Unloading system and method for controlling unloading system

Abstract

To provide an unloading system and a control method for the unloading system with which cargoes loaded on a load-carrying platform of a vehicle can be unloaded automatically to the outside of the vehicle.SOLUTION: A control device 600 makes a rear face range finder 200 measure a first surface of a coil 800, and causes a moving device 400 to move a lateral face range finder 300 to a first post-transfer position on the basis of a first position that is a measurement result of the first surface, makes the lateral face range finder 300 measure the first surface at the first post-transfer position. Then, the control device makes the moving device 400 move the lateral face range finder 300 to a second post-transfer position on the basis of a coil width Wc, makes the lateral face range finder 300 measure a second surface at the second post-transfer position, obtain a coil width Wc det on the basis of a measurement result of the first surface and a measurement result of the second surface measured by the lateral face range finder 300. On the basis of the first position and the width Wc_det, the control device obtains target coordinates at the time of unloading the coil 800 and causes a crane device 500 to move to the target coordinates and unloading the coil 800.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an unloading system and a method for controlling an unloading system. [Background technology]

[0002] Conventionally, in a warehouse such as a coil yard (hereinafter, referred to as a coil yard, etc.), a lifter is used to rearrange the coils (hereinafter, referred to as a rearrangement work) stored in the warehouse so that the coils (hereinafter, referred to as a coil, etc.) can be easily shipped. In the coil yard, etc., the positions where the coils and the dolly are installed are determined in advance. Here, the position means a position that can be expressed by three-dimensional coordinates in the traveling direction, the lateral direction, and the up-down direction (also the lifting direction). The crane device has a position monitoring device (e.g., an encoder, a laser distance meter, a GPS, etc.), and the position of the coils and the dolly can be detected using the position monitoring device. Therefore, when transferring the coils to the dolly or receiving the coils from the dolly, the crane device can be automatically moved, and the rearrangement work using the crane device is automatically performed. For example, in Patent Document 1, the position of the coil is automatically detected using a sensor network terminal attached to the coil and a base station terminal installed on the hanging beam of the crane.

[0003] On the other hand, when unloading coils, etc. from the bed of a vehicle such as a truck (hereinafter referred to as a truck, etc.) to the outside of the vehicle, a worker operates the crane equipment using a wireless (e.g., telecon) or wired (e.g., pendant) controller device to manually perform the unloading work of the coils, etc. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2005-001804 A Summary of the Invention [Problem to be solved by the invention]

[0005] Here, the reasons why unloading work cannot be automated include the fact that the stopping position of trucks, etc. is different each time, and the information for controlling the crane device (e.g., target coordinates) cannot be fixed. In addition, the height of the loading platform differs depending on the type of truck, etc., and the height of the loading platform changes (rises) depending on the weight of the coils, etc. as the coils, etc. are unloaded from the loading platform.

[0006] However, in view of safety requirements such as preventing accidents due to operational errors, it is desirable to automate the task of unloading coils and the like from the bed of a truck or the like to the outside of the truck or the like.

[0007] The present invention has been made in consideration of the above-mentioned circumstances, and has an exemplary objective of providing an unloading system and a control method for an unloading system that can automatically unload cargo loaded on a vehicle's bed outside the vehicle. [Means for solving the problem]

[0008] In order to solve the above-mentioned problems, the present invention has the following configuration.

[0009] A loading / unloading system for automatically unloading cargo loaded on a loading platform of a vehicle having a loading platform on one side of a first direction in a horizontal plane from the loading platform to outside of the vehicle, comprising: A first measuring device that is arranged in a position overlooking the platform from the one side of the first direction and has a position measuring function; a second measurement device that is arranged at a position overlooking the vehicle from the side of the vehicle, is movable, and has a position measurement function; a moving device that moves the second measuring device; a transport device for transporting the load from the loading platform to outside the vehicle; a control device that controls the first measuring device and the second measuring device, controls the moving device based on a result of measurement by the first measuring device, and controls the transporting device based on the result of measurement by the first measuring device and the second measuring device; Equipped with the cargo has a first surface facing the first measuring device and a second surface opposite the first surface; The control device includes: causing the first measuring device to measure the first surface of the load; moving the second measuring device to a first post-movement position where the first surface comes into view, based on a first position that is a result of measuring the first surface by the first measuring device; measuring the first surface by the second measuring device at the first post-movement position; moving the second measuring device to a second post-movement position where the second surface comes into view by the moving device based on a first length of the cargo in the first direction that is set in advance; measuring the second surface by the second measuring device at the second post-movement position; determining a second length of the cargo in the first direction based on a result of measuring the first surface and a result of measuring the second surface by the second measuring device; determining a target coordinate when the load is to be unloaded by the transporting device based on the first position and the second length; The transport device is moved to the target coordinates and the cargo is unloaded by the transport device.

[0010] Further objects and other features of the present invention will become apparent from the following description of preferred embodiments with reference to the accompanying drawings. Effect of the Invention

[0011] According to the present invention, it is possible to provide an unloading system and a control method for an unloading system that can automatically unload cargo loaded on a bed of a vehicle outside the vehicle. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a schematic diagram showing an overall configuration of an unloading system according to an embodiment; [Diagram 2] FIG. 1A is a schematic side view showing the arrangement of a rear ranging device according to an embodiment; FIG. [Diagram 3] FIG. 1A is a schematic front view of a moving device according to an embodiment; FIG. [Figure 4] FIG. 1A is a schematic perspective view of a coil according to an embodiment; FIG. 1B is a schematic top view of the coil loaded on a loading platform; and FIG. 1C is a schematic rear view of the loaded coil as viewed from the rear. [Diagram 5] Block diagram of an unloading system according to an embodiment [Figure 6] FIG. 1A is a schematic diagram illustrating coordinates in a lateral direction and a vertical direction in an embodiment; FIG. 1B is a schematic diagram illustrating an operation for determining a coordinate in a traveling direction and the coordinate in the traveling direction; [Figure 7] FIG. 2 is a top view schematic diagram illustrating calibration of a rear distance measuring device and a side distance measuring device according to an embodiment; [Figure 8] Flowchart showing unloading processing of an embodiment DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] [Embodiment] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the following description, a truck is used as an example of a vehicle, a coil is used as an example of a load loaded on the bed of the vehicle, and a coil yard is used as an example of a warehouse for storing unloaded loads. However, other vehicles, loads, and warehouses may be used. That is, the vehicle may have a bed. Furthermore, the load may be transported by a crane device and may have at least a portion that can be regarded as two surfaces. In this case, the load may have two surfaces that are not perpendicular to each other, or may have two surfaces that are approximately parallel. The warehouse may be a place where loads are stored for a certain period of time, an intermediate warehouse where loads are temporarily stored, or a work site such as a factory, a construction work site, or a container terminal. Furthermore, the load may be stored indoors or outdoors, and may be equipped with a facility that can automatically control the crane device.

