems l and d respectively with the distance measurement sensors 18 and 19 as references.

[0068] FIG. 8 shows a measurement example of a reference object by the CSU1 in a top view. In this example, eight measurement positions P1 to P8 with different turning angles of the turning frame 5 by 45° each are provided. The CSU1 measures the reference object at each measurement position P1 to P8 using the distance measurement sensor 18 (not shown) and the distance measurement sensors 19 (191 to 193). The reference object is any stationary object with known coordinates of the ground coordinate system u used for calibration of the CSU1 by the calibration device 300. As described with respect to FIG. 7, the origin of the ground coordinate system u may be at any position on the quay 102. Therefore, any stationary object on the quay 102 can be used as a reference object. Preferably, a linear edge that is easy to measure with the distance measurement sensors 18 and 19 and a structure having planes on both sides thereof are used as reference objects. For example, the quay wall 101, the rail 3, and the belt conveyor 45 shown in FIG. 8 are suitable as reference objects because they have a long linear edge and wide planes on both sides thereof. Further, since the origin of the ground coordinate system u shown in FIG. 7 is provided on the track of the traveling unit 2, the rail 3 and the belt conveyor 45, which are structures arranged along the track, are particularly suitable as reference objects. Although details will be described later, in this case, among the distance measurement information of the reference object by the distance measurement sensors 18 and 19, only the u x coordinates in the direction in which the reference object extends need to be substantially considered, so that the CSU1 can be calibrated efficiently. Further, in order to improve the distance measurement accuracy of the distance measurement sensors 18 and 19, reflectors with high reflection performance of the laser light from the distance measurement sensors 18 and 19 may be arranged along the rail 3 or the belt conveyor 45.

[0069] The measurement position P1 is as shown in FIG. 5. In FIG. 5 showing the time of unloading, the ship 200 was present below the unloading section 9, but the ship 200 does not have to be present when measuring the distance to the reference object for the calibration of CSU1. On the other hand, when the ship 200 is present as in FIG. 5, CSU1 can be calibrated in real time while unloading the bulk cargo M from the cargo hold 201 of the ship. The dotted lines extending in both directions from each of the distance measurement sensors 191 to 193 represent the respective reference planes S1 to S3 (see FIG. 5), and distance measurement is possible when these dotted lines intersect the reference object. Therefore, at the measurement position P1, only the distance measurement sensor 191 can measure the distance to the reference object on the quay 102. The distance measurement points, which are the intersections of the dotted line extending from the distance measurement sensor 191 toward the quay 102 and each reference object, are indicated by black circles. The distance measurement point coordinate acquisition unit 301 acquires the positions of these distance measurement points as the distance measurement point coordinates (l x , l y , l z ) in the distance measurement point coordinate system l with the distance measurement sensor 191 as the reference. Similarly, a distance measurement sensor 18 not shown also measures the distance to each reference object on the quay 102 at the measurement position P1, and the distance measurement point coordinates (d x , d y , d z ) in the distance measurement point coordinate system d with the distance measurement sensor 18 as the reference are acquired by the distance measurement point coordinate acquisition unit 301.

[0070] Similarly, at the other measurement positions P2 to P8, the distance measurement point coordinate acquisition unit 301 also acquires the distance measurement point coordinates (l x , l y , l z ) and (d x , d y , d z) is obtained. Regarding the distance measuring sensor 19, at measurement position P2 all distance measuring sensors 191 to 193 can measure the distance to a reference object on the pier 102, at measurement position P3 all distance measuring sensors 192 and 193 can measure the distance to a reference object, at measurement position P4 all distance measuring sensors 191 to 193 can measure the distance to a reference object, at measurement position P5 all distance measuring sensors 191 to 193 can measure the distance to a reference object, at measurement position P6 all distance measuring sensors 191 to 193 can measure the distance to a reference object, at measurement position P7 all distance measuring sensors 192 and 193 can measure the distance to a reference object, and at measurement position P8 all distance measuring sensors 191 to 193 can measure the distance to a reference object. Thus, although the distance measuring sensors 191 to 193 that can measure the distance to a reference object differ at each measurement position P1 to P8, all distance measuring sensors 191 to 193 can be calibrated by circulating multiple measurement positions P1 to P8 to the CSU1. Figure 8 shows eight measurement positions P1 to P8 with rotation angles differing by 45° from each other as an example, but the rotation angles of the measurement positions are arbitrary.

[0071] As mentioned above, of the measurement positions P1 to P8, only measurement position P1 is used for unloading in the basic posture shown in Figure 5. Unloading in the basic posture is not assumed for the other measurement positions P2 to P8, but in this embodiment, the distance measurement point coordinate acquisition unit 301 acquires the distance measurement point coordinates of the reference object even in postures where unloading is not normally performed. In other words, the distance measurement point coordinate acquisition unit 301 acquires the distance measurement point coordinates when the unloading section 9 is not above the ship 200 due to the rotation of the slewing frame 5 (including when the ship 200 is not at measurement position P1). Also, at measurement positions P2 to P6, the unloading section 9 is above the land (pier 102). Thus, in this embodiment, the distance measurement point coordinate acquisition unit 301 acquires the distance measurement point coordinates of the reference object even in postures that the CSU1 cannot assume during unloading. In particular, at measurement positions P2 and P6, the lifting section 9, which is equipped with distance measuring sensors 18 and 19, is directly above the reference object used as the object to be measured. Therefore, the coordinates of the distance measuring points can be acquired with high accuracy by all distance measuring sensors, and the CSU1 can be calibrated efficiently.

[0072] Furthermore, at each measurement position P1 to P8 determined by the rotation angle θ2 in Figure 7, it is preferable to acquire as many distance point coordinates as possible using the distance point coordinate acquisition unit 301 while changing each parameter of the CSU1, such as the elevation angle θ1 of the boom 7, the rotation angle θ4 of the scraping section 11, and the bending angle θ5 of the scraping section 11. Also, in the above example where the reference object is placed along the track (rail 3) of the running section 2, it is not necessary to move the running section 2 for calibration of the CSU1, but if the reference object has a shape that does not follow the track of the running section 2, the position x of the running section 2 tl It is preferable to acquire the coordinates of the distance measurement point while also changing the parameters.

[0073] The coordinate transformation unit 302 transforms the distance measurement point coordinates in the distance measurement unit coordinate systems l and d and the known coordinates of the reference object in the ground coordinate system u into the same coordinate system, based on the relative position and orientation of the lifting unit 9 with respect to the distance measurement sensors 18 and 19, the relative position and orientation of the slewing frame 5 with respect to the lifting unit 9, and the relative position and orientation of the traveling unit 2 with respect to the slewing frame 5. In the following explanation, the destination coordinate system will be described as the ground coordinate system u. In this case, the coordinate transformation unit 302 transforms the distance measurement point coordinates (l) of the reference object on the pier 102 into the same coordinate system. x ,l y ,l z ), (d x d y d z ) from the distance measuring unit coordinate system l, d to the ground coordinate system u coordinate (u x ,u y ,u z Convert to ).

[0074] The distance sensor 19 measures the distance of a reference object, and the coordinates of the measurement point in the distance measurement coordinate system l are p l =( l x ,l y ,l z This is represented by a three-dimensional vector. The coordinates of the distance measurement point p l To convert the coordinates from the rangefinder coordinate system l to the ground coordinate system u, the coordinate transformation unit 302 converts the coordinates of the rangefinder coordinate system l to the coordinates p l From the coordinate system b of the relief area, coordinate p b =(b x ,b y ,b z ) conversion to coordinate system b coordinate pb From the coordinate system r of the rotating part, coordinate p r =(r x ,r y ,r z ) conversion to, coordinates p of the rotational coordinate system r r From the coordinates p in the ground coordinate system u u =( u x ,u y ,u z A three-step coordinate transformation is performed: ) to ). Each coordinate transformation is expressed by the following formula.

number

[0075] The first equation is given by the coordinates p of the distance measuring unit coordinate system l. l coordinates p in the coordinate system b of the relief area b This is the formula for converting to t. lb R is a three-dimensional translation vector connecting the origin of the distance measuring coordinate system l and the origin of the relief coordinate system b. lb This is a 3x3 matrix representing the difference in attitude, i.e., rotation, between the distance measuring unit coordinate system l and the relief unit coordinate system b. lb and R lb This is determined according to the position and orientation of the distance measuring sensor 19 installed on the lifting section 9. In the example shown in Figure 7, there is no rotation between the distance measuring section coordinate system l and the relief section coordinate system b, where the directions of each axis coincide, so R lb This is the 3x3 identity matrix.

[0076] The second equation is given by the coordinates p in the relief coordinate system b. b coordinates p in the rotational coordinate system r r This is the formula for converting to R. x (±θ1) passes through the origin of the relief coordinate system b. x This is a 3x3 rotation matrix that rotates the three-dimensional coordinates by an elevation angle θ1 in the positive or negative direction around an axis. x (-θ1) p b By applying this, the y-coordinate is converted to a value along the extension direction of the boom 7, which is luffing at a luffing angle θ1. Then, the luffing center O along this direction is converted. b Distance L b1 This is added. Then R xBy applying (+θ1), the coordinates are returned to the original coordinate system b of the relief section (which is also the same attitude as the rotation section coordinate system r of the transformation target). Then, the relief center O b and the distance L in the y-direction from the origin of the rotation coordinate system r. b3 This is subtracted, and the distance L in the z direction is subtracted. p This is added. Thus, the second equation is obtained when the relief center O b This provides a coordinate transformation from the coordinate system b of the elevation section to the coordinate system r of the turning section. Also, the parameters θ1 and L of this equation are given. b1 , L b3 , L p This is determined by the relative position and orientation of the slewing frame 5 with respect to the lifting section 9.

[0077] The third equation is given by the coordinates p in the rotation coordinate system r. r coordinates p in the ground coordinate system u u This is the formula for converting to R. z (θ2) passes through the origin of the r coordinate system of the pivot section. z This is a 3x3 rotation matrix that rotates the three-dimensional coordinates by a rotation angle θ2 around an axis, and it acts to align the rotation coordinate system r with the attitude of the ground coordinate system u. Also, the x-coordinate is x tl The x-direction vector with this property is a translation vector connecting the origin of the rotation unit coordinate system r and the origin of the ground coordinate system u. Thus, the third equation provides a coordinate transformation from the rotation unit coordinate system r to the ground coordinate system u through the first term which transforms the rotation component and the second term which transforms the translation component. Furthermore, the parameter θ2 in this equation is determined based on the relative attitude of the running unit 2 with respect to the rotation frame 5, and x tl This is measured by a position sensor or the like, which measures the position of the running section 2 on the rail 3.

[0078] According to the above equations 1 to 3, the coordinates of the distance measurement point p in the distance measurement coordinate system l of the reference object measured by the distance measurement sensor 19 are obtained. l =( l x ,l y ,l z ) then, via the coordinate system b of the elevation section and the coordinate system r of the turning section, the distance measurement point coordinates p in the ground coordinate system u. u =( u x ,u y ,u zIt is converted to the coordinates p of the distance measurement point in the distance measurement coordinate system d of the reference object measured by the distance measurement sensor 18. d =(d x d y d z ) also passes through the coordinate system b of the elevation section and the coordinate system r of the turning section, and then to the distance measurement point coordinates p in the ground coordinate system u. u =( u x ,u y ,u z ) can be converted to the coordinates p of the distance measuring unit coordinate system d. In this case, the first equation above is the coordinates p of the distance measuring unit coordinate system d. d coordinates p in the coordinate system b of the relief area b The formula is replaced with one that converts to the following. The position and orientation of the distance measuring sensor 18 also change depending on the rotation angle θ4 and bending angle θ5 of the scraping section 11 shown in Figures 7(B) and 7(C), so these parameters are incorporated into the conversion formula.

[0079] The coordinate error detection unit 303 detects the distance measurement point coordinates p in the ground coordinate system u of the reference object. u =( u x ,u y ,u z ) and the known coordinates p of the reference object u0 =( u x0 ,u y0 ,u z0 The error in the measurement is detected. Here, if the reference object is a marker or endpoint placed at a specific point on the pier 102, or if a marker is placed at a specific point on the quay wall 101, rail 3, or belt conveyor 45 as a reference object, the distance measurement sensors 18 and 19 measure the distance of the marker and obtain the distance measurement point coordinate p u =( u x ,u y ,u z ) and the known coordinates p of the landmark u0 =( u x0 ,u y0 ,u z0 Error u of each coordinate of ) x -u x0 u y -u y0 u z -u z0 u x -u x0 )^2+(u y -u y0 )^2+(uz -u z0 A coordinate error such as )^2)^0.5 is detected as a coordinate error by the coordinate error detection unit 303. If a significant detection error is detected, the subsequent coordinate system correction unit 304 corrects or calibrates the detection error.