[0014] In addition, the three-dimensional coordinates (hereinafter referred to as three-dimensional coordinates) are described as, for example, a Cartesian coordinate system, but other coordinate systems, such as a spherical coordinate system, may be used as long as they can specify a predetermined position in a three-dimensional space. As the Cartesian coordinate system, a running direction (x direction) which is a first direction in a horizontal plane, a traverse direction (y direction) which is a second direction in the horizontal plane substantially perpendicular to the first direction, and a lifting direction (z direction) which is a third direction substantially perpendicular to the running direction and the traverse direction are used. Note that the direction of the running rail of the crane device described later is the running direction, and the direction of the traverse rail is the traverse direction. The traveling direction of the truck (also the front-rear direction) is the traveling direction of the crane device, and the width direction of the truck is the traverse direction of the crane device. Note that the traveling direction of the truck and the traveling direction of the crane device are not limited to the above definitions.

[0015] <Unloading system> The unloading system of this embodiment is a system that automatically unloads coils loaded on the bed of a truck having a bed on one side of the traveling direction into a coil yard outside the vehicle. FIG. 1 is a schematic diagram illustrating the unloading system 100 of this embodiment. FIG. 1 is a schematic plan view of a coil yard 900 viewed from the ceiling 912 (see FIG. 2) side, and shows the unloading system 100 of this embodiment, a truck 700, and a coil 800 in the coil yard 900. FIG. 1 also shows the traveling direction and the lateral direction. Note that the size ratios and relative distances of each component shown in FIG. 1 do not necessarily represent the actual size ratios and relative distances. Furthermore, the arrangement of each component is not limited to the state shown in FIG. 1.

[0016] The unloading system 100 of this embodiment includes a rear distance measuring device 200 as a first measuring device, a side distance measuring device 300 as a second measuring device, a moving device 400, a crane device 500 as a transporting device, and a control device 600. The coil yard 900 includes a vehicle entrance 910, a ceiling 912 (see FIG. 2), and a floor 914. A position (hereinafter referred to as a storage position) 920 for storing the unloaded coils 800 is indicated by a dashed line on the floor 914 of the coil yard 900. The truck 700 includes a cabin 710 and a loading platform 720. At least one coil 800 is loaded on the loading platform 720 of the truck 700, and in FIG. 1, for example, two coils 800 are loaded.

[0017] <Rear range finder> The backside ranging device 200 is, for example, a three-dimensional LiDAR (Light Detection And Ranging). The backside ranging device 200 has an irradiating unit 220, a receiving unit 240, and a control unit 260 (see FIG. 5). The irradiating unit 220 irradiates an object present in a predetermined range (hereinafter referred to as a field of view) in the horizontal and vertical directions with a laser beam, for example, by scanning the laser beam. The receiving unit 240 receives a reflected wave of the laser beam irradiated by the irradiating unit 220 and reflected by an object in the field of view.

[0018] The control unit 260 calculates the position of the object based on the timing of irradiation of the laser light from the irradiation unit 220 and the timing of reception of the reflected wave by the receiving unit 240. Here, a three-dimensional local coordinate system is defined in the control unit 260, and the position of the object is calculated as three-dimensional coordinates. The local coordinate system defined in the control unit 260 can be converted into a world coordinate system (also called a global coordinate system) that serves as a reference coordinate. Therefore, the control unit 260 converts the position of the object into three-dimensional coordinates of the world coordinate system, and outputs it to the control device 600.

[0019] The rear distance measuring device 200 is disposed at a position overlooking the bed 720 of the truck 700 from one side in the traveling direction, and has a position measuring function. Specifically, the rear distance measuring device 200 is disposed at a position behind and above the truck 700 when the truck 700 enters the coil yard 900 through the vehicle entrance / exit 910 and stops at a predetermined position. Hereinafter, in the traveling direction, the cabin 710 side of the truck 700 is also referred to as the front side, and the bed 720 side is also referred to as the rear side. In addition, in the lateral direction, the left side and the right side are defined as facing the traveling direction of the truck 700.

[0020] 2A is a schematic side view showing the arrangement of the rear distance measuring device 200. The rear distance measuring device 200 is aligned along a central axis C indicated by a dashed line. v1 (Optical axis) direction is perpendicular to the above and below, with angle θ v1 and has a field of view of θ h1 (See FIG. 7). Here, the back surface distance measuring device 200 is disposed so that the vertical direction is substantially the same as the lifting direction of this embodiment. Also, the back surface distance measuring device 200 has a central axis C v1 The angle between the floor surface 914 and the floor surface 914 is θ1. v1 is, for example, 38.4 degrees, and the angle θ1 is, for example, 30 degrees, but are not limited to these values.

[0021] The rear ranging device 200 only needs to be positioned in a position that allows at least the loading platform 720 of the truck 700 to be in view, and in FIG. 1, it is positioned, for example, above the vehicle entrance 910. The rear ranging device 200 is fixed in this position; in other words, the rear ranging device 200 does not move parallel to any of the driving direction, lateral direction, and ascending / descending direction. When the loading platform 720 is viewed from the rear ranging device 200, the front side in the driving direction corresponds to the back side, and the rear side corresponds to the near side. The field of view of the rear ranging device 200 is indicated by a dashed line F in FIG. 2(b). v1 Shown as:

[0022] <Side distance measuring device> The side ranging device 300 is also, for example, a three-dimensional LiDAR. The side ranging device 300 has an irradiation unit 320, a receiving unit 340, and a control unit 360 (see FIG. 5). The functions of the irradiation unit 320, the receiving unit 340, and the control unit 360 are similar to those of the irradiation unit 220, the receiving unit 240, and the control unit 260, so their explanations are omitted. Note that the side ranging device 300 can also convert local coordinates into three-dimensional coordinates in a world coordinate system common to the back ranging device 200. Adjustment of the coordinate systems of the back ranging device 200 and the side ranging device 300 (hereinafter referred to as calibration) will be described later.

[0023] The side distance measuring device 300 is disposed at a position overlooking the truck 700 from the side of the truck 700, is movable, and has a position measuring function. The side distance measuring device 300 is different from the rear distance measuring device 200 in that it is fixed, whereas the rear distance measuring device 200 is not fixed and is movable, i.e., it is capable of translation in at least one of the traveling direction, the lateral direction, and the ascending and descending direction. Specifically, the side distance measuring device 300 is disposed on the left side of the truck 700 when the truck 700 enters the coil yard 900 through the vehicle entrance / exit 910 and stops at a predetermined position. The side distance measuring device 300 may be disposed on the right side of the truck 700.

[0024] 2B is a schematic rear view of the side distance measuring device 300 as seen from one side (rear side) in the traveling direction. For the sake of explanation, the cabin 710 of the truck 700 is omitted. The side distance measuring device 300 is aligned along a central axis C indicated by a dashed line. v2 (Optical axis) direction is perpendicular to the above and below, with angle θ v2 and has a field of view of θ h2 (See FIG. 7). Here, the side distance measuring device 300 is disposed so that the vertical direction is substantially the same as the lifting direction of this embodiment. Also, the side distance measuring device 300 has a central axis C v2 is arranged so as to be substantially parallel to the floor surface 914. v2 The field of view of the side distance measuring device 300 is, for example, 38.4 degrees, but is not limited to this value. The side distance measuring device 300 is attached to the moving device 400. When the truck 700 is viewed from the side distance measuring device 300, the right side in the lateral direction corresponds to the rear side, and the left side corresponds to the front side. The field of view of the side distance measuring device 300 is indicated by a dashed line F in FIG. 2(a). v2 Shown as:

[0025] The rear ranging device 200 and the side ranging device 300 are three-dimensional LiDARs that irradiate near-infrared light, visible light, or ultraviolet laser light, or irradiate near-infrared light, visible light, or ultraviolet laser light in a pulsed form to perform measurements. The rear ranging device 200 and the side ranging device 300 do not have to be LiDARs, and may be radars using electromagnetic waves of other wavelengths, such as radio waves. Furthermore, the rear ranging device 200 and the side ranging device 300 may be ones that use sound waves, and may be any device that can identify the position of an object as three-dimensional coordinates.

[0026] <Mobile device> 3(a) shows a schematic front view illustrating the configuration of the moving device 400. The moving device 400 has a holding unit 410, a horizontal moving unit 420, a vertical moving unit 430, a support unit 440, a control unit 450, and a driving unit 460. The holding unit 410 holds the side distance measuring device 300.

[0027] The holding unit 410 is fixedly attached to the horizontal moving unit 420, and is capable of moving horizontally along a horizontal rail 432 provided on the vertical moving unit 430. The horizontal moving unit 420 is driven by a driving unit 460 and moves horizontally (white arrow in the figure). The horizontal movement of the horizontal moving unit 420 is configured to substantially coincide with the traveling direction.

[0028] The horizontal moving section 420 is movably attached to the vertical moving section 430, and is capable of moving in the vertical direction along a vertical rail 442 provided on the support section 440. The vertical moving section 430 has a horizontal rail 432. The vertical moving section 430 is driven by a driving section 460 and moves in the vertical direction (white arrow in the figure). The vertical movement of the vertical moving section 430 is configured to substantially coincide with the lifting and lowering direction.

[0029] The vertical moving unit 430 is movably attached to the support unit 440 and has a vertical rail 442. The control unit 450 can transmit and receive information to and from the control device 600 via a wired or wireless communication network (not shown), and controls various operations of the moving device 400 according to the control of the control device 600. The control unit 450 has, for example, a CPU, a ROM, a RAM, a timer, and the like. The control unit 450 uses the RAM as a temporary working area according to various programs stored in the ROM, monitors various timings with a timer, and performs various calculations with the CPU to control the moving device 400. The driving unit 460 has known driving means and transmission means (not shown), such as a motor, a cylinder, a clutch, and a gear, for driving the horizontal moving unit 420 and the vertical moving unit 430.

[0030] The support unit 440 may be installed so as to stand independently from the floor surface 914 of the coil yard 900, or may be attached to a wall surface (not shown) of the coil yard 900. The moving device 400 may be disposed in a position near either the left or right side surface when the truck 700 is stopped.

[0031] <Crane equipment> 3(b) is a schematic perspective view showing the overall configuration of the crane apparatus 500 of this embodiment. The crane apparatus 500 is an apparatus for hoisting and transporting the coils 800 in the coil yard 900, and is, for example, an overhead crane. Note that the crane apparatus 500 is not limited to an overhead crane, and may be a crane of another configuration.

[0032] The crane apparatus 500 has a saddle 510 as a first moving means, a crab 520 as a second moving means, a hoisting section (hoisting device) 530 as a third moving means, a control section 540, and a drive section 560 (see FIG. 5). At the installation location of the crane apparatus 500, a traveling rail 550 for the saddle 510 to travel in the traveling direction, and a girder 560a and a traverse rail 560b for the crab 520 to travel (traverse) in the traverse direction are also installed. In addition, a wire rope 570 and a coil lifter 580 as a gripping means are also used to hoist the coil 800.

[0033] The saddle 510 is a movable body that is configured to be movable linearly along the running direction in a horizontal plane (indicated by the white arrow in the figure). A running rail 550 is laid so as to extend along the running direction, and the saddle 510 can be moved back and forth on the running rail 550 by a driving unit 560 based on a control command from a control unit 540.

[0034] A girder 560a is installed on the saddle 510. The girder 560a extends along the lateral direction in a horizontal plane, and a lateral rail 560b is installed on the upper part of the girder 560a and extends in the same direction as the girder 560a. Therefore, the lateral rail 560b can also move linearly back and forth along the traveling direction together with the saddle 510. The crab 520 is a moving body configured to be movable on the lateral rail 560b (white arrow in the figure). The crab 520 can move back and forth on the lateral rail 560b along the lateral direction by the drive unit 560 based on a control signal from the control unit 540.

[0035] In this embodiment, the saddle 510 is described as the first moving means, and the club 520 is described as the second moving means, but this is not limited thereto. For example, the club 520 may be the first moving means that moves along a first direction (running direction), and the saddle 510 may be the second moving means that moves along a second direction (traverse direction). Which of the saddle 510 and the club 520 is the first moving means and which is the second moving means is a matter of definition and a matter of design. Similarly, which of the first direction and the second direction is the x direction and which is the y direction is also a matter of definition and a matter of design.

[0036] The hoisting unit 530 is installed on the crab 520. The hoisting unit 530 is freely movable together with the crab 520 in the running direction and the lateral direction in a horizontal plane. As shown in FIG. 3(b), the hoisting unit 530 has a hoisting drum 532. The hoisting drum 532 is a rotating body capable of winding up and lowering (white arrow in the figure) the wire rope 570 for hoisting the coil 800, and is connected to a motor possessed by the driving unit 560, and can rotate forward and backward based on a control command from the control unit 540.

[0037] (coil) Here, the coil 800 will be described. FIG. 4(a) is a perspective schematic diagram of the coil 800. The coil 800 is also called a steel strip, and is made of steel or other metals (e.g., aluminum, copper, titanium, etc.) wound into a coil shape, and is shipped to be processed into various products. The coil 800 has a cylindrical shape with a width value and a diameter value known in advance, and is loaded onto the loading platform 720 of the truck 700 so that the central axis Cr of the cylindrical shape approximately coincides with the traveling direction. The coil 800 is unloaded outside the truck 700, specifically, into a storage position 920 (see FIG. 1) of the coil yard 900 so that the central axis Cr approximately coincides with the traveling direction. The coil 800 has a surface 810 approximately perpendicular to the central axis Cr, and a surface 820 opposite to the surface 810. Here, the surface 820 of the coil 800 corresponds to the first surface facing the rear distance measuring device 200 when the coil 800 is loaded on the bed 720 of the truck 700, and the surface 810 corresponds to the second surface. The length of the coil 800 in the direction of the central axis Cr is referred to as the width Wc, which is the first length. The thickness Dr of the coil 800 is expressed as the ratio of the outer radius R of the coil 800 to the width Wc of the coil 800. c1 and the inner radius R c2 The difference between c1 -R c2 ) Coil 800 has a hole 830 formed by an inner diameter portion. The weight of coil 800 depends on the material, thickness Dr, and width Wc, but is, for example, 1t to 20t.