[0080] On the other hand, when reference objects such as the quay 101, rail 3, belt conveyor 45, and long reflector are installed over a certain area, the distance measurement point coordinates p of the reference object are measured by the distance measurement sensors 18 and 19. u =( u x ,u y ,u z In some cases, it is unclear which point on the reference object a measurement point corresponds to. In such cases, the coordinate error is detected based on a group of multiple measurement points obtained from the same distance measuring sensors 18 and 19, rather than a single measurement point. As described above with respect to Figures 4 and 5, one distance measuring sensor 18 or 19 includes multiple laser light-emitting units and can simultaneously measure distance within a predetermined angular range (θ-~θ+ in Figure 5) centered on the reference plane S. Therefore, when measuring distance to a quay wall 101 with a straight edge, rail 3, belt conveyor 45, long reflector, etc., with the distance measuring sensors 18 and 19, a group of multiple measurement points arranged linearly corresponding to the edge and a group of multiple measurement points arranged in two planes that are orthogonal or intersecting corresponding to the planes on both sides of the edge are obtained. The coordinate error detection unit 303 determines the coordinates of the measurement point p of the reference object based on whether the line segment or plane formed by this group of measurement points coincides with a known edge or plane of the reference object. u =( u x ,u y ,u z ) and known coordinates p u0 =( u x0 ,u y0 ,u z0 The presence or absence of errors in the measurement range is determined. If the endpoints (angles) of a reference object such as a belt conveyor 45 are included in the measurement range of the distance sensors 18 and 19, the coordinates of the distance measurement points corresponding to the endpoints of the reference object can be easily identified, and the known shape characteristics of the distance measurement points and the reference object can be accurately compared based on these coordinates. Further details will be explained in the subsequent section on the processing of the coordinate system correction unit 304.

[0081] The coordinate system correction unit 304 corrects the relationship between the ground coordinate system u and the distance measuring unit coordinate systems l and d so that the error detected by the coordinate error detection unit 303 is reduced. The correction model for correcting the relationship between the distance measuring unit coordinate system l and the ground coordinate system u can be expressed by the following equation, for example.

number

[0082] Equations 1 to 3 correspond to equations 1 to 3 of the coordinate transformation equations by the coordinate transformation unit 302, but the parameters that are likely to cause errors detected by the coordinate error detection unit 303 are corrected by the following correction parameters.

number

[0083] First correction parameter R xyz (φ) corrects the attitude error of the distance measuring sensor 19. For example, errors during the installation of the distance measuring sensor 19, or changes in the external environment such as the weight of the lifting unit 9 itself or the bulk load M during handling, temperature, etc., can cause deformation of the lifting unit 9, etc., and the relationship between the distance measuring sensor 19 and the lifting unit 9 changes, resulting in an attitude error of the distance measuring sensor 19 R xyz This is corrected by (φ). Specifically, it is a 3x3 matrix R that represents the rotation between the distance measuring coordinate system l and the relief coordinate system b. lb If this does not match the actual orientation of the distance measuring sensor 19, a 3x3 matrix R is used to provide a three-dimensional rotation that minimizes this mismatch. xyz (φ) R lb This is corrected. Here, R xyz The direction of the rotation axis and the rotation angle φ, determined by (φ), are calculated to minimize the mismatch in the attitude of the distance measuring sensor 19.

[0084] The second correction parameter b corrects for positional errors of the distance measuring sensor 19. For example, errors during the installation of the distance measuring sensor 19, or changes in the external environment such as the weight and temperature of the lifting unit 9 itself or the bulk load M during handling, which deform the lifting unit 9 and change the relationship between the distance measuring sensor 19 and the lifting unit 9, are corrected by b. Specifically, a three-dimensional translation vector t connects the origin of the distance measuring unit coordinate system l and the origin of the relief unit coordinate system b. lb If the position does not match the actual position of the distance measuring sensor 19, the three-dimensional translation vector b that minimizes the mismatch is used to determine t lb This is corrected. Here, the direction and magnitude of b are calculated to minimize the mismatch in the position of the distance measuring sensor 19.

[0085] The third correction parameter ρ1 corrects errors in the luffing angle θ1. For example, changes in the external environment such as the weight and temperature of the bulk load M during loading and unloading can deform the boom 7, etc., changing the relationship between the loading unit 9 and the slewing frame 5. Errors in the luffing angle θ1 caused by these changes, as well as errors in the angle sensor that measures the luffing angle θ1, are corrected by ρ1. Specifically, if the luffing angle θ1 does not match the actual luffing angle of the boom 7, θ1 is corrected by a correction angle ρ1 that minimizes this mismatch. Here, the direction and magnitude of ρ1 are calculated to minimize the mismatch in the luffing angle θ1.

[0086] The fourth correction parameter ρ2 corrects errors in the slewing angle θ2. For example, the slewing frame 5 deforms due to changes in the external environment such as the weight and temperature of the lifting unit 9 itself or the bulk load M during handling, and the relationship between the slewing frame 5 and the traveling unit 2 changes, causing errors in the slewing angle θ2 and errors in the angle sensor that measures the slewing angle θ2. Specifically, if the slewing angle θ2 does not match the actual slewing angle of the slewing frame 5, θ2 is corrected by a correction angle ρ2 that minimizes this mismatch. Here, the direction and magnitude of ρ2 are calculated to minimize the mismatch in the slewing angle θ2.

[0087] The fifth correction parameter d is the length L along the extension direction of the boom 7. b1 (Figure 7 shows the origin and the center of relief of the relief coordinate system b.) b This corrects the error in the distance (of the lifting section 9). For example, the length L is caused by the deformation of the boom 7 due to changes in the external environment such as the weight of the lifting section 9 itself or the bulk load M during handling, and temperature. b1 The error is corrected by d. Specifically, the length L b1 If this does not match the actual length of boom 7, then L is calculated by a correction amount d that minimizes this mismatch. b1 This is corrected. Here, the direction and magnitude of d are the length L b1 The inconsistency is calculated by computation to minimize the discrepancy between the two. b and the distance L in the y-direction from the origin of the rotation coordinate system r. b3 and distance L in the z direction p Although no correction parameters are set for the boom 7 length L b1 This is because the potential errors are considered to be smaller compared to [another method]. However, in order to perform a more precise correction, L b3 , distance L p Correction parameters may also be set.

[0088] Furthermore, the correction parameter c in the third equation of the correction model. x , c y These are the u of the running unit 2, respectively. x direction, u y This corrects positional errors in direction. For example, errors during the laying of rail 3, or positional errors of the running section 2 caused by deformation of the running section 2 and rail 3 due to changes in the external environment such as temperature, are corrected by c x , c y It is corrected by the following. Specifically, the distance point coordinates of the reference object calculated in the first and second terms on the right-hand side of the third equation of the correction model are corrected by the u of the reference object. x direction, u y If the direction does not match the actual position, a correction amount c is used to minimize that mismatch. x , c y The distance measurement point coordinates are corrected by this. Here, c x , c yThe direction and magnitude of the distance measurement point coordinates are determined by calculation to minimize inconsistencies. Note that the vertical direction is u z The error in the position of the directional running part 2 is u x direction, u y Since it is considered to be small compared to the position error of the directional running part 2, u z Directional correction parameter c z It is not set. However, to make more precise corrections, u z Directional correction parameter c z You may set it to that.

[0089] The correction parameters used in the above correction model are collectively represented as x, as follows.

number

[0090] Furthermore, the three equations of the above correction model are based on the coordinates p of the distance measuring point in the distance measuring unit coordinate system l. l and the coordinates of the distance measurement point p in the ground coordinate system u u The relationship can be transformed into the following equation.

number

[0091] The notation on the second line represents the rotation R between the rangefinder coordinate system l and the ground coordinate system u. lu and translation t lu This focuses on the fact that the notation on the third line represents the coordinates of the distance measuring point p in the distance measuring coordinate system l. l , a vector u=(θ1,θ2,x) representing the elevation / turning / movement state of CSU1 tl This is a summary of the function g, where x is the correction parameter.

[0092] The coordinate system correction unit 304 corrects the relationship between the ground coordinate system u and the distance measuring unit coordinate system l using the above correction model so that the error detected by the coordinate error detection unit 303 is reduced. Here, a correction example using the belt conveyor 45 as a reference object will be explained. As shown in Figure 8, the belt conveyor 45 is u in a top view. xThe longer side in the direction and u y It is rectangular in shape with a shorter side in the direction of u. Also, as shown in Figure 2, the belt conveyor 45 is in the vertical direction (u z It has a rectangular prism shape with height in the direction of (or direction).

[0093] The distance sensor 19 being calibrated measures the belt conveyor 45 at time k, and the distance point coordinates p in the distance measurement unit coordinate system l are obtained from this measurement. l Among the group, the side of the belt conveyor 45 (u y A set of distance measurement points corresponding to the plane whose direction is normal, and the upper surface of the belt conveyor 45 (u z The sets of distance measurement points corresponding to the plane whose direction is normal are represented as follows:

number

number

[0094] On the other hand, in the ground coordinate system u, the side of the belt conveyor 45 is u y coordinates d y u y The normal vector of the direction is n y Let = (0,1,0), and the upper surface of the belt conveyor 45 u z coordinates d z u z The normal vector of the direction is n z Let = (0,0,1).

[0095] At this time, in the following error evaluation formula, n y gd y =n y p u -d y The coordinates of the distance measuring point p on the side of the belt conveyor 45, converted to the ground coordinate system u, are shown. u u y Coordinates (n y p u ) and known u on the side of the belt conveyor 45 y coordinates (d y This represents the error of n z gd z =nz p u -d z The coordinates p of the distance measuring point on the upper surface of the belt conveyor 45 have been converted to the ground coordinate system u. u u z Coordinates (n z p u ) and known u on the upper surface of the belt conveyor 45 z coordinates (d z This represents the error. Therefore, the objective function E(x) in the following error evaluation formula is the sum of the mean squared errors of the distance measurement point coordinates on the side of the belt conveyor 45 and the mean squared errors of the distance measurement point coordinates on the top surface of the belt conveyor 45, from time 1 to K.

number

[0096] If there is no error in the coordinates of the distance measurement point, the objective function E(x) becomes 0, and calibration of the distance measurement sensor 19 is unnecessary. On the other hand, if there is an error in the coordinates of the distance measurement point, the objective function E(x) has a positive value. In this case, the coordinate system correction unit 304 calibrates the distance measurement sensor 19 by searching for a correction parameter x that minimizes the objective function E(x).

[0097] Note that the correction parameter x is one of many correction parameters (φ, ρ1, ρ2, b, c x , c y , d) are high-dimensional quantities, and it can be difficult to uniquely find the solution x that minimizes the objective function E(x). Therefore, instead of minimizing E(x), we minimize the following equation after L2 regularization. η is the regularization coefficient, and N is the total number of points.

number

[0098] In addition to / instead of the above error evaluation formula using the objective function E(x), the root mean square error RMSE for the side surface of the belt conveyor 45 is also used. y And the root mean square error (RMSE) on the top surface of the belt conveyor 45. zYou may evaluate each of these individually and adjust the correction parameter x so that they are minimized.

number

[0099] The above describes the calibration method of the distance measuring sensor 19 provided in the distance measuring unit coordinate system l by the coordinate system correction unit 304. The distance measuring sensor 18 provided in the distance measuring unit coordinate system d can be calibrated in the same way. By substituting "distance measuring sensor 19" with "distance measuring sensor 18" and "l" of the distance measuring unit coordinate system with "d", the above formulas and explanations apply almost directly to the calibration of the distance measuring sensor 18. Note that in the distance measuring sensor 18 provided in the scraping unit 11, the rotation angle θ4 and bending angle θ5 of the scraping unit 11 are added as parameters representing the state of CSU1, so the vector u representing the state of CSU1 is (θ1, θ2, θ4, θ5, x tl ) can be rewritten as follows. Alternatively, correction parameters ρ4 and ρ5 for θ4 and θ5 may be set in the same way as correction parameters ρ1 and ρ2 for θ1 and θ2.