[0038] Information on the storage location 920 in the coil yard 900 and information on three-dimensional coordinates in the world coordinate system indicating the storage location 920 are linked, and are stored in the ROM, RAM, etc. as a table by the control device 600, for example. Here, the information on the storage location 920 is, for example, an identification number or address of the storage location 920 in the coil yard 900, etc.

[0039] Returning to the description of crane apparatus 500 in FIG. 3(b), a coil lifter 580 is tethered to wire rope 570 for being inserted into hole 830 of coil 800 to grip coil 800. Coil lifter 580 has a main body 582 and a pair of arms 584, each of which has a claw 586 at its tip. The pair of arms 584 can transition between a gripping state in which they are close to each other and grip coil 800, and a release state in which they are farther apart and release coil 800. The transition of pair of arms 584 between the gripping state and the release state is performed by drive unit 560.

[0040] Coil lifter 580 may be any device as long as it is capable of gripping coil 800 and maintaining a gripped state of coil 800 during transportation. For example, coil lifter 580 may have one arm, and the one arm may have a claw portion at its tip that has a length sufficient to pass through hole 830 of coil 800.

[0041] The control unit 540 can transmit and receive information to and from the control device 600 via a wired or wireless communication network (not shown), and controls various operations of the crane device 500 according to the control of the control device 600. When the control device 600 inputs the target coordinates for unloading the coil 800 and the three-dimensional coordinates of the storage position 920, the control unit 540 controls the crane device 500 to move to the target coordinates, hoist the coil 800, and transport the hoisted coil 800 to the storage position 920. Here, the target coordinates are coordinates for moving the crane device 500 so that the crane device 500 grips and hoists the coil 800 on the loading platform 720 (hereinafter, also referred to as grabbing the coil). The control unit 540 has, for example, a CPU, a ROM, a RAM, a timer, and the like. The control unit 540 controls the crane device 500 by using the RAM as a temporary working area according to various programs stored in the ROM, monitoring various timings with a timer, and performing various calculations with the CPU. The movement of the crane device 500, the gripping of the object, the transportation, etc. are controlled in a known manner, and the description thereof will be omitted.

[0042] The drive unit 560 has known drive means and transmission means (not shown) such as a motor, a cylinder, a clutch, a gear, etc. for driving the saddle 510, the crab 520, the hoist drum 532, and the arm 584.

[0043] <Control device> The control device 600 has an operation unit 610 and a display unit 620 (see FIG. 5). The operation unit 610 has known input means (not shown) such as a keyboard, mouse, button, microphone, etc., and receives input from the worker. The display unit 620 has known display means (not shown) such as a display, lamp (light), speaker (sound), etc., and notifies the worker of various information. The control device 600 controls the entire unloading system 100. The control device 600 controls the back distance measuring device 200 and the side distance measuring device 300. The control device 600 controls the moving device 400 based on the results of measurement by the back distance measuring device 200, and controls the crane device 500 based on the results of measurement by the back distance measuring device 200 and the side distance measuring device 300.

[0044] The control device 600 can transmit and receive information to and from the control unit 260 of the rear distance measuring device 200, the control unit 360 of the side distance measuring device 300, the control unit 450 of the moving device 400, and the control unit 540 of the crane device 500 via a wired or wireless communication network (not shown). The control device 600 has, for example, a CPU, a ROM, a RAM, a timer, etc. The control device 600 controls the entire unloading system 100 by using the RAM as a temporary working area in accordance with various programs stored in the ROM, monitoring various timings with a timer, and performing various calculations with the CPU.

[0045] <Condition of the coil on the platform> 4(b) and (c) are diagrams showing the state of the coil 800 loaded on the loading platform 720, where (b) is a schematic top view showing a state in which, for example, two coils 800, 800a are loaded, and (c) is a schematic rear view of the loaded coil 800 as seen from the rear side. The loading platform 720 of the truck 700 is provided with restricting members 740, 740a for restricting the movement of the coils 800, 800a in the traveling direction. The restricting members 740, 740a are also used for positioning the coils 800, 800a in the traveling direction. In addition, the loading platform 720 of the truck 700 is provided with a pair of skids 760, which are a pair of elongated parallel support members that support the coils 800, 800a with the traveling direction as the longitudinal direction when the coils are placed on the loading platform 720.

[0046] Each of the pair of skids 760 has an upper surface 762 and a cutout portion 764. The pair of skids 760 are arranged such that the cutout portions 764 face each other. In other words, the pair of skids 760 are arranged such that the respective cutout portions 764 face the center of the pair of skids 760. When the coils 800, 800a are loaded onto the bed 720 of the truck 700, the coils 800, 800a are supported by the cutout portions 764 of the pair of skids 760 and the bed 720.

[0047] <Block diagram of unloading system> FIG. 5 is a block diagram of the unloading system 100. The control device 600 transmits a control command to the control unit 260 of the back surface distance measuring device 200 to make the back surface distance measuring device 200 measure the surface 820 of the coil 800. Here, the result of measuring the surface 820 by the back surface distance measuring device 200 is called the first position. When the control unit 260 of the back surface distance measuring device 200 receives the control command from the control device 600, it causes the irradiation unit 220 to irradiate laser light and receives a reflected wave from the receiving unit 240. The control unit 260 calculates the three-dimensional coordinates of the first position and outputs the three-dimensional coordinates of the coil 800 to the control device 600 in the world coordinate system. Note that the control between the control device 600 and the side surface distance measuring device 300 is similar, so a description thereof will be omitted.

[0048] The control device 600 transmits the target coordinates for unloading the coil 800 and the three-dimensional coordinates of the storage position 920 to the control unit 540 of the crane apparatus 500. The control unit 540 controls the drive unit 560 to move the saddle 510 and the crab 520 to the target coordinates, and causes the hoist drum 532 to lower the coil lifter 580 and the arm 584 to grip the coil 800. The control unit 540 causes the hoist drum 532 to lift the coil lifter 580 and the coil 800. The control unit 540 controls the drive unit 560 to transport the coil 800 to the three-dimensional coordinates of the storage position 920 by the saddle 510 and the crab 520.

[0049] The control device 600 transmits the three-dimensional coordinates of the first position input from the back surface distance measuring device 200 to the control unit 450 of the moving device 400. The control unit 450 of the moving device 400 controls the driving unit 460 to move the horizontal moving unit 420 and the vertical moving unit 430 to a predetermined position (hereinafter also referred to as a first post-movement position) according to the three-dimensional coordinates input from the control device 600. The control device 600 also transmits the width Wc of the coil 800, which is set in advance, to the control unit 450. The control unit 450 controls the driving unit 460 based on the width Wc of the coil 800 to move the horizontal moving unit 420 and the vertical moving unit 430 to a predetermined position (hereinafter also referred to as a second post-movement position) different from the first post-movement position.