[0100] In the above description of the calibration device 300, the coordinates of the distance measuring point p in the distance measuring unit coordinate systems l and d are used. l , p d The distance measurement point coordinates p in the ground coordinate system u u The error was detected after converting to the known coordinates of the reference object, but the error detection may be performed in any coordinate system other than the ground coordinate system u. For example, conversely to the above, the known coordinates of the reference object in the ground coordinate system u are converted to the distance measuring unit coordinate systems l and d, and then the distance measuring point coordinates p in the distance measuring unit coordinate systems l and d are detected. l , p d The error may be detected. Alternatively, the error may be detected by converting the coordinates of the distance measuring point and the known coordinates of the reference object to a coordinate system that is intermediate between the distance measuring unit coordinate systems l and d and the ground coordinate system u, for example, the relief unit coordinate system b or the rotation unit coordinate system r. Alternatively, the error may be detected by converting the coordinates of the distance measuring point and the known coordinates of the reference object to any identical coordinate system other than those mentioned above.

[0101] Next, a second example of a correction model in which the coordinate system correction unit 304 corrects the relationship between the distance measuring unit coordinate system l and the ground coordinate system u is shown. This correction model is expressed by the following equation.

number

[0102] Furthermore, the correction parameters set in the second correction model are as follows:

number

number

[0103] The second correction model aims to correct various errors that occur during the unloading of the CSU1 in real time with high accuracy. Examples of such real-time errors include the position and orientation of each part of the CSU1 during unloading, the weight of each part of the CSU1 itself and the bulk load M during handling, external forces applied to each part of the CSU1 during unloading, and the tilt of the unloading section 9 and twist of the boom 7 caused by changes in the external environment such as temperature. In addition, the luffing angle θ1 and slewing angle θ2 may not be accurately measured by sensors due to gear backlash in the luffing and slewing sections.

[0104] To correct such real-time errors, the second correction model, in addition to the first correction model, uses a 3x3 matrix R to correct the tilt of the lifting section 9. bs , a 3x3 matrix R corrects for the twist of boom 7 y (ζ) includes correction angles ξ1 and ξ2 as correction parameters, which correct the elevation angle θ1 and turning angle θ2. Here, R bs The parameters κ1 and κ2 included in represent the inclination angles of the lifting section 9 in the x and y directions, respectively, and R y The parameter ζ in (ζ) represents the twist angle of the boom 7. The superscript k represents discrete time, and the superscript m (=1~M) represents the number of each distance measuring sensor 19.

[0105] The three equations of the above second correction model are the distance measurement point coordinates p in the distance measurement unit coordinate system l l and the distance measurement point coordinates p in the ground coordinate system u u can be transformed into the following equations representing the relationship.

Number

[0106] In this equation, the following x (y and z) correspond to the correction parameter x in the first correction model, and the optimal one that minimizes the coordinate error can be found by the method described for the first correction model.

Number

[0107] On the other hand, the following v is a correction parameter provided additionally in the second correction model to correct the real-time error. Hereinafter, a method for finding the optimal correction parameter v that minimizes the real-time error will be described.

Number

[0108] The error evaluation equation for finding the optimal correction parameter v is given, for example, as follows.

Number

[0109] <00009​​​​​​​​y d z The side of the belt conveyor 45 is labeled u y Coordinates, u of the upper surface z The coordinates here are β y , β z It is written as follows.

[0110] If there is no error in the coordinates of the distance measurement point, the objective function E(v) becomes 0, and calibration of the distance measurement sensor 19 is unnecessary. On the other hand, if there is an error in the coordinates of the distance measurement point, the objective function E(v) has a positive value. In this case, the coordinate system correction unit 304 calibrates the distance measurement sensor 19 in real time by searching for a correction parameter v that minimizes the objective function E(v).

[0111] Furthermore, the following formula may be used to find the optimal correction parameter v.

number

[0112] The second term in parentheses is a regularization term, which has the effect of stabilizing the estimation of the correction parameter v. χ is a group of parameters set according to the required correction amount for each correction parameter; values ​​corresponding to correction parameters requiring a large correction amount are set small, while values ​​corresponding to correction parameters requiring a small correction amount, such as when a good sensor is installed, are set large.

[0113] The third term in parentheses is the estimated value v at the previous time step k-1. k-1 By considering the difference with the current time k, the correction parameter v k It has the effect of stabilizing the estimation. γ is a group of parameters set according to the amount of variation of each correction parameter; the value corresponding to a correction parameter with a large amount of variation is set to be small, and the value corresponding to a correction parameter with a small amount of variation is set to be large.

[0114] Figure 9 is a flowchart showing an example of the calibration process for distance measuring sensors 18 and 19 using the calibration device 300. In the flowchart, "S" represents a step.

[0115] In S1, the calibration device 300 moves each movable part of the CSU1 to one of the measurement positions P1 to P8 as shown in Figure 8. In S2, the calibration device 300 has the distance measuring sensors 18 and 19 measure the distance to a reference object on the pier 102 from the measurement position to which the CSU1 moved in S1. At this time, using the measurement position to which the CSU1 moved in S1 as a reference, the luffing angle θ1 of the boom 7, the slewing angle θ2 of the slewing frame 5, the rotation angle θ4 of the scraping section 11, the bending angle θ5 of the scraping section 11, and the position x of the traveling section 2 are measured. tl It is preferable to measure the distance to a reference object while gradually changing the measurement posture of the distance measuring sensors 18 and 19 by changing each state parameter of the CSU1, etc.

[0116] In S3, the distance measurement point coordinate acquisition unit 301 acquires the distance measurement point coordinates, which are the result of the distance measurement taken by the distance measurement sensors 18 and 19 in S2. Distance measurement point coordinate p of distance measurement sensor 18 l It belongs to the distance measuring unit coordinate system l, and the distance measuring point coordinates p of the distance measuring sensor 19. d It belongs to the distance measuring unit coordinate system d. In S4, the distance measuring point coordinate acquisition unit 301 selects the side of a reference object such as the belt conveyor 45 (u) from the group of distance measuring point coordinates acquired in S3. y A planar collection of distance measurement points corresponding to the plane whose direction is normal, or the upper surface of a reference object such as a belt conveyor 45 (u z Extract a planar set of distance measurement points corresponding to a plane whose direction is normal, or a linear set of distance measurement points corresponding to the straight edge of a reference object such as a belt conveyor 45.

[0117] In S5, the calibration device 300 determines the state vector u=(θ1,θ2,θ4,θ5,x) of CSU1 at each distance measurement time in S2. tl) is obtained. In S6, the calibration device 300 determines whether distance measurement has been completed at all measurement positions. If there are measurement positions that have not yet been measured, the process returns to S1, and each movable part of the CSU1 moves to the next measurement position. As mentioned above, the CSU1 is basically required to be at measurement position P1 in Figure 8 while unloading cargo from the ship 200, so if calibration is performed in real time while unloading cargo, the processes in S1 to S5 are executed for measurement position P1 and then the process proceeds to the subsequent S7. On the other hand, when the CSU1 is not unloading cargo, such as before the ship 200 calls at port, the calibration accuracy can be improved by measuring the distance of the reference object at measurement positions P2 to P8 other than measurement position P1.

[0118] If it is determined in S6 that distance measurement has been completed at all measurement positions, in S7 the coordinate transformation unit 302 transforms the distance measurement point coordinates in distance measurement unit coordinate systems l and d, and the known coordinates of the reference object in ground coordinate system u, acquired in S3, into the same coordinate system based on the CSU status acquired in S5. In S8 the coordinate error detection unit 303 detects the error in the distance measurement point coordinates and the known coordinates of the reference object in the same coordinate system transformed in S7.

[0119] In S9, the coordinate system correction unit 304 determines correction parameters to correct the relationship between the ground coordinate system u and the distance measuring unit coordinate systems l and d so that the error detected in S8 is reduced. Here, if calibration is performed while CSU1 is not unloading cargo, it is preferable to determine the correction parameter x using the first correction model. On the other hand, if calibration is performed in real time while CSU1 is unloading cargo, it is preferable to determine the dynamic correction parameter v in real time in addition to the static correction parameter x using the second correction model. In this case, the correction parameters x and v determined in S9 are immediately applied to CSU1, and after a certain period of time, the process returns to S2 and the subsequent processes S2 to S9 (S6 is skipped) are repeated.

[0120] Next, a second embodiment of the present disclosure will be described. In the CSU1 according to the second embodiment, in place of / in addition to the distance measuring sensors 18 and 19 in the first embodiment, one or more cameras are provided at any position and in any orientation on the unloading section 9 as a shooting unit for photographing objects. The cameras may be provided on the scraping section 11 at the bottom of the unloading section 9, like the distance measuring sensor 18, or on the top of the unloading section 9, like the distance measuring sensor 19. The objects to be photographed by the cameras are not particularly limited, but when the CSU1 is unloading cargo, the objects to be photographed are the edges of the opening 21, the ceiling / walls / bottom of the cargo hold 201, bulk cargo M and other objects, people / structures inside the cargo hold 201, the scraping section 11, the ship 200, other parts of the CSU1 such as the boom 7 / slewing frame 5 / traveling section 2 / main control room 16, the quay 101, the pier 102, the rails 3, the belt conveyor 45, etc., similar to the distance measuring sensors 18 and 19. By installing a camera in the unloading section 9, the positions of the edge of the opening 21, the ceiling / walls / bottom of the cargo hold 201, bulk cargo M and other objects, people / structures inside the cargo hold 201, the scraping section 11, etc., can be accurately determined. Therefore, collisions between the unloading section 9 and other objects during unloading can be prevented, and bulk cargo M can be unloaded efficiently.

[0121] Figure 10 is a functional block diagram of the calibration device 300 according to the second embodiment. It has the same configuration as the calibration device 300 according to the first embodiment, except that the distance measurement point coordinate acquisition unit 301 in Figure 6 is replaced by a pixel coordinate acquisition unit 305.

[0122] The pixel coordinate acquisition unit 305 uses a camera to photograph a reference object whose coordinates are known in the ground coordinate system u, which is based on the ground on which the traveling unit 2 travels, and acquires the pixel coordinates of the reference object in the pixel coordinate system in the obtained image. Here, the pixel coordinate system is a coordinate system that defines the position of pixels that make up an image. In the case of a planar image, it is a two-dimensional orthogonal coordinate system, and in the case of a stereoscopic image obtained by a camera equipped with a ToF type image sensor, it is a three-dimensional orthogonal coordinate system. Note that a camera capable of capturing stereoscopic images can be treated as the distance measuring sensors 18 and 19 of the first embodiment, so in the second embodiment described below, the case in which the image captured by the camera is a planar image and the pixel coordinate system is a two-dimensional orthogonal coordinate system will be explained. The two orthogonal axes that make up the pixel coordinate system are the u axis and the v axis, and the pixel coordinate is q = (q u ,q v ) etc. are used to express this.

[0123] The reference object that the pixel coordinate acquisition unit 305 photographs for calibration of the camera's mounting position and orientation may be any stationary object on the pier 102, as in the first embodiment. The reference object in the image can be recognized by image recognition technology, and the pixel coordinates q of each point can be acquired. In particular, current image recognition technology has high accuracy in detecting lines (boundaries, etc.) in images, so it is preferable to use a structure with a linear edge that is easy to detect as the reference object. Therefore, as in the first embodiment, structures with long, straight edges such as the quay wall 101, rails 3, and belt conveyor 45 are suitable as reference objects. Alternatively, a marker (landmark) with a linear edge placed along the rails 3, etc., may be used as the reference object. In this case, the pixel coordinate acquisition unit 305 acquires the pixel coordinates of at least two points on the edge of the reference object. Note that the shape features from which the pixel coordinate acquisition unit 305 acquires pixel coordinates are not limited to straight lines, but may also be curves, dotted lines, dashed lines, angles, circles, ellipses, polygons, etc.

[0124] The pixel coordinate acquisition unit 305 can sequentially capture the reference object on the quay 102 with the camera while changing the position and orientation of each movable part of the CSU1, similar to FIG. 8 in the first embodiment. While the CSU1 is unloading in the basic posture, it is at the shooting position P1 in FIG. 8. However, when the CSU1 is not unloading in the basic posture, it can also巡回 to other shooting positions P2 to P8 and acquire a large number of pixel coordinates at different positions and orientations, and the camera can be calibrated with high precision by the subsequent coordinate system correction unit 304.

[0125] The coordinate conversion unit 302 converts the pixel coordinates in the pixel coordinate system and the known coordinates of the reference object in the ground coordinate system u into the same coordinate system based on the relative position and orientation of the unloading unit 9 with respect to the camera, the relative position and orientation of the swivel frame 5 with respect to the unloading unit 9, and the relative position and orientation of the traveling unit 2 with respect to the swivel frame 5. Hereinafter, the same coordinate system of the conversion destination will be described as the pixel coordinate system, but it may be any other coordinate system including the ground coordinate system u, the swivel unit coordinate system r, the undulating unit coordinate system b, the distance measuring unit coordinate systems l, d, and the shooting unit coordinate system c described later. The coordinate conversion unit 302 converts the known coordinates of the reference object from the ground coordinate system u to the coordinates (r u , r v ) in the pixel coordinate system. Specifically, the known coordinates p u1 = (p u1x , p u1y , p u1z ) and p u2 = (p u2x , p u2y , p u2z ) of the two end points of the linear edge of the reference object in the ground coordinate system u are projected onto the end points r1 = (r 1u , r 1v ) and r2 = (r 2u , r 2v ) of the line segment in the pixel coordinate system for coordinate conversion.

[0126] First, the coordinate conversion unit 302 substitutes p u with p u1 and p u2 into the following formula respectively, and converts them into the three-dimensional coordinates p c of the shooting unit coordinate system c with the camera as the reference (p c1 and p c2 respectively)(Assuming...). Here, the coordinate system c of the imaging unit corresponds to the coordinate systems l and d of the distance measuring unit in the first embodiment, and the coordinate transformation formula is the same as that described in the first embodiment, except that the subscript representing the coordinate system has changed to c. That is, t in the first formula cb and R cb This is determined according to the position and orientation of the camera installed in the lifting section 9. Specifically, t cb R is a three-dimensional translation vector connecting the origin of the imaging coordinate system c and the origin of the relief coordinate system b, cb This is a 3x3 matrix representing the difference in orientation, i.e., rotation, between the camera coordinate system c and the relief coordinate system b. The superscript k represents the time of the camera's capture.

number

[0127] The two three-dimensional coordinates p in the imaging unit coordinate system c obtained by the above coordinate transformation c1 , p c2 This is projected onto the pixel coordinates on the planar image according to the camera model. For example, if the camera follows a pinhole camera model, its focal length f u ,f v and image center c u , c v Assuming that is known, p can be calculated using the following formula. c1 =(p c1x ,p c1y ,p c1z ) is r1=(r 1u ,r 1v ) is projected onto p c2 =(p c2x ,p c2y ,p c2z ) is r²=(r 2u ,r 2v It is projected onto ).

[0128] r 1u =f u (p c1x / p c1z )+c u r 1v =f v (p c1y / pc1z )+c v r 2u =f u (p c2x / p c2z )+c u r 2v =f v (p c2y / p c2z )+c v

[0129] As described above, the coordinate transformation unit 302 transforms the known coordinates p in the ground coordinate system u of the endpoint of the edge of the reference object. u1 =(p u1x ,p u1y ,p u1z ), p u2 =(p u2x ,p u2y ,p u2z ) is the coordinate p in the imaging coordinate system c. c1 =(p c1x ,p c1y ,p c1z ), p c2 =(p c2x ,p c2y ,p c2z ) and then the coordinates in the pixel coordinate system r1=(r 1u ,r 1v ), r²=(r 2u ,r 2v It was converted to ).

[0130] The coordinate error detection unit 303 detects the pixel coordinates q=(q) obtained by photographing the reference object with the camera. u ,q v ) and the known coordinates of the reference object r=(r u ,r v The error in the pixel coordinate system is detected. More specifically, the coordinate error detection unit 303 detects the pixel coordinates q1=(q) of at least two points on the edge obtained by photographing the line segment edge of the reference object with a camera. 1u ,q 1v ), q2=(q 2u ,q 2v ) A line segment on the image connecting the two points and the known coordinates r1=(r 1u ,r 1v ), r²=(r2u ,r 2v The displacement of line segments on an image connecting points r1 and r2 is detected as a coordinate error. For example, if the distance of point q1 to a known line segment connecting r1 and r2 is d1 and the distance of point q2 is d2, the coordinate error is detected based on quantities representing the displacement of the line segment, such as d1+d2, d1^2+d2^2, (d1^2+d2^2)^0.5, etc.

[0131] The coordinate system correction unit 304 corrects the relationship between the ground coordinate system u and the pixel coordinate system so that the coordinate error detected by the coordinate error detection unit 303 is reduced. As mentioned above, the ground coordinate system u is related to the pixel coordinate system via the imaging unit coordinate system c. Here, since the imaging unit coordinate system c and the pixel coordinate system are related almost fixedly by the pinhole camera model, etc., the main target of correction is the relationship between the ground coordinate system u and the imaging unit coordinate system c. The correction model for correcting the relationship between the ground coordinate system u and the imaging unit coordinate system c can be expressed by the following equation, for example.

number

[0132] Equations 1 to 3 correspond to equations 1 to 3 of the coordinate transformation equations by the coordinate transformation unit 302, but the parameters that are likely to cause errors detected by the coordinate error detection unit 303 are corrected by the following correction parameters.

number

[0133] The purpose of these correction parameters is the same as in the first embodiment, so we will omit the explanation. As in the first embodiment, each correction parameter is collectively represented as x as follows.

number

[0134] Furthermore, the three equations of the above correction model are based on the three-dimensional coordinates p of the imaging unit coordinate system c. c and the three-dimensional coordinates p in the ground coordinate system u u The relationship can be transformed into the following equation.

number

[0135] The coordinate system correction unit 304 uses the above correction model to correct the relationship between the ground coordinate system u and the pixel coordinate system so that the coordinate error detected by the coordinate error detection unit 303 is reduced. For example, the coordinate system correction unit 304 finds the optimal correction parameter x that minimizes the objective function E(x) of the following error evaluation formula.

number

[0136] In this error evaluation formula, the subscript k represents the time of the camera's capture, and the subscript i represents the number of one of the reference object's edges. The first term on the right-hand side is the sum of the squares of the distance d1 of pixel coordinate q1 to the i-th known edge (line segment) captured at time k, over time k and edge number i, and divided by 2. The second term on the right-hand side is the sum of the squares of the distance d2 of pixel coordinate q2 to the i-th known edge (line segment) captured at time k, over time k and edge number i, and divided by 2. Thus, the objective function E(x) above reflects the magnitude of the error (distance) of the pixel coordinates relative to the known edges of the reference object.

[0137] If there is no error in the pixel coordinates, the objective function E(x) becomes 0, and camera calibration is unnecessary. On the other hand, if there is an error in the pixel coordinates, the objective function E(x) has a positive value. In this case, the coordinate system correction unit 304 calibrates the camera by searching for a correction parameter x that minimizes the objective function E(x).

[0138] Alternatively, instead of minimizing E(x), we can minimize the following equation, which is quadratic regularized. This allows us to stably find the optimal solution x even when the number of captured images or the number of edges on the reference object is small. In this equation, Λ is a diagonal matrix and N is the total number of distances obtained. In the diagonal matrix Λ, the components of x corresponding to correction parameters with large required correction amounts are set small, and the components corresponding to correction parameters with small required correction amounts are set large. Specifically, since the design values ​​of CSU1 are often stable, the components corresponding to φ and b related to the camera mounting position and orientation are set small, and ρ1, ρ2, c related to the design values ​​of CSU1 are set small. x , c y It is preferable to set a large value for the component corresponding to d.

number

[0139] The correction model described above corresponds to the first correction model in the first embodiment. In the first embodiment, a second correction model for correcting various errors that occur during the unloading of the CSU1 in real time with high accuracy was also exemplified, and a second correction model can be similarly constructed in the second embodiment. The specific details can be understood from the description of the first embodiment, so they will not be explained again here.

[0140] Figure 11 is a flowchart showing an example of camera calibration processing using the calibration device 300 according to the second embodiment.

[0141] In S11, the calibration device 300 moves each movable part of the CSU1 to one of the shooting positions P1 to P8 as shown in Figure 8. In S12, the calibration device 300 causes the camera to photograph a reference object on the pier 102 from the shooting position to which the CSU1 moved in S11. At this time, using the shooting position to which the CSU1 moved in S11 as a reference, the elevation angle θ1 of the boom 7, the rotation angle θ2 of the slewing frame 5, the rotation angle θ4 of the scraping section 11, the bending angle θ5 of the scraping section 11, and the position x of the traveling section 2 are used. tl It is preferable to photograph the reference object while gradually changing the camera's shooting position by changing each state parameter of the CSU1, etc.

[0142] In S13, the pixel coordinate acquisition unit 305 extracts the shape features of a reference object that appears in the image captured in S12. Examples of shape features include straight lines, curves, dotted lines, dashed lines, angles, endpoints, circles, ellipses, polygons, etc. In S14, the pixel coordinate acquisition unit 305 acquires the pixel coordinates of the shape features extracted in S13.

[0143] In S15, the calibration device 300 calculates the state vector u=(θ1,θ2,θ4,θ5,x) of CSU1 at each imaging time in S12. tl ) is obtained. In S16, the calibration device 300 determines whether or not photography has been completed at all shooting positions. If there are shooting positions that have not been photographed, the process returns to S11 and each movable part of the CSU1 moves to the next shooting position. As mentioned above, the CSU1 during unloading from the ship 200 basically needs to be at shooting position P1 in Figure 8, so if calibration is performed in real time during unloading, the processes in S11 to S15 are executed for shooting position P1 and the process proceeds to the subsequent S17. On the other hand, when the CSU1 is not unloading, such as before the ship 200 docks, the calibration accuracy can be improved by photographing the reference object at shooting positions P2 to P8 other than shooting position P1.

[0144] If it is determined in S16 that shooting has been completed at all shooting positions, in S17 the coordinate transformation unit 302 transforms the pixel coordinates in the pixel coordinate system and the known coordinates of the reference object in the ground coordinate system u, which were acquired in S14, into the same coordinate system based on the CSU state acquired in S15. In S18 the coordinate error detection unit 303 detects the error in the pixel coordinates and the known coordinates of the reference object in the same coordinate system transformed in S17.

[0145] In S19, the coordinate system correction unit 304 determines correction parameters to correct the relationship between the ground coordinate system u and the pixel coordinate system so that the error detected in S18 is reduced. Here, if calibration is performed while CSU1 is not unloading cargo, it is preferable to determine the correction parameter x using the first correction model. On the other hand, if calibration is performed in real time while CSU1 is unloading cargo, it is preferable to determine a dynamic correction parameter v in real time in addition to the static correction parameter x using the second correction model. In this case, the correction parameters x and v determined in S19 are immediately applied to CSU1, and after a certain period of time, the process returns to S12 and the subsequent processes S12 to S19 (S16 is skipped) are repeated.

[0146] Next, a third embodiment of the present disclosure will be described. In the CSU1 according to the third embodiment, multiple distance measuring sensors described in the first embodiment and cameras described in the second embodiment are provided at different locations on the CSU1 as detection units for detecting objects to be detected, and calibration is performed between each detection unit. In the first and second embodiments, the detection unit (distance measuring sensor or camera) was provided in the lifting unit 9, but in the third embodiment, it is provided at any location on the CSU1, not limited to the lifting unit 9. For example, the detection unit may be provided in the boom 7, slewing frame 5, traveling unit 2, counterweight 13, main control room 16, etc.

[0147] Hereinafter, any pair of detection units to be calibrated will be referred to as the first detection unit and the other as the second detection unit. The first and second detection units are each composed of either a distance measuring sensor or a camera. Therefore, it is possible that both the first and second detection units are distance measuring sensors, both are cameras, or that one of the first and second detection units is a distance measuring sensor and the other is a camera. The difference between a distance measuring sensor and a camera is expressed as a difference in the coordinate system to which the coordinates of the detected object belong.