[0050] It is assumed that the control device 600, the control unit 260, the control unit 360, the control unit 450, and the control unit 540 each have a known communication port, a communication interface, etc., and transmit and receive information. In this embodiment, the control device 600 controls the entire unloading system 100, but a part or all of the functions of the control device 600 may be performed by a control unit of another device.

[0051] <Outline of unloading control> Using Fig. 6, automatic unloading control of the coil 800 from the platform 720 of the truck 700 to the storage position 920 using the unloading system 100 of this embodiment will be described. Fig. 6(a) is a schematic diagram for explaining the coordinates in the lateral direction and the elevation direction, and (b) is a schematic diagram for explaining the operation for determining the coordinates in the traveling direction and the coordinates in the traveling direction. In both figures, only the essential parts are drawn.

[0052] (Measured using a rear ranging device) The back surface distance measuring device 200 measures the surface 820 of the coil 800. The control device 600 can obtain the outer diameter and inner diameter of the coil 800 based on the measurement result of the surface 820 by the back surface distance measuring device 200. The control device 600 also causes the back surface distance measuring device 200 to measure the surface 820 of the coil 800 to obtain a first position, and obtains a target coordinate when moving the crane device 500 to the position of the coil 800 based on the first position. The first position is expressed in three-dimensional coordinates, and the three-dimensional coordinates of the first position have an x ​​coordinate in the traveling direction, a y coordinate in the lateral direction, and a z coordinate in the lifting direction. The target coordinates are also expressed in three-dimensional coordinates, and have a first coordinate in the traveling direction, a second coordinate in the lateral direction, and a third coordinate in the lifting direction.

[0053] As shown in FIG. 6(b), the x coordinate of the first position is the coordinate in the running direction of the surface 820 of the coil 800 measured by the back ranging device 200. As shown in FIG. 6(a), the y coordinate of the first position is obtained based on the result of measuring the surface 820 of the coil 800 by the back ranging device 200. For example, the y coordinate of the first position is the coordinate of the approximate center of the diameter (hereinafter also referred to as the coil center) which is the third length of the coil 800 in the horizontal direction. In addition, the z coordinate of the first position is the coordinate in the elevation direction and is obtained based on the result of measuring the surface 820 of the coil 800 by the back ranging device 200. For example, the z coordinate of the first position is the coordinate of the approximate center (coil center) of the diameter which is the fourth length of the coil 800 in the elevation direction. In addition, the z coordinate of the first position may be the coordinate of the upper surface of the coil 800 (the highest position in the elevation direction) shown by the dotted line in FIG. 6(a). Then, the control device 600 determines the y coordinate of the first position as the second coordinate of the target coordinates, and the z coordinate of the first position as the third coordinate of the target coordinates.

[0054] (Moving the moving device (1st time)) As shown in Fig. 6(b), the control device 600 uses the moving device 400 to move the side distance measuring device 300 to a first post-movement position X1 where the surface 820 of the coil 800 comes into view based on the above-mentioned first position, specifically the x-coordinate of the first position. Specifically, the control device 600 moves the side distance measuring device 300 by taking into account (subtracting) the offset value ΔL from the coordinate (hereinafter, x1_1) of the surface 820 of the coil 800 in the traveling direction measured by the back distance measuring device 200. Here, if the front side is plus (+) and the rear side is minus (-) in the traveling direction, the first post-movement position X1 can be calculated as follows: Position after 1st movement X1=x1_1-ΔL In this embodiment, for simplicity of explanation, it is assumed that the moving device 400 moves the side distance measuring device 300 only in the traveling direction.

[0055] (Measurement using a side ranging device (first time)) The control device 600 measures the position of the surface 820 of the coil 800 loaded on the loading platform 720 by the side surface distance measuring device 300 moved by the moving device 400, and obtains the coordinate x2_1 of the coil 800 in the traveling direction.

[0056] (Moving the moving device (second time)) As shown in Fig. 6(b), the control device 600 controls the moving device 400 to move the side distance measuring device 300 to a second post-movement position X2 where the surface 810 of the coil 800 comes into view, based on the preset width Wc of the coil 800. Specifically, the control device 600 moves the side distance measuring device 300 to the first post-movement position X1, taking into account the offset value ΔL. Here, the second post-movement position X2 is calculated as follows. Position after second movement X2 = coordinate of X1 + Wc + 2 × ΔL

[0057] (Measurement using a side ranging device (second time)) The control device 600 measures the position of the face 810 of the coil 800 loaded on the platform 720 by the side distance measuring device 300 moved by the moving device 400, and obtains the coordinate x2_2 in the traveling direction of the face 810 of the coil 800. Based on the results of measuring the faces 820, 810 of the coil 800 by the above operation, the width of the coil 800 can be actually measured. If the actually measured width of the coil 800 is the width Wc_det, which is the second length, the actually measured coil width Wc_det can be obtained as follows. Wc_det=x2_2-x2_1

[0058] Here, the reason why the width Wc_det of the coil 800 is obtained by the side distance measuring device 300 even though the width Wc of the coil 800 is set in advance is as follows. That is, the set width Wc of the coil 800 may differ from the width Wc_det of the coil 800 actually loaded on the loading platform 720. In such a case, if the target coordinates of the crane device 500 are determined based on the set width Wc of the coil 800, there is a risk that the coil 800 cannot be automatically gripped, or that the crane device may interfere and damage the upper surface of the coil 800. For this reason, the side distance measuring device 300 measures the surfaces 820 and 810 of the coil 800, and the width Wc_det of the coil 800 is obtained based on the measurement results.

[0059] The reason why the width Wc_det of the coil 800 is obtained by the side distance measuring device 300 instead of the back distance measuring device 200 is as follows. It may be difficult for the back distance measuring device 200 to measure the width Wc_det of the coil 800 in the depth direction (travel direction). For this reason, in this embodiment, the side distance measuring device 300 is used to accurately obtain the width Wc_det of the coil 800.

[0060] (Determining target coordinates) The control device 600 obtains the first coordinate based on the results obtained by the two measurements by the side distance measuring device 300. Specifically, half the value of the actually measured width Wc_det of the coil 800 is added to the coordinate x2_1, which is the measurement result of the side distance measuring device 300 at the first post-movement position X1. Note that half the value of the width Wc_det of the coil 800 may be subtracted from the coordinate x2_2, which is the measurement result of the side distance measuring device 300 at the second post-movement position X2, or the average of the coordinate x2_1 and the coordinate x2_2 may be taken. In summary, the target coordinates are as follows: 1st coordinate=x2_1+Wc_det / 2 Second coordinate = y coordinate of first position = coil center coordinate 3rd coordinate = z coordinate of 1st position = coordinate of coil center (or coil top surface)

[0061] The control device 600 transmits the target coordinates determined based on the measurement results of the rear distance measuring device 200 and the side distance measuring device 300 to the control unit 540 of the crane device 500, and moves the crane device 500 to the target coordinates. The control device 600 also transmits the three-dimensional coordinates of the storage position 920 to the crane device 500.