[0148] The coordinate system of the object detected by the distance measuring sensor installed in the lifting section 9 is the distance measuring section coordinate system l and d described in the first embodiment. Furthermore, if the distance measuring sensor is installed on the boom 7, etc., it becomes the luffing section coordinate system b; if the distance measuring sensor is installed on the slewing frame 5, etc., it becomes the slewing section coordinate system r; and if the distance measuring sensor is installed on the traveling section 2, etc., it becomes the traveling section coordinate system u. In addition, the coordinate system of the object detected by the camera is the pixel coordinate system described in the second embodiment. As described in the second embodiment, the pixel coordinate system is related to the imaging section coordinate system c by a pinhole camera model, etc. Furthermore, the imaging section coordinate system c is related to the luffing section coordinate system b, the slewing section coordinate system r, and the ground coordinate system u depending on the camera's installation position. Hereinafter, the coordinate system based on the first detection section will be referred to as the first detection section coordinate system, and the coordinate system based on the second detection section will be referred to as the first detection section coordinate system. As described above, the coordinate systems of the first detection unit and the second detection unit may be the coordinate system of the distance measuring unit, the coordinate system of the elevation unit, the coordinate system of the rotation unit, the ground coordinate system, and the pixel coordinate system (or the image capture unit coordinate system), respectively. However, as detailed in the first and second embodiments, equations are provided for converting between these coordinate systems. Therefore, the coordinate systems of the first detection unit and the second detection unit are mutually convertible.

[0149] Figure 12 is a functional block diagram of the calibration device 300 according to the third embodiment. The first detection unit coordinate acquisition unit 306 detects the object to be detected with the first detection unit and acquires the coordinates of the first detection unit in the first detection unit coordinate system. When the first detection unit is a distance measuring sensor, the first detection unit coordinate acquisition unit 306 functions as the distance measuring point coordinate acquisition unit 301 of the first embodiment (Figure 6), and when the first detection unit is a camera, the first detection unit coordinate acquisition unit 306 functions as the pixel coordinate acquisition unit 305 of the second embodiment (Figure 10). The second detection unit coordinate acquisition unit 307 detects the object to be detected with the second detection unit and acquires the coordinates of the second detection unit in the second detection unit coordinate system. When the second detection unit is a distance measuring sensor, the second detection unit coordinate acquisition unit 307 functions as the distance measuring point coordinate acquisition unit 301 in the first embodiment (Figure 6). When the second detection unit is a camera, the second detection unit coordinate acquisition unit 307 functions as the pixel coordinate acquisition unit 305 in the second embodiment (Figure 10).

[0150] The calibration device 300 according to the third embodiment acquires the coordinates of the detection unit of the same object to be detected by the first detection unit coordinate acquisition unit 306 and the second detection unit coordinate acquisition unit 307, converts them to the same coordinate system by the coordinate transformation unit 302, and then performs coordinate error detection by the coordinate error detection unit 303 and coordinate system correction by the coordinate system correction unit 304.

[0151] In the first and second embodiments, a reference object on the pier 102 was used as the object to be detected for calibration of the detection unit. However, in the third embodiment, the object to be detected in common by the first and second detection units is not limited to the reference object on the pier 102, but can be any object that each detection unit can detect at the same time or at different times. For example, in Figure 2, the edge of the opening 21, the ceiling / walls / bottom of the cargo hold 201, bulk cargo M and other objects, people / structures inside the cargo hold 201, the ship 200, various parts of the CSU1 such as the unloading section 9 / boom 7 / slewing frame 5 / traveling section 2 / main control room 16, the quay 101, the pier 102, the rails 3, the belt conveyor 45, etc. can be used as the common object to be detected by the first and second detection units to calibrate each detection unit. When the first and second detection units perform detection at the same time, objects that change significantly over time, such as bulk cargo M and people in the cargo hold 201, can also be detected. However, when the first and second detection units perform detection at different times, it is preferable to detect other objects that change little over time.

[0152] The coordinate transformation unit 302 transforms the coordinates of the first detection unit in the first detection unit coordinate system and the coordinates of the second detection unit in the second detection unit coordinate system into the same coordinate system, based on the relative position and orientation of the first detection unit and the second detection unit. In the first embodiment, the transformation formulas between the distance measuring unit coordinate systems l and d and the relief unit coordinate system b, the rotation unit coordinate system r, and the ground coordinate system u are shown for the transformation of coordinate systems, and in the second embodiment, the transformation formulas between the pixel coordinate system and the measurement unit coordinate system c and the relief unit coordinate system b, the rotation unit coordinate system r, and the ground coordinate system u are shown. By combining these transformation formulas, the coordinates of both detection units can be transformed into the same coordinate system regardless of whether the coordinate systems of the first detection unit and the second detection unit are the distance measuring unit coordinate system, the relief unit coordinate system, the rotation unit coordinate system, the ground coordinate system, or the pixel coordinate system. The coordinate system to which the coordinate transformation unit 302 is converted may be the coordinate system of the first detection unit, the coordinate system of the second detection unit, or any other coordinate system other than the coordinate systems of the first and second detection units.

[0153] The coordinate error detection unit 303 detects errors in the coordinates of the first detection unit and the second detection unit in the same coordinate system transformed by the coordinate transformation unit 302. When a distance measuring sensor is used as the first detection unit and / or the second detection unit, the coordinate error can be detected based on the shape characteristics of the object to be detected, such as the edges and planes, of the object to be detected, as described in the first embodiment. When a camera is used as the first detection unit and / or the second detection unit, the coordinate error can be detected based on the shape characteristics of the object to be detected (straight lines, curves, dotted lines, dashed lines, angles, endpoints, circles, ellipses, polygons, etc.) of the object to be detected in the image, as described in the second embodiment.

[0154] The coordinate system correction unit 304 corrects the relationship between the first detection unit coordinate system and the second detection unit coordinate system so that the error detected by the coordinate error detection unit 303 is reduced. In the first embodiment, an error evaluation formula and objective function E(x) were shown to minimize the error based on the shape characteristics of the object to be detected (errors related to the side and top surfaces of the belt conveyor 45) in the ground coordinate system u, which is a three-dimensional coordinate system. In the second embodiment, an error evaluation formula and objective function E(x) were shown to minimize the error based on the shape characteristics of the object to be detected (errors related to line segments corresponding to the edges of the reference object) in the pixel coordinate system, which is a two-dimensional coordinate system. With these error evaluation formulas and E(x), the optimal correction parameter x that minimizes the coordinate error can be found whether the coordinate system in which the coordinate error detection by the coordinate error detection unit 303 and the coordinate system correction by the coordinate system correction unit 304 are performed is a three-dimensional coordinate system (e.g., distance measuring unit coordinate system, elevation unit coordinate system, rotation unit coordinate system, ground coordinate system, imaging unit coordinate system) or a two-dimensional coordinate system (e.g., pixel coordinate system).

[0155] In the objective function E(x) of the first and second embodiments, there was only one detection unit to be calibrated, but in the objective function E(x) of this embodiment, there are two (pairs) detection units to be calibrated. Therefore, the correction parameter x includes two φ values ​​related to the mounting attitude of each detection unit and two b values ​​related to the mounting position of each detection unit, as shown below. In the following example, φ is related to the attitude of the first detection unit in the distance measuring unit coordinate system l. l b regarding position l and φ relating to the attitude of the second detection unit in the imaging unit coordinate system c c b regarding position c This corresponds to the correction parameter x.

number

[0156] Figure 13 is a flowchart showing an example of calibration processing of the first detection unit and the second detection unit by the calibration device 300 according to the third embodiment. Figure 13(A) is a flowchart showing the mutual calibration of multiple detection units while the CSU1 is not unloading cargo, such as before the ship 200 docks, and Figure 13(B) is a flowchart showing the mutual calibration of multiple detection units in real time while cargo is being unloaded from the ship 200.

[0157] In S21, the calibration device 300 moves each movable part of the CSU1 to one of the arbitrary detection positions. In the first and second embodiments, as shown in Figure 8, each movable part of the CSU1 was moved to predetermined detection positions P1 to P8 so that each detection unit could detect reference objects on the pier 102, such as rails 3, at different positions and orientations. On the other hand, in this embodiment, the objects to be detected by the first and second detection units are not limited to reference objects on the pier 102 but can be any objects, so it is not necessarily required to detect the objects at the predetermined detection positions P1 to P8, and the objects can be detected at any detection position.

[0158] In S22, the calibration device 300 causes the first and second detection units to detect the object to be detected from the detection position to which CSU1 moved in S21. Here, if the object to be detected is within the detection range of both the first and second detection units at the detection position in S21, both detection units detect the object at the same time. If the object to be detected is within the detection range of only one of the detection units, only that one detection unit detects the object (first time). The other detection unit detects the object when CSU1 moves to another detection position in S21, which is executed again at a later time (second time). Thus, according to the calibration device 300 of this embodiment, multiple detection units can be calibrated against each other based on the detection unit coordinates (S24) acquired at different first and second time points.

[0159] In S23, the first detection unit coordinate acquisition unit 306 and the second detection unit coordinate acquisition unit 307 extract the shape characteristics of the object to be detected from the detection data obtained in S22. In S24, the first detection unit coordinate acquisition unit 306 and the second detection unit coordinate acquisition unit 307 acquire the coordinates of the first detection unit and the coordinates of the second detection unit corresponding to the shape characteristics extracted in S23.

[0160] In S25, the calibration device 300 calculates the state vector u=(θ1,θ2,θ4,θ5,x) of CSU1 at each detection time in S22. tl ) is obtained. In S26, the calibration device 300 determines whether detection has been completed at all detection positions. If there are any undetected detection positions, the process returns to S21, and each movable part of the CSU1 moves to the next detection position.

[0161] If it is determined in S26 that detection has been completed at all detection locations, in S27 the coordinate transformation unit 302 transforms the coordinates of the first and second detection units acquired in S24 into the same coordinate system based on the relative positions and orientations of the first and second detection units that can be recognized from the CSU state acquired in S25. In S28 the coordinate error detection unit 303 detects the error in the coordinates of the first and second detection units in the same coordinate system transformed in S27.

[0162] In S29, the coordinate system correction unit 304 determines correction parameters to correct the relationship between the first detection unit coordinate system and the second detection unit coordinate system so that the error detected in S28 is reduced. In Figure 13(A), where calibration is performed while the CSU1 is not performing unloading, it is not necessary to use the second correction model that takes into account real-time errors that occur during unloading, and it is preferable to use the simpler first correction model.

[0163] In Figure 13(B), where the CSU1 performs real-time calibration while unloading, in the first S30, each movable part of the CSU1 moves to the unloading position (for example, P1 in Figure 8). Subsequently, processes S22-25 and 27-29 are performed as in Figure 13(A). In the coordinate system correction in S29, it is preferable to use a second correction model that takes into account real-time errors that occur during unloading. The static correction parameter x and dynamic correction parameter v obtained in S29 are applied immediately, and the detection unit is calibrated in real time during unloading. In S30, the calibration device 300 determines whether or not unloading has been completed. Thereafter, processes S22-25 and 27-29 are repeated until unloading is completed.

[0164] In the above iterative process, the CSU1 is stopped at a predetermined unloading position (for example, P1 in Figure 8). In such cases, in the first and second embodiments, which use a reference object on the pier 102 to calibrate the detection unit, there were limitations on acquiring detection data (distance measurement point coordinates, pixel coordinates) for calibration depending on the mounting position and orientation of the detection unit. For example, at the unloading position P1 in Figure 8, the distance measurement sensors 192 and 193 cannot measure the distance of the reference object, so they could not be calibrated in real time during unloading.

[0165] However, in this embodiment, the object to be detected used for calibration of the detection unit can be any object, so the distance measuring sensors 192 and 193 can also perform distance measurement for calibration in real time while unloading. For example, as shown in Figure 5, the distance measuring sensors 192 and 193 can detect the ship 200, the opening 21, the cargo hold 201, etc., while unloading. If a camera capable of photographing these objects is provided on the boom 7, etc., the camera and the distance measuring sensors 192 and 193 can perform mutual calibration. Thus, the calibration device 300 of the third embodiment is suitable for the application of calibrating the detection unit in real time while the CSU1 is unloading.