[0062] (Coil load gripping, transportation, and landing) When the crane apparatus 500 moves to the target coordinates, the control device 600 grips the coil 800 with the arm 584 of the coil lifter 580 and raises the coil lifter 580. When the coil 800 has risen to a position where it does not interfere with other members, the control device 600 transports the coil 800 to the storage position 920. When the crane apparatus 500 moves to the storage position 920, the control device 600 lowers the crane apparatus 500 and lands the coil 800 at the storage position 920. The control device 600 causes the crane apparatus 500 to release the arm 584. If there is another coil 800 to be unloaded, the control device 600 repeats the above-mentioned operation. On the other hand, if there is no next coil 800 to be loaded, the control device 600 returns the crane apparatus 500 to a predetermined position (a waiting place, etc.) (hereinafter referred to as the home position).

[0063] <Calibration> The coordinates measured by the back ranging device 200 and the side ranging device 300 are used to control the crane device 500 (movement and transportation of the coil 800). For this reason, the coordinates of each local coordinate system of the back ranging device 200 and the side ranging device 300 need to be adjusted (calibrated) in advance so that they can be converted into coordinates of a common (in other words, one) world coordinate system. Calibration is performed, for example, when the back ranging device 200 and the side ranging device 300 are installed in the coil yard 900 or periodically.

[0064] FIG. 7 is a top view schematic diagram for explaining the calibration of the back distance measuring device 200 and the side distance measuring device 300. A marker 930, which is an index member, is arranged on the floor surface 914 of the coil yard 900. The marker 930 is arranged at a position where at least a part of the marker 930 can be seen from both the back distance measuring device 200 and the side distance measuring device. The marker 930 has, for example, nine rectangular black areas 932 of 40 cm x 40 cm in a rectangular area of, for example, 2 m x 2 m. Specifically, the marker 930 has three black areas 932 arranged in the running direction with a white area 934 between them, and three black areas 932 arranged in the lateral direction with a white area 934 between them. The shape and size of the marker 930, the size, arrangement, number, etc. of the black areas 932, etc. are not limited to the configuration shown in FIG. 7. The black areas 932 do not necessarily have to be black, and may be another color. Additionally, the white area 934 does not necessarily have to be white, but may be another color or floor surface 914 .

[0065] The back ranging device 200 and the side ranging device 300 each measure the marker 930. The control device 600 adjusts the back ranging device 200 and the side ranging device 300 so that the three-dimensional coordinates of the marker 930 in the world coordinate system measured by the back ranging device 200 and the three-dimensional coordinates of the marker 930 in the world coordinate system measured by the side ranging device 300 approximately match. Note that the adjustment method is well known and will not be described here.

[0066] Since the side ranging device 300 can move, for example, the marker 930 may be measured at a predetermined position Xr behind in the running direction, and at a predetermined position Xf ahead in the running direction, and adjustment may be performed using the measurement results at the rear and the front. For example, the part of the marker 930 that is in the field of view of the rear ranging device 200 and the rear and front side ranging devices 300 is assumed to be a black area 936. Here, the three-dimensional coordinates of the black area 936 in the world coordinate system are known, and are recognized as common three-dimensional coordinates in the world coordinate system of the crane device 500. The control device 600 may adjust the measurement results of the black area 936 by the side ranging device 300 at positions Xf and Xr to be approximately the same as the measurement results of the black area 936 by the rear ranging device 200. This can reduce measurement errors caused by the movement of the side ranging device 300.

[0067] <Unloading process> 8 is a flow chart illustrating the unloading process of this embodiment. When truck 700 enters coil yard 900 through vehicle entrance 910 and stops at a prescribed position, and an operator inputs the start of automatic unloading via operation unit 610, control device 600 starts processing from step (hereinafter referred to as S) 100 onwards. In S100, control device 600 transmits information on the width Wc of coil 800 that has been set in advance to control unit 450 of moving device 400. Control device 600 then transmits the outer radius R of coil 800 together with the information on width Wc of coil 800. c1 , inner radius R c2 This information may also be transmitted to the moving device 400, and hereinafter will be referred to as information such as the width Wc of the coil 800. Furthermore, the control device 600 transmits information such as the width Wc of the coil 800 to the control unit 540 of the crane device 500 in order to grab the load. In S102, the control device 600 causes the control unit 260 of the rear surface distance measuring device 200 to scan the field of view, specifically, the surface 820 of the coil 800 loaded on the loading platform 720.

[0068] In S104, the control device 600 determines the coordinates of the first position by the back distance measuring device 200. Specifically, the back distance measuring device 200 determines the coordinate in the running direction of the surface 820 of the coil 800 as the x coordinate of the first position, and the coil center determined from the diameter of the coil 800 in the lateral direction as the y coordinate of the first position. In addition, the back distance measuring device 200 determines the coil center determined from the diameter of the coil 800 in the elevation direction as the z coordinate of the first position. In S106, the control device 600 moves the side distance measuring device 300 to the first post-movement position X1 by the moving device 400 based on the x coordinate of the first position determined in S104.

[0069] In S108, the control device 600 causes the side distance measuring device 300 to scan the surface 820 of the coil 800 at the first post-movement position X1 (first measurement). In S110, the control device 600 causes the moving device 400 to move the side distance measuring device 300 to the second post-movement position X2 based on the coil width Wc.

[0070] In S112, the control device 600 causes the side distance measuring device 300 to scan the surface 810 of the coil 800 at the second post-movement position X2 (second measurement). In S114, the control device 600 calculates the width Wc_det of the coil 800 based on the measurement result of the surface 820 measured in S108 and the measurement result of the surface 810 measured in S112. The control device 600 calculates a first coordinate of the target coordinates based on the calculated (actually measured) width Wc_det of the coil 800. In S116, the control device 600 calculates the target coordinates for moving the crane device 500 to grab the coil 800. The first coordinate of the target coordinates is the first coordinate calculated in S114, the second coordinate is the y coordinate calculated in S104, and the third coordinate is the z coordinate calculated in S104.

[0071] In S118, the control device 600 transmits the target coordinates determined in S116 and the three-dimensional coordinates of storage position 920 of coil 800 to the crane device 500. In S120, the control device 600 moves the crane device 500 to the target coordinates and causes it to grip and hoist (grab the load) the coil 800. Furthermore, once the crane device 500 has gripped and hoisted the coil 800, the control device 600 causes the crane device 500 to transport the coil 800 to storage position 920. In S122, once the crane device 500 has transported the coil 800 to storage position 920, the control device 600 causes the coil 800 to land at storage position 920. In S124, the control device 600 releases the arm 584 of the crane device 500.