[0166] On the other hand, for applications where the detection unit is calibrated while the CSU1 is not unloading cargo, such as before the ship 200 calls at port, the calibration device 300 of the first and second embodiments, which individually calibrates each detection unit based on an absolute reference object on the pier 102, is preferable. Therefore, it is preferable to perform absolute calibration based on the reference object of the first and second embodiments when the CSU1 is not unloading cargo, and relative calibration based on multiple detection units of the third embodiment when the CSU1 is unloading cargo. Similarly, it is preferable to perform absolute calibration based on the reference object of the first and second embodiments when the unloading unit 9 is not above the ship 200 due to the rotation of the slewing frame 5, and relative calibration based on multiple detection units of the third embodiment when the unloading unit 9 is above the ship 200 due to the rotation of the slewing frame 5. Furthermore, it is preferable to perform absolute calibration based on the reference object of the first and second embodiments when the loading section 9 is above the land due to the rotation of the rotating frame 5, and to perform relative calibration based on the multiple detection unit of the third embodiment when the loading section 9 is not above the land due to the rotation of the rotating frame 5.

[0167] Next, a fourth embodiment of the present disclosure will be described. In the first and second embodiments, the distance measuring sensors 18, 19 and the camera were calibrated using a reference object (quay wall 101, rail 3, belt conveyor 45, etc.) whose position and / or orientation in the ground coordinate system u is known. In the third embodiment, the distance measuring sensors 18, 19 and the camera were calibrated using a common detection target object whose position and / or orientation does not need to be known. In the fourth embodiment, however, the distance measuring sensors 18, 19 and the camera (detection unit) to be calibrated are calibrated using another unloading device (second unloading device) that can be detected by the distance measuring sensors 18, 19 and the camera (detection unit) as a reference object or detection target object.

[0168] Figure 14 schematically shows a first CSU1A (first unloading device) on which the first distance measuring sensor 19A (detection unit) to be calibrated is provided, and a second CSU1B (second unloading device) that the first distance measuring sensor 19A can detect. The first CSU1A and the second CSU1B may be configured in the same way as the CSU1 described above, and components that are the same as those in the CSU1 are denoted by the letters "A" and "B" respectively. For example, the first scraping unit 11A in the first CSU1A and the second scraping unit 11B in the second CSU1B are configured in the same way as the scraping unit 11 in the CSU1.

[0169] The first distance measuring sensor 19A in the first CSU1A is an example of a detection unit that detects a second CSU1B (second unloading device) that is different from the first CSU1A (first unloading device). The detection unit, which is the main detection unit and the target of calibration, may be an imaging unit such as a camera, as in the second embodiment, or multiple detection units may be provided at different positions on the first CSU1A, as in the third embodiment.

[0170] The first distance measuring sensor 19A, acting as a detection unit, detects any part of the second CSU 1B as a reference object or object to be detected. Preferably, the first distance measuring sensor 19A detects a part of the second CSU 1B that includes shape features such as edges and planes that are useful for its calibration, as a reference object or object to be detected. In the example in Figure 14, relatively wide planar portions and their straight edges of the second travel section 2B, second slewing frame 5B, second boom 7B, etc., of the second CSU 1B are schematically shown by stripes as detection target areas for the first distance measuring sensor 19A. The detection accuracy of the detection unit, and consequently the calibration accuracy of the calibration device 300, may be improved by providing reflectors with high reflectivity of laser light from the first distance measuring sensor 19A or markers that are easily visible to a camera on these detection target areas.

[0171] If these detection target areas are outside the detection or measurement range of the first distance measuring sensor 19A, the first distance measuring sensor 19A may be made to detect or measure each of these detection target areas by driving at least one of the first CSU 1A and the second CSU 1B, as described below (i.e., each of these detection target areas comes within the detection or measurement range of the first distance measuring sensor 19A). Alternatively, the position and / or orientation of the first distance measuring sensor 19A on the first CSU 1A may be temporarily controlled or changed automatically or manually so that each detection target area comes within the detection or measurement range of the first distance measuring sensor 19A. In this case, the temporary control or change amount of the position and / or orientation of the first distance measuring sensor 19A is recorded along with other CSU state quantities of the first CSU 1A and taken into consideration in the calibration process of the first distance measuring sensor 19A.

[0172] Figure 15 is a functional block diagram of the calibration device 300 according to the fourth embodiment. The calibration device 300 includes a detection target area setting unit 308, a relative drive unit 309, a state data acquisition unit 310, and a calibration unit 311.

[0173] Although not shown in the figures, if the detection unit to be calibrated is a distance measuring sensor 18, 19 as in the first embodiment, the calibration device 300 or calibration unit 311 for calibrating it may include a distance measuring point coordinate acquisition unit 301, a coordinate transformation unit 302, a coordinate error detection unit 303, and a coordinate system correction unit 304 as described with respect to Figure 6. Similarly, if the detection unit to be calibrated is a camera as in the second embodiment, the calibration device 300 or calibration unit 311 for calibrating it may include a pixel coordinate acquisition unit 305, a coordinate transformation unit 302, a coordinate error detection unit 303, and a coordinate system correction unit 304 as described with respect to Figure 10. Furthermore, if multiple detection units to be calibrated are provided on the same CSU1 (first CSU1A) as in the third embodiment, the calibration device 300 or calibration unit 311 for calibrating them may include the first detection unit coordinate acquisition unit 306, the second detection unit coordinate acquisition unit 307, the coordinate transformation unit 302, the coordinate error detection unit 303, and the coordinate system correction unit 304 as described with respect to Figure 12.

[0174] As described above, the fourth embodiment, detailed below, may be combined with any of the first, second, or third embodiments described above. Below, we will specifically describe an example in which the first distance measuring sensor 19A (detection unit) provided in the first CSU1A is individually calibrated in combination with the first embodiment. In the example of Figure 15, the detection target area setting unit 308 and the calibration unit 311 are provided in the first CSU1A which is equipped with the first distance measuring sensor 19A to be calibrated, but these functional blocks may be provided in a computer or the like outside the first CSU1A.

[0175] The detection target area setting unit 308 sets the detection target area in the second CSU1B, which is the second unloading device. In the examples of Figures 14 and 15, the detection target area setting unit 308 sets one or more detection target areas in any part of the second CSU1B, such as the second travel section 2B, the second slewing frame 5B, and the second boom 7B. The detection target area setting unit 308 may autonomously set one or more detection target areas in the second travel section 2B, the second slewing frame 5B, and the second boom 7B, which include shape features such as edges and planes that are useful for calibration of the first distance measuring sensor 19A, or it may set one or more detection target areas based on manual operation by the operator or manager of the first CSU1A or the calibration device 300.

[0176] Figure 16 schematically shows an example of a settings screen in which the operator or administrator (hereinafter collectively referred to as "user") of the first CSU1A or calibration device 300 can set one or more detection target areas in the second CSU1B.

[0177] The three-dimensional model display area 400 in the upper right of the screen displays a three-dimensional model of the second CSU1B, which was generated by the detection target area setting unit 308 based on the design data of the second CSU1B. The design data of the second CSU1B constitutes part of the state data described later and is also provided to the calibration unit 311 via the state data acquisition unit 310.

[0178] In this three-dimensional model display area 400, the user can set a detection target area as an ROI (Region of Interest) by placing bounding boxes of any shape, such as a rectangular prism or rectangle, on a desired location on the second CSU1B. In the example in Figure 16, the first detection target area is set by the first ROI (shown as "item1") placed on the second boom 7B, the second detection target area is set by the second ROI (shown as "item2") placed on the second lifting unit 9B (or its bucket elevator), and the third detection target area is set by the third ROI (shown as "item3") placed on the second scraping unit 11B. Candidate detection target areas on the second CSU1B may be autonomously identified and recommended on the three-dimensional model display area 400 by the detection target area setting unit 308 after analyzing the design data of the second CSU1B, and selecting locations that include shape features such as edges and planes useful for calibrating the first distance measuring sensor 19A.

[0179] Furthermore, the user can perform arbitrary operations such as moving, rotating, scaling, and resizing on the 3D model of the second CSU1B displayed in the 3D model display area 400. Similarly, the user can perform arbitrary operations such as moving, rotating, scaling, and resizing on bounding boxes (ROIs) that they have placed in the 3D model display area 400. In the example in Figure 16, the user can also arbitrarily set various parameters such as the size, position, and orientation of the bounding box (ROI) in the detection target area setting area 401 in the lower right of the screen.

[0180] In Figure 15, the relative drive unit 309 drives the first CSU1A and the second CSU1B relative to each other so that the detection unit 19A can detect the detection target areas 2B, 5B, 7B, etc., set by the detection target area setting unit 308. The relative drive unit 309 includes a first drive unit 309A that drives each movable part of the first CSU1A (e.g., the first travel unit 2A, the first slewing frame 5A, the first boom 7A) relative to the second CSU1B, and / or a second drive unit 309B that drives each movable part of the second CSU1B (e.g., the second travel unit 2B, the second slewing frame 5B, the second boom 7B) relative to the first CSU1A.

[0181] The first drive unit 309A may be interpreted as driving the detection unit 19A provided on the first CSU1A relative to the detection target areas 2B, 5B, 7B, etc. on the second CSU1B, and the second drive unit 309B may be interpreted as driving the detection target areas 2B, 5B, 7B, etc. on the second CSU1B relative to the detection unit 19A provided on the first CSU1A.

[0182] As shown in the example in Figure 14, when multiple detection target areas 2B, 5B, and 7B are set by the detection target area setting unit 308, it is preferable for the relative drive unit 309 to drive the first CSU1A and the second CSU1B relatively so that the detection unit 19A can detect the multiple detection target areas 2B, 5B, and 7B. For example, the relative drive unit 309 may drive the movable parts of the first CSU1A and / or the second CSU1B so that the detection unit 19A detects the second travel unit 2B, the second slewing frame 5B, and the second boom 7B in sequence (i.e., so that the second travel unit 2B, the second slewing frame 5B, and the second boom 7B enter the detection range of the detection unit 19A in sequence).

[0183] Furthermore, it is preferable that the relative drive unit 309 relatively drives the first CSU1A and the second CSU1B so that the detection unit 19A can detect a single detection target area (for example, the second rotation frame 5B) at different relative positions and / or relative orientations. Through such relative drive, the detection unit 19A can detect a single detection target area from multiple or multiple angles, with different compositions, angles, fields of view, angles of view, distances, etc. The diverse detection data collected from a single detection target area in this way contributes to improving the calibration accuracy of the detection unit 19A by the calibration unit 311, which will be described later.

[0184] Furthermore, the changes over time in the CSU states of the first CSU1A and the second CSU1B during the relative drive described above (for example, the position of the travel unit 2, the slewing angle of the slewing frame 5, and the elevation angle of the boom 7) are recorded and used in the calibration process of the detection unit 19A by the calibration unit 311, which will be described later.

[0185] As shown in the example in Figure 15, when the calibration unit 311 is provided in the first CSU 1A, the changes over time in the CSU state of the first CSU 1A (e.g., the position of the first travel unit 2A, the slewing angle of the first slewing frame 5A, and the elevation angle of the first boom 7A) by the first drive unit 309A are provided to the calibration unit 311 as is (or may be at least temporarily stored in a storage device not shown provided in the first CSU 1A). In addition, the changes over time in the CSU state of the second CSU 1B (e.g., the position of the second travel unit 2B, the slewing angle of the second slewing frame 5B, and the elevation angle of the second boom 7B) by the second drive unit 309B are provided to the first CSU 1A and the calibration unit 311 as state data, as described later, by the state data transmission unit 310B.

[0186] The state data acquisition unit 310 acquires various state data relating to the state of the second CSU1B as the object to be detected by the detection unit 19A. The state data may include design data of the second CSU1B. This design data includes, for example, arbitrary data created during the design of the second CSU1B, such as the shape, dimensions, material, and properties of each part of the second CSU1B, and includes all data that affects the position and orientation of each part (in particular, the detection target areas 2B, 5B, and 7B) in the actual operating environment of the second CSU1B.

[0187] Furthermore, the state data acquired by the state data acquisition unit 310 may include position and / or attitude data relating to the position and / or attitude of the second CSU1B. The design data described above is also an example of position and attitude data. In addition to or instead of the design data of the second CSU1B, the position and attitude data may include CSU state data of the second CSU1B controlled by the second drive unit 309B (for example, the position of the second travel unit 2B, the slewing angle of the second slewing frame 5B, and the elevation angle of the second boom 7B). This CSU state data may be interpreted as relative drive data of the first CSU1A and the second CSU1B by the relative drive unit 309 (strictly speaking, the second drive unit 309B).

[0188] The set of design data and CSU state data for the second CSU1B described above provides the precise position and / or orientation of each part of the second CSU1B at each point in time. In particular, the set of design data and CSU state data for the second CSU1B provides the precise position and orientation of the detection target areas 2B, 5B, and 7B at each point in time. By acquiring such state data by the state data acquisition unit 310, the detection target areas 2B, 5B, and 7B in the second CSU1B, and indeed the entire second CSU1B, can be treated as reference objects with known position and / or orientation.