[0072] In S126, the control device 600 judges whether there is a coil 800 to be unloaded next. If the control device 600 judges that there is a coil 800 to be unloaded next in S126, the process returns to S100. If the control device 600 judges that there is no coil 800 to be unloaded next, the process proceeds to S128. In S128, the control device 600 returns the crane device 500 to the home position and ends the unloading process. If there is a coil 800a to be unloaded next in S126, the control device 600 waits for the regulating member 740 (see FIG. 6) arranged in contact with the surface 820a of the coil 800a loaded on the loading platform 720 to be carried out of the loading platform 720, and then performs the processes from S100 onward. For example, when the control device 600 receives an input from the operator via the operation unit 610 that the carrying out of the regulating member 740 has been completed, the control device 600 performs the processes from S100 onward.

[0073] As described above, according to the present embodiment, it is possible to provide an unloading system and a control method for an unloading system that can automatically unload cargo loaded on the bed of a vehicle outside the vehicle.

[0074] Although the preferred embodiments of the present invention have been described above, the present invention is not limited to these, and various modifications and changes are possible within the scope of the gist of the present invention.

[0075] For example, in the above embodiment, the rear ranging device 200 is fixed in position, but it does not have to be fixed. For example, the rear ranging device 200 may be disposed so as to be movable in parallel in one, two or three directions among the traveling direction, the lateral direction and the ascending / descending direction.

[0076] In addition, when the rear distance measuring device 200 and the side distance measuring device 300 are stopped (fixed) at a predetermined position, the vertical center axis C v1 , C v2 For example, the rear ranging device 200 and the side ranging device 300 may be configured to be able to rotate in one or both of the vertical and horizontal directions while the rear ranging device 200 and the side ranging device 300 are stopped at a predetermined position.

[0077] Moreover, although the moving device 400 is configured to move in the horizontal and vertical directions, it may be configured to be movable in a direction substantially perpendicular to the horizontal and vertical directions (a lateral direction in this embodiment).

[0078] In this embodiment, the first coordinate of the target coordinate is calculated based on the measurement result of the side ranging device 300. However, for example, the first coordinate of the target coordinate may be calculated based on the actually measured width Wc_det of the coil 800 and the x-coordinate of the first position, which is the measurement result of the back ranging device 200. For example, the first coordinate of the target coordinate may be a coordinate obtained by adding half the value of the width Wc_det of the coil 800 to the x-coordinate of the first position. In this case, the side ranging device 300 only calculates a relative value, namely the width Wc_det of the coil 800, and therefore calibration between the back ranging device 200 and the side ranging device 300 is not required.

[0079] In addition, when determining the first coordinate of the target coordinate, the actually measured width Wc_det of the coil 800 is used, but the preset width Wc may be used. For example, when it is confirmed that the preset width Wc and the actually measured width Wc_det are substantially the same by two measurements of the side distance measuring device 300, the width Wc may be used.

[0080] Furthermore, the second and third coordinates of the target coordinates are obtained based on the third and fourth lengths of the cargo, but are not limited to the lengths. For example, if the exact size of the cargo (e.g., the diameter of the coil 800, etc.) is known, a point on the cargo as seen from the rear distance measuring device 200 may be measured, and a predetermined distance from the measured point may be set as the second and third coordinates. Also, for example, if a diagonal line can be drawn on the cargo as seen from the rear distance measuring device 200, the point where the diagonal line intersects may be set as the second and third coordinates. In other words, the second and third coordinates may be obtained based on a "point" rather than a "length."

[0081] The present invention includes the following objects. [Objective 1] The unloading system of the present invention comprises: A loading / unloading system for automatically unloading cargo loaded on a loading platform of a vehicle having a loading platform on one side of a first direction in a horizontal plane from the loading platform to outside of the vehicle, comprising: A first measuring device that is arranged in a position overlooking the platform from the one side of the first direction and has a position measuring function; a second measurement device that is arranged at a position overlooking the vehicle from the side of the vehicle, is movable, and has a position measurement function; a moving device that moves the second measuring device; a transport device for transporting the load from the loading platform to outside the vehicle; a control device that controls the first measuring device and the second measuring device, controls the moving device based on a result of measurement by the first measuring device, and controls the transporting device based on the result of measurement by the first measuring device and the second measuring device; Equipped with the cargo has a first surface facing the first measuring device and a second surface opposite the first surface; The control device includes: causing the first measuring device to measure the first surface of the load; moving the second measuring device to a first post-movement position where the first surface comes into view, based on a first position that is a result of measuring the first surface by the first measuring device; measuring the first surface by the second measuring device at the first post-movement position; moving the second measuring device to a second post-movement position where the second surface comes into view by the moving device based on a first length of the cargo in the first direction that is set in advance; measuring the second surface by the second measuring device at the second post-movement position; determining a second length of the cargo in the first direction based on a result of measuring the first surface and a result of measuring the second surface by the second measuring device; determining a target coordinate when the load is to be unloaded by the transporting device based on the first position and the second length; The transport device is moved to the target coordinates and the cargo is unloaded by the transport device.

[0082] [Objective 2] an index member disposed at a position where it can be measured by the first measuring device and the second measuring device; The control device may perform adjustment so that coordinates based on the results of measuring the position of the index member by the first measuring device and coordinates based on the results of measuring the position of the index member by the second measuring device approximately coincide with each other.

[0083] [Objective 3] The target coordinates are: a first coordinate in the first direction; a second coordinate in a second direction substantially perpendicular to the first direction in the horizontal plane; a third coordinate in a third direction substantially perpendicular to the first direction and the second direction, The control device includes: determining the first coordinates based on a result of measuring the first surface by the second measuring device and the second length; The second coordinate and the third coordinate may be determined based on the first position.

[0084] [Objective 4] The control device includes: determining the second coordinate based on a third length of the cargo in the second direction determined based on the first position; The third coordinate may be determined based on a fourth length of the cargo in the third direction determined based on the first position.

[0085] [Objective 5] The moving device may be capable of moving the second measurement device in the first direction and / or the third direction.

[0086] [Objective 6] The conveying device is A gripping means for gripping the load; a first moving means capable of moving the gripping means in the first direction; second moving means capable of moving the gripping means in the second direction; a third moving means capable of moving the gripping means in the third direction; may have the following structure:

[0087] [Objective 7] The first measuring device and the second measuring device may be a three-dimensional LiDAR that irradiates at least near-infrared light, visible light, or ultraviolet light, or that irradiates at least near-infrared light, visible light, or ultraviolet light in a pulsed manner and performs measurements.

[0088] [Objective 8] The method for controlling an unloading system of the present invention comprises the steps of: A control method for an unloading system that automatically unloads cargo loaded on a loading platform of a vehicle having a loading platform on one side of a first direction in a horizontal plane from the loading platform to outside of the vehicle, comprising: The unloading system comprises a first measuring device arranged in a position overlooking the loading platform from one of the first directions and having a position measuring function, a second measuring device arranged in a position overlooking the vehicle from the side of the vehicle and capable of moving and having a position measuring function, a moving device for moving the second measuring device, a transporting device for transporting the load from the loading platform to outside the vehicle, and a control device for controlling the first measuring device and the second measuring device, controlling the moving device based on a result of measurement by the first measuring device, and controlling the transporting device based on the result of measurement by the first measuring device and the second measuring device, the cargo has a first surface facing the first measuring device and a second surface opposite the first surface; the control device causes the first measuring device to measure the first surface of the cargo; a step of moving the second measuring device to a first post-movement position where the first surface is within a field of view, using the moving device, based on a first position that is a result of measuring the first surface by the first measuring device; a step of causing the control device to measure the first surface by the second measurement device at the first post-movement position; a step of the control device moving the second measuring device to a second post-movement position where the second surface is in view, using the moving device, based on a first length in the first direction of the cargo that is set in advance; a step of causing the control device to measure the second surface by the second measuring device at the second post-movement position; a step of the control device determining a second length of the cargo in the first direction based on a result of measuring the first surface and a result of measuring the second surface by the second measuring device; a step of the control device calculating a target coordinate when the load is unloaded by the transport device based on the first position and the second length; the control device moving the transport device to the target coordinates and unloading the load by the transport device; Equipped with. [Explanation of symbols]

[0089] 100 Unloading system 200 Rear ranging device 220 Irradiation unit 240 Reception unit 260 Control section 300 Side distance measuring device 320 Irradiation unit 340 Reception unit 360 Control section 400 Moving device 410 Holding section 420 Horizontal moving section 430 Vertical moving part 432 Horizontal rail 440 Support 442 Vertical rail 450 Control section 460 Drive section 500 Crane equipment 510 Saddle 520 Club 530 Top 532 hoisting drum 540 control section 550 Running rail 560 Drive unit 560a Girder 560b Traverse rail 570 Wire rope 580 Coil lifter 582 Main body 584 Arm 586 Claw section 600 Control device 610 Operation section 620 Display section 700 Truck 710 Cabin 720 Cargo bed 740, 740a Regulatory member 760 Skid 762 Top 764 Cutout 800, 800a Coil 810, 820, 820a 830 holes 900 coil yards 910 Vehicle entrance / exit 912 Ceiling 914 Floor surface 920 Storage position 930 Marker 932, 936 Black Area 934 White Area

Claims

1. A loading / unloading system for automatically unloading cargo loaded on a loading platform of a vehicle having a loading platform on one side of a first direction in a horizontal plane from the loading platform to outside of the vehicle, comprising: a first measuring device that is arranged in a position overlooking the loading platform from the one side of the first direction and has a position measuring function; a second measurement device that is disposed at a position overlooking the vehicle from the side of the vehicle, is movable, and has a function of measuring a position; a moving device that moves the second measuring device; a transport device for transporting the load from the loading platform to outside the vehicle; a control device that controls the first measuring device and the second measuring device, controls the moving device based on a result of measurement by the first measuring device, and controls the transporting device based on the result of measurement by the first measuring device and the second measuring device; Equipped with the cargo has a first surface facing the first measuring device and a second surface opposite the first surface; The control device includes: causing the first measuring device to measure the first surface of the load; moving the second measuring device to a first post-movement position where the first surface comes into view, based on a first position that is a result of measuring the first surface by the first measuring device; measuring the first surface by the second measuring device at the first post-movement position; moving the second measuring device to a second post-movement position where the second surface comes into view, based on a first length of the cargo in the first direction that is set in advance, by the moving device; measuring the second surface by the second measuring device at the second post-movement position; determining a second length of the cargo in the first direction based on a result of measuring the first surface and a result of measuring the second surface by the second measuring device; determining a target coordinate when the load is to be unloaded by the transporting device based on the first position and the second length; An unloading system that moves the transport device to the target coordinates and unloads the cargo using the transport device.

2. an index member disposed at a position where it can be measured by the first measuring device and the second measuring device; 2. The unloading system according to claim 1, wherein the control device performs adjustments so that coordinates based on the results of measuring the position of the index member by the first measuring device and coordinates based on the results of measuring the position of the index member by the second measuring device are approximately equal.

3. The target coordinates are: a first coordinate in the first direction; a second coordinate in a second direction substantially perpendicular to the first direction in the horizontal plane; a third coordinate in a third direction substantially perpendicular to the first direction and the second direction; The control device includes: determining the first coordinates based on a result of measuring the first surface by the second measuring device and the second length; The unloading system according to claim 2 , further comprising: determining the second coordinate and the third coordinate based on the first position.

4. The control device includes: determining the second coordinate based on a third length of the cargo in the second direction determined based on the first position; The unloading system of claim 3 , wherein the third coordinate is determined based on a fourth length of the cargo in the third direction determined based on the first position.

5. The unloading system according to claim 3 or claim 4, wherein the moving device is capable of moving the second measuring device in the first direction and / or the third direction.

6. The conveying device is A gripping means for gripping the load; a first moving means capable of moving the gripping means in the first direction; second moving means capable of moving the gripping means in the second direction; a third moving means capable of moving the gripping means in the third direction; The unloading system according to any one of claims 3 to 5, comprising:

7. The unloading system described in any one of claims 1 to 6, wherein the first measuring device and the second measuring device are three-dimensional LiDAR that irradiate at least near-infrared light, visible light or ultraviolet light, or irradiate at least near-infrared light, visible light or ultraviolet light in pulses to perform measurements.

8. A control method for an unloading system that automatically unloads cargo loaded on a loading platform of a vehicle having a loading platform on one side of a first direction in a horizontal plane from the loading platform to outside of the vehicle, comprising: The unloading system comprises a first measuring device arranged in a position overlooking the loading platform from one of the first directions and having a position measuring function, a second measuring device arranged in a position overlooking the vehicle from the side of the vehicle, capable of moving and having a position measuring function, a moving device for moving the second measuring device, a transporting device for transporting the load from the loading platform to outside the vehicle, and a control device for controlling the first measuring device and the second measuring device, controlling the moving device based on a result of measurement by the first measuring device, and controlling the transporting device based on the result of measurement by the first measuring device and the second measuring device, the cargo has a first surface facing the first measuring device and a second surface opposite the first surface; the control device causes the first measuring device to measure the first surface of the cargo; a step of moving the second measuring device to a first post-movement position where the first surface is within a field of view, using the moving device, based on a first position that is a result of measuring the first surface by the first measuring device; a step of causing the control device to measure the first surface by the second measurement device at the first post-movement position; a step of the control device moving the second measuring device to a second post-movement position where the second surface is within a field of view by the moving device based on a first length of the cargo in the first direction that is set in advance; a step of causing the control device to measure the second surface by the second measurement device at the second post-movement position; a step of the control device determining a second length of the cargo in the first direction based on a result of measuring the first surface and a result of measuring the second surface by the second measuring device; a step of the control device calculating a target coordinate when the load is to be unloaded by the transport device based on the first position and the second length; the control device moving the transport device to the target coordinates and unloading the load by the transport device; A method for controlling an unloading system comprising:

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