[0189] The status data acquired by the status data acquisition unit 310 is transmitted to the first CSU1A by a status data transmission unit 310B, such as a transmitter, located in the second CSU1B, and received by a status data receiving unit 310A, such as a receiver, located in the first CSU1A. Thus, the status data acquisition unit 310 is composed of a status data transmission unit 310B and a status data receiving unit 310A. The status data that gives the position and orientation of the second CSU1B, received by the status data receiving unit 310A, is provided to the calibration unit 311.

[0190] The calibration unit 311 calibrates the detection unit 19A based on the detection results of the detection target areas 2B, 5B, and 7B in the second CSU1B by the detection unit 19A in the first CSU1A, and the state data acquired from the second CSU1B through the state data acquisition unit 310.

[0191] As described above, the state data from the state data acquisition unit 310 provides the precise position and orientation of the detection target areas 2B, 5B, and 7B at each point in time when detection or measurement is performed by the detection unit 19A. Therefore, the calibration unit 311 can treat the detection target areas 2B, 5B, and 7B as reference objects in the first or second embodiment. The calibration unit 311 can then calibrate the detection unit 19A with high accuracy by comparing the coordinate data acquired by the detection unit 19A (if the detection unit is a distance measuring sensor as in the first embodiment, this is the distance measuring point coordinate data acquired by the distance measuring point coordinate acquisition unit 301 in Figure 6; if the detection unit is a camera as in the second embodiment, this is the pixel coordinate data acquired by the pixel coordinate acquisition unit 305 in Figure 10) with the state data of the detection target areas 2B, 5B, and 7B as reference objects. This calibration process is the same as described above with respect to the coordinate transformation unit 302, coordinate error detection unit 303, and coordinate system correction unit 304 in the first or second embodiment.

[0192] As mentioned above, when the detection unit 19A detects the target areas 2B, 5B, and 7B, and the first drive unit 309A drives the detection unit 19A, it is preferable that the drive data is provided to the calibration unit 311. This drive data may also be the CSU status data of the first CSU 1A (for example, the position of the first travel unit 2A, the rotation angle of the first slewing frame 5A, and the elevation angle of the first boom 7A). Based on the drive data or CSU status data provided by the first drive unit 309A, the calibration unit 311 recognizes the position and orientation of the detection unit 19A at each point in time (however, before calibration) and can calibrate the detection unit 19A with high accuracy.

[0193] Furthermore, the calibration unit 311 may be provided with design data for the first CSU1A. This design data includes, for example, arbitrary data created during the design of the first CSU1A, such as the shape, dimensions, materials, and properties of each part of the first CSU1A, and includes all data that affects the position and orientation of each part (especially the detection unit 19A) in the actual operating environment of the first CSU1A. Such design data and drive data from the first drive unit 309A constitute state data relating to the state of the first CSU1A. That is, it is preferable that the calibration unit 311 is provided with state data for the first CSU1A, as well as state data for the second CSU1B acquired through the state data acquisition unit 310. In this case, the calibration unit 311 recognizes the position and orientation of the detection unit 19A (before calibration) based on the state data of the first CSU1A, recognizes the position and orientation of the detection target areas 2B, 5B, and 7B based on the state data of the second CSU1B, and can then calibrate the detection unit 19A with high accuracy based on the detection data provided by the detection unit 19A.

[0194] Furthermore, if multiple detection units 19A to be calibrated are provided on the first CSU1A, the multiple detection units 19A can be calibrated against each other even if the detection target areas 2B, 5B, and 7B cannot be treated as known reference objects, as described above with respect to the third embodiment. In this case, a state data acquisition unit 310 that provides state data for treating the second CSU1B as a reference object from the second CSU1B to the first CSU1A does not need to be provided. The multiple detection units 19A can detect the common detection target areas 2B, 5B, and 7B as mere (unknown) detection targets, and the multiple detection units 19A can be calibrated against each other and simultaneously through a comparison of their respective detection data. This calibration process is the same as described above with respect to the coordinate transformation unit 302, coordinate error detection unit 303, and coordinate system correction unit 304 in the third embodiment. Furthermore, when the first drive unit 309A drives the detection units 19A during detection of the target areas 2B, 5B, and 7B by the multiple detection units 19A, it is preferable that the drive data or the status data of the first CSU 1A is provided to the calibration unit 311.

[0195] Next, a fifth embodiment of the present disclosure will be described. In the fifth embodiment, similar to the fourth embodiment, the calibration of the distance measuring sensors 18, 19 and the camera (detection unit) is performed by using other unloading devices that can be detected by the distance measuring sensors 18, 19 and the camera (detection unit) as a reference object or detection object. In the fourth embodiment, the first detection unit 19A provided on the first CSU1A was calibrated by detecting the second CSU1B, but in the fifth embodiment, the second detection unit 19B (see Figure 14) provided on the second CSU1B is further calibrated by detecting the first CSU1A. In other words, in the fifth embodiment, the first CSU1A and the second CSU1B detect each other while their respective detection units 19A and 19B are calibrated.

[0196] Figure 17 is a functional block diagram of the calibration device 300 according to the fifth embodiment. The calibration device 300 may include a detection target area setting unit 308 (not shown), a relative drive unit 309, a state data acquisition unit 310 (not shown), a calibration unit 311, and a calibration data sharing unit 312. These functional blocks are the same as in the fourth embodiment, and redundant explanations are omitted.

[0197] In this embodiment, the first CSU1A and the second CSU1B have similar components. Specifically, the first CSU1A may include a first detection unit 19A such as a distance measuring sensor or a camera, a first detection target area detected by the second detection unit 19B (for example, the first travel unit 2A, the first slewing frame 5A, and the first boom 7A), a first detection target area setting unit (not shown) which is part of the calibration device 300, a first drive unit 309A, a first state data acquisition unit (not shown), a first calibration unit 311A, and a first calibration data acquisition unit 312A. Similarly, the second CSU1B may include a second detection unit 19B such as a distance measuring sensor or a camera, a second detection target area detected by the first detection unit 19A (for example, the second travel unit 2B, the second slewing frame 5B, and the second boom 7B), a second detection target area setting unit (not shown) which is part of the calibration device 300, a second drive unit 309B, a second state data acquisition unit (not shown), a second calibration unit 311B, and a second calibration data acquisition unit 312B.

[0198] The following mainly describes the first distance measuring sensor 19A (first detection unit) provided in the first CSU1A. Next, we will specifically explain an example of mutually calibrating the second distance measuring sensor 19B (second detection unit) provided in the second CSU1B. In addition, although the components of the calibration device 300 are distributed between the first CSU1A and the second CSU1B in the example shown in Figure 17, these functional blocks may be provided in a computer or the like outside the first CSU1A and / or the second CSU1B, as long as the intended operation of the calibration device 300, as described later, is achieved.

[0199] Regarding the fourth embodiment, the detection target area setting unit 308 (not shown) described above sets the first detection target areas 2A, 5A, 7A, etc. in the first CSU1A, which is the first unloading device, and sets the second detection target areas 2B, 5B, 7B, etc. in the second CSU1B, which is the second unloading device.

[0200] The relative drive unit 309 drives the first CSU1A and the second CSU1B relatively so that the first detection unit 19A can detect the second detection target areas 2B, 5B, 7B, etc., set by the detection target area setting unit 308, and / or so that the second detection unit 19B can detect the first detection target areas 2A, 5A, 7A, etc., set by the detection target area setting unit 308. When the first detection unit 19A is the detection main unit, the relative drive unit 309 drives the first detection unit 19A and the second detection target areas 2B, 5B, 7B, etc. relatively. When the second detection unit 19B is the detection main unit, the relative drive unit 309 drives the second detection unit 19B and the first detection target areas 2A, 5A, 7A, etc. relatively. The specific manner of relative driving in each case was described above in the fourth embodiment.

[0201] Regarding the fourth embodiment, the state data acquisition unit 310 (not shown) described above acquires various state data relating to the state of the second CSU1B as the detection target by the first detection unit 19A, and / or various state data relating to the state of the first CSU1A as the detection target by the second detection unit 19B. As described above regarding the fourth embodiment, the state data acquired by the state data acquisition unit 310 may include design data, position and orientation data, CSU state data, relative drive data, etc. for each CSU1A and 1B. As will be described later, this embodiment improves the calibration accuracy of each CSU1A and 1B by sharing their calibration data, and sharing all state data is not essential. However, by sharing state data in addition to calibration data between the first CSU1A and the second CSU1B, the calibration accuracy of each can be further improved.

[0202] The first calibration unit 311A ​​calibrates the first detection unit 19A based on the detection results of the first detection unit 19A in the first CSU1A for the second detection target areas 2B, 5B, and 7B in the second CSU1B. The second calibration unit 311B calibrates the second detection unit 19B based on the detection results of the second detection unit 19B in the second CSU1B for the first detection target areas 2A, 5A, and 7A in the first CSU1A.

[0203] The calibration data sharing unit 312 comprises a first calibration data acquisition unit 312A and a second calibration data acquisition unit 312B.

[0204] The first calibration data acquisition unit 312A acquires the first calibration data of the first detection unit 19A from the first calibration unit 311A. The first calibration data represents the position and / or orientation of the first detection unit 19A, which has been calibrated by the first calibration unit 311A ​​in the same manner as in the fourth embodiment, and is useful as data that suggests the position and / or orientation of the entire first CSU 1A (particularly the first detection target areas 2A, 5A, and 7A). This first calibration data is then provided to the second calibration unit 311B through the calibration data sharing unit 312, which acts as a communication function unit.

[0205] The second calibration unit 311B can calibrate the second detection unit 19B with high accuracy by comparing the coordinate data of the first detection target areas 2A, 5A, and 7A acquired by the second detection unit 19B with the position and orientation data of the first detection target areas 2A, 5A, and 7A suggested from the first calibration data. In addition, the second calibration unit 311B may consider the state data of the first CSU1A and / or the second CSU1B in the calibration process of the second detection unit 19B, similar to the fourth embodiment.

[0206] Similarly, the second calibration data acquisition unit 312B acquires the second calibration data of the second detection unit 19B from the second calibration unit 311B. The second calibration data represents the position and / or orientation of the second detection unit 19B, which has been calibrated by the second calibration unit 311B in the same manner as in the fourth embodiment, and is useful as data that indicates the position and / or orientation of the entire second CSU 1B (particularly the second detection target areas 2B, 5B, and 7B). This second calibration data is then provided to the first calibration unit 311A ​​through the calibration data sharing unit 312, which acts as a communication function unit.

[0207] The first calibration unit 311A ​​can calibrate the first detection unit 19A with high accuracy by comparing the coordinate data of the second detection target areas 2B, 5B, and 7B acquired by the first detection unit 19A with the position and orientation data of the second detection target areas 2B, 5B, and 7B suggested from the second calibration data. In addition, the first calibration unit 311A ​​may consider the state data of the first CSU1A and / or the second CSU1B in the calibration process of the first detection unit 19A, similar to the fourth embodiment.

[0208] Figure 18 is a flowchart showing an example of calibration processing by the calibration device 300 according to the fifth embodiment. The processing on the left side of this figure is mainly performed on the first CSU1A side, and the processing on the right side of this figure is mainly performed on the second CSU1B side.

[0209] In S41, the first detection unit 19A in the first CSU1A detects the second detection target areas 2B, 5B, 7B, etc. (which are set in advance by the detection target area setting unit 308) in the second CSU1B. At this time, as previously described with respect to Figure 17, the relative drive unit 309 may relatively drive the first CSU1A and the second CSU1B so that the relative position and / or orientation of the first detection unit 19A and the second detection target areas 2B, 5B, 7B, etc. changes.

[0210] In S42, the second detection unit 19B in the second CSU1B detects the first detection target areas 2A, 5A, 7A, etc. (which are set in advance by the detection target area setting unit 308) in the first CSU1A. At this time, as previously described with respect to Figure 17, the relative drive unit 309 may relatively drive the first CSU1A and the second CSU1B so that the relative position and / or orientation of the second detection unit 19B and the first detection target areas 2A, 5A, 7A, etc. changes.

[0211] In S43 (initial), the first calibration unit 311A, as the first step, calibrates the first detection unit 19A based on the detection results of the second detection target areas 2B, 5B, 7B, etc. obtained by the first detection unit 19A in S41, and the state data acquired from the second CSU 1B through the state data acquisition unit 310 (not shown in Figure 17).

[0212] In S44 (initial), the first calibration data acquisition unit 312A provides or shares the first calibration data of the first detection unit 19A obtained in S43 with the second CSU1B or the second calibration unit 311B.

[0213] In S45 (initial), following S44, the second calibration unit 311B, as the second step, calibrates the second detection unit 19B based on the detection results of the first detection target areas 2A, 5A, 7A, etc., obtained by the second detection unit 19B in S42, and the first calibration data of the first detection unit 19A obtained in S43 (first step) and shared in S44. At this time, the second calibration unit 311B may also consider the state data obtained from the first CSU1A through the state data acquisition unit 310 (not shown in Figure 17) when calibrating the second detection unit 19B.

[0214] In S46 (initial), the second calibration data acquisition unit 312B provides or shares the second calibration data of the second detection unit 19B obtained in S45 with the first CSU1A or the first calibration unit 311A.

[0215] In S43 (second step), following S46, the first calibration unit 311A, as the third step, calibrates the first detection unit 19A based on the detection results of the first detection target areas 2A, 5A, 7A, etc., obtained by the second detection unit 19B in S42, and the second calibration data of the second detection unit 19B obtained in S45 (second step) and shared in S46. At this time, the first calibration unit 311A ​​may also consider the state data obtained from the second CSU 1B through the state data acquisition unit 310 (not shown in Figure 17) when calibrating the first detection unit 19A.

[0216] In S44 (second cycle), the first calibration data acquisition unit 312A provides or shares the first calibration data of the first detection unit 19A obtained in S43 (second cycle) with the second CSU1B or the second calibration unit 311B.

[0217] In S45 (second step), following S44 (second step), the second calibration unit 311B, as the fourth step, calibrates the second detection unit 19B based on the detection results of the first detection target areas 2A, 5A, 7A, etc., obtained by the second detection unit 19B in S42, and the first calibration data of the first detection unit 19A obtained in S43 (third step) and shared in S44. At this time, the second calibration unit 311B may also consider the state data obtained from the first CSU 1A through the state data acquisition unit 310 (not shown in Figure 17) when calibrating the second detection unit 19B.

[0218] As described above, it is preferable that the calibration of the first detection unit 19A by the first calibration unit 311A ​​(S43) and the calibration of the second detection unit 19B by the second calibration unit 311B (S45) are performed alternately at least twice, with the sharing of calibration data between them (S44, S46).

[0219] In S47, it is determined whether the first calibration data obtained in at least two S43 cycles has sufficiently converged according to a predetermined convergence criterion. If the convergence is insufficient ("No" in S47), the process returns to S43, and the calibration of the first detection unit 19A by the first calibration unit 311A ​​is repeated until the first calibration data has sufficiently converged.

[0220] Similarly, in S48, it is determined whether the second calibration data obtained in at least two S45 steps has sufficiently converged in accordance with a predetermined convergence criterion. If the convergence is insufficient (No in S48), the process returns to S45, and the calibration of the second detection unit 19B by the second calibration unit 311B is repeated until the second calibration data has sufficiently converged.

[0221] As described above, by alternately repeating the calibration of the first detection unit 19A by the first calibration unit 311A ​​and the calibration of the second detection unit 19B by the second calibration unit 311B, the accuracy of the first calibration data representing the position and orientation of the first detection unit 19A and the second calibration data representing the position and orientation of the second detection unit 19B can be mutually improved. When the first calibration data and the second calibration data have sufficiently converged ("Yes" in either S47 or S48), the mutual calibration of the first detection unit 19A and the second detection unit 19B is completed.

[0222] Next, a sixth embodiment of the present disclosure will be described. Figure 19 is a functional block diagram of the calibration device 300 according to the sixth embodiment.

[0223] In the sixth embodiment, similar to the fourth and fifth embodiments, the first detection unit 19A in the first CSU1A is calibrated by detecting the second detection target areas 2B, 5B, 7B, etc., in the second CSU1B. On the other hand, the second detection unit 19B in the second CSU1B is calibrated substantially accurately, similar to the first or second embodiment, by detecting a reference object OB whose position and / or orientation is known. This embodiment assumes a case where the first detection unit 19A is in a position or orientation where it cannot detect the reference object OB, while the second detection unit 19B is in a position or orientation where it can detect the reference object OB.

[0224] The second calibration unit 311B can calibrate the second detection unit 19B with high accuracy by comparing the coordinate data of the reference object OB acquired by the second detection unit 19B with known coordinate data of the reference object OB.

[0225] The second calibration data acquisition unit 312B acquires the second calibration data of the second detection unit 19B from the second calibration unit 311B. The second calibration data represents the position and / or orientation of the second detection unit 19B, which has been calibrated approximately accurately based on the reference object OB, and is useful as data that approximately accurately represents the position and / or orientation of the entire second CSU 1B (in particular, the second detection target areas 2B, 5B, and 7B). This second calibration data is then provided to the first calibration unit 311A ​​through the second calibration data acquisition unit 312B (calibration data sharing unit 312), which functions as a communication unit.

[0226] The first calibration unit 311A ​​can calibrate the first detection unit 19A with approximately accurate coordinate data of the second detection target areas 2B, 5B, and 7B acquired by the first detection unit 19A, by comparing these coordinate data with the position and orientation data of the second detection target areas 2B, 5B, and 7B, which are represented approximately accurately by the second calibration data.

[0227] As described above, according to this embodiment, the second detection unit 19B in the second CSU1B can be calibrated with substantially accurate accuracy based on a known reference object OB, and the first detection unit 19A in the first CSU1A can be calibrated with substantially accurate accuracy based on the substantially accurate second calibration data.

[0228] The present disclosure has been described above based on embodiments. Various modifications are possible for each component and each combination of processes in the exemplary embodiments, and it will be obvious to those skilled in the art that such modifications are included in the scope of the present disclosure.

[0229] This disclosure is applicable not only to bucket elevator type continuous unloaders described in relation to embodiments, but also to vertical screw type unloaders and pneumatic type unloaders equipped with an air conveying mechanism. In the case of the vertical screw type unloader 1 schematically shown in Figure 20, the rotating intake unit 11 and the screw conveyor 90, which conveys the bulk load M taken in by the rotating intake unit 11 upward to the outside of the cargo hold 201 by the rotation of a screw (not shown), correspond to the discharge unit. In the case of a pneumatic type unloader, the suction nozzle corresponds to the discharge unit.

[0230] The configuration, operation, and function of each device and method described in the embodiments can be realized by hardware resources or software resources, or by the cooperation of hardware resources and software resources. Hardware resources include, for example, processors, ROMs, RAMs, and various integrated circuits. Software resources include, for example, operating systems and application programs. [Explanation of symbols]

[0231] 1 Lifting machine (CSU), 2 Traveling unit, 5 Swivel frame, 7 Boom, 9 Lifting unit, 11 Scraping unit, 18 Distance sensor, 19 Distance sensor, 200 Ship, 201 Cargo hold, 300 Calibration device, 308 Detection target area setting unit, 309 Relative drive unit, 310 Status data acquisition unit, 311 Calibration unit, 312 Calibration data sharing unit.

Claims

1. A cargo unloading device for unloading cargo from a ship, A movable part that is movable relative to the aforementioned ship, A pivoting part that can rotate relative to the aforementioned moving part, The aforementioned turning section is provided with an unloading section for unloading the cargo, A detection unit for detecting a second unloading device different from the aforementioned unloading device, A calibration unit that calibrates the detection unit based on the detection result of the second unloading device by the detection unit, A loading / unloading device equipped with the following features.

2. The system includes a status data acquisition unit that acquires status data relating to the state of the second unloading device, The calibration unit calibrates the detection unit based on the detection results and status data of the second unloading device. The unloading device according to claim 1.

3. The unloading device according to claim 2, wherein the state data acquisition unit includes a state data transmission unit that transmits the state data from the second unloading device to the unloading device.

4. The unloading device according to claim 2, wherein the state data includes the design data of the second unloading device.

5. The unloading device according to claim 2, wherein the state data includes position and / or orientation data relating to the position and / or orientation of the second unloading device.

6. The second unloading device includes a detection target area setting unit for setting the detection target area, The detection unit detects the second unloading device in the detection target area. The unloading device according to any one of claims 1 to 5.

7. The detection target area setting unit sets a plurality of detection target areas in the second unloading device, The detection unit is equipped with a relative drive unit that drives the unloading device and the second unloading device relative to each other so that the detection unit can detect a plurality of detection target areas. The calibration unit calibrates the detection unit based on the detection result of the second unloading device by the detection unit and the relative drive data of the unloading device and the second unloading device by the relative drive unit. The unloading device according to claim 6.

8. The detection unit is equipped with a relative drive unit that drives the unloading device and the second unloading device relative to each other, so that the detection unit can detect the second unloading device at different relative positions and / or relative orientations. The calibration unit calibrates the detection unit based on the detection result of the second unloading device by the detection unit and the relative drive data of the unloading device and the second unloading device by the relative drive unit. The unloading device according to any one of claims 1 to 5.

9. The system comprises multiple detection units, The calibration unit simultaneously calibrates the multiple detection units based on the detection results of the multiple detection units for the second unloading device. The unloading device according to any one of claims 1 to 5.

10. The unloading device according to any one of claims 1 to 5, wherein the detection unit is a distance measuring sensor that measures the distance to the second unloading device as an object to be measured.

11. A first unloading device comprising a first moving part that is movable relative to a first vessel, a first rotating part that is rotatable relative to the first moving part, and a first unloading part provided on the first rotating part for unloading the first cargo of the first vessel, is provided with a first detection unit which calibrates the first detection unit based on the detection result of a second unloading device that is different from the first unloading device, A second unloading device comprising a second moving part that is movable relative to a second vessel, a second rotating part that is rotatable relative to the second moving part, and a second unloading part provided on the second rotating part for unloading the second cargo of the second vessel, a second calibration unit that calibrates the second detection unit based on the detection result of the object to be measured by the second detection unit provided in the second unloading device, A second calibration data acquisition unit acquires second calibration data of the second detection unit by the second calibration unit, Equipped with, The first calibration unit calibrates the first detection unit based on the detection result of the second unloading device by the first detection unit and the second calibration data. Calibration device.

12. The object to be measured is the first unloading device, The system includes a first calibration data acquisition unit that acquires first calibration data of the first detection unit by the first calibration unit, The second calibration unit calibrates the second detection unit based on the detection result of the first unloading device by the second detection unit and the first calibration data. The calibration apparatus according to claim 11.

13. As a first step, the first calibration unit calibrates the first detection unit based on the detection result of the second unloading device by the first detection unit. As a second step, the second calibration unit calibrates the second detection unit based on the detection result of the first unloading device by the second detection unit and the first calibration data obtained in the first step. As a third step, the first calibration unit calibrates the first detection unit based on the detection result of the second unloading device by the first detection unit and the second calibration data obtained in the second step. The calibration apparatus according to claim 12.

14. The calibration apparatus according to claim 13, wherein the second calibration unit, as a fourth step, calibrates the second detection unit based on the detection result of the first unloading device by the second detection unit and the first calibration data obtained in the third step.

15. The object to be measured is a reference object whose position and / or orientation are known. The second calibration unit calibrates the second detection unit based on the detection result of the reference object by the second detection unit. The calibration apparatus according to claim 11.

16. A calibration method for a cargo unloading device comprising a movable part that is movable relative to a ship, a rotating part that is rotatable relative to the movable part, and an unloading part provided on the rotating part for unloading cargo from the ship, The detection unit provided in the aforementioned unloading device detects a second unloading device that is different from the said unloading device, Based on the detection result of the second unloading device by the aforementioned detection unit, the detection unit is calibrated. A method for calibrating a loading and unloading device.

17. A calibration program for an unloading device comprising a movable part that is movable relative to a ship, a rotating part that is rotatable relative to the movable part, and an unloading part provided on the rotating part for unloading cargo from the ship, The detection unit provided in the aforementioned unloading device detects a second unloading device that is different from the said unloading device, Based on the detection result of the second unloading device by the aforementioned detection unit, the detection unit is calibrated. A calibration program for unloading equipment that causes a computer to execute a specific command.

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