Structure detection device, structure detection method, structure detection program, and unloading device

Abstract

To provide a structure detection device which can efficiently detect structures inside a shipyard.SOLUTION: A structure detection device 300 for detecting structure in a shipyard of a ship comprises: a structural model holding part 303 which holds a structural model in the shipyard; a position measuring part 304 which includes a wave sending part for sending laser beam into the shipyard; and a wave receiving part for receiving the laser beam reflected in the shipyard, and detects a plurality of measurement points irradiated with the laser beam; a deviation detection part 305 which detects deviation between the plurality of measurement points and the structural model; and a structural model renewal part 308 which renews the structural model on the basis of the deviation.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present invention relates to a structure detection device that can be used in unloading equipment and the like. [Background technology]

[0002] As an unloading device for unloading cargo from a ship, a lifting device that unloads cargo loaded on a ship onto land is known. Among such lifting devices, those that load and unload bulk cargo or bulk materials such as coal and iron ore are also called unloaders. They are also sometimes called continuous unloaders or continuous ship unloaders (Continuous Ship Unloaders) because they continuously load and unload bulk materials loaded on a ship. In this specification, the abbreviation CSU may be used. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-131394 A Summary of the Invention [Problem to be solved by the invention]

[0004] Patent Document 1 discloses a technology to detect cargo and walls inside a shipyard by using distance measurement sensors attached to a scraping unit that carries cargo out of the shipyard. Although multiple distance measurement sensors are attached to the scraping unit, the measurement range of each sensor is limited, so in order to precisely detect the structure inside the shipyard, it is necessary to repeat measurements while finely changing the position and attitude of the scraping unit, which is inefficient.

[0005] The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a structure detection device that can efficiently detect the structure inside a cargo compartment. [Means for solving the problem]

[0006] In order to solve the above problems, a structural detection device of one embodiment of the present invention is a structural detection device that detects the structure within a cargo compartment of a ship, and includes a structural model holding unit that holds a structural model of the cargo compartment, a position measurement unit that detects the positions of multiple measurement points within the cargo compartment, a deviation detection unit that detects a deviation between the multiple measurement points and the structural model, and a structural model update unit that updates the structural model based on the deviation.

[0007] According to this aspect, the structure of the cargo compartment can be efficiently detected based on the deviation from a structural model of the cargo compartment as a reference.

[0008] Another aspect of the present invention is a structure detection method for detecting a structure within a cargo hold of a ship, the method including a structural model storage step of storing a structural model of the cargo hold, a position measurement step of detecting positions of a plurality of measurement points within the cargo hold, a deviation detection step of detecting a deviation between the plurality of measurement points and the structural model, and a structural model update step of updating the structural model based on the deviation.

[0009] Yet another aspect of the present invention is an unloading device for unloading cargo from a cargo hold of a ship, the device including a structural model holding unit for holding a structural model of the cargo hold, a position measuring unit for detecting positions of a plurality of measurement points in the cargo hold, a deviation detecting unit for detecting a deviation between the plurality of measurement points and the structural model, and a structural model updating unit for updating the structural model based on the deviation.

[0010] Any combination of the above components, and any transformation of the present invention into a method, device, system, recording medium, computer program, etc., are also effective as aspects of the present invention. Effect of the Invention

[0011] According to the present invention, the structure of the interior of a cargo compartment can be detected efficiently. [Brief description of the drawings]

[0012] [Figure 1]FIG. 2 is a front view showing the overall configuration of the lifting device. [Diagram 2] FIG. 2 is a perspective view showing the overall configuration of the lifting device. [Diagram 3] FIG. 4 is a diagram showing the detailed configuration of the lifting section. [Figure 4] FIG. 2 is a diagram showing the appearance of a distance measuring sensor. [Diagram 5] FIG. 4 is a top view showing an example of the arrangement of distance measuring sensors. [Figure 6] FIG. 2 is a functional block diagram of a structure detection device for detecting the structure inside a shipyard. [Figure 7] FIG. 13 is a diagram showing an example of a structural model of the interior of a shipyard. [Figure 8] 11A to 11C are diagrams illustrating an example of deviation detection processing by a deviation detection unit in stages. [Figure 9] 11A to 11C are diagrams illustrating an example of deviation detection processing by a deviation detection unit in stages. [Figure 10] 11A to 11C are diagrams illustrating an example of deviation detection processing by a deviation detection unit in stages. [Figure 11] FIG. 13 is a diagram showing an example of an inquiry screen for a user. [Figure 12] 11 is a flowchart illustrating an example of a structure detection process performed by the structure detection device. [Figure 13] FIG. 13 is a diagram showing a modified example of the structural model inside the shipyard. [Figure 14] FIG. 13 is a diagram showing a modified example of a screen for asking a user. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Hereinafter, the embodiments for carrying out the present invention will be described in detail with reference to the drawings. In the description and drawings, the same or equivalent components, members, and processes are given the same reference numerals, and duplicated descriptions are omitted as appropriate. The scale and shape of each part shown in the drawings are set for convenience in order to facilitate the description, and are not to be interpreted as being limiting unless otherwise specified. The embodiments are illustrative and do not limit the scope of the present invention in any way. All features and combinations thereof described in the embodiments are not necessarily essential to the invention.

[0014] FIG. 1 shows the overall configuration of a lifting device 1 as an unloading device according to an embodiment of the present invention. The lifting device 1 is a continuous unloader or a continuous ship unloader that unloads bulk cargo M as cargo or ship cargo loaded on a ship 200 to land. Hereinafter, the lifting device 1 is also referred to as a CSU1. The CSU1 continuously carries out bulk cargo M stored in a shiphouse 201 as a cargo hold of a ship 200 berthed at a quay 101 of a wharf 102 of a port or the like to land. Examples of the bulk cargo M include coal, coke, ore, etc. The CSU1 is operated by an operator in a main operation room 16 provided in the main body of the CSU1. The operation room for operating the CSU1 may be provided in a location other than the CSU1, or may be provided in any location on land outside the CSU1.

[0015] The wharf 102 where the ship 200 comes alongside constitutes the land where the bulk cargo M is unloaded, and is made of high-strength materials such as reinforced concrete. As shown in the perspective view of FIG. 2, the wharf 102 is provided with a pair of parallel rails 3 as a track along the longitudinal direction (perpendicular to the paper surface of FIG. 1) of the ship 200 that is berthed and anchored at the quay 101. The rails 3 constitute a track along which the traveling part 2 as a moving part of the CSU 1 can move or run. The rails 3 enable the CSU 1 to move relative to the anchored ship 200. As shown in FIG. 2, the installation direction of the rails 3 is preferably aligned with the longitudinal direction of the anchored ship 200 or the quay 101, but may be any other direction. The rails 3 may also include curved or bent parts. When unloading cargo from the ship 200, the CSU 1 moves on the rails 3 and stops at a position close to the opening 21 of the ship shed 201 from which the cargo is to be unloaded. Thereafter, the revolving frame 5 (revolving section) and the lifting section 9 (discharge section) described later are driven to lift the bulk cargo M from the warehouse 201.

[0016] At the wharf 102, a belt conveyor 45 is provided between the pair of rails 3 as a conveyor for transporting the unloaded bulk goods M in a certain direction. As shown in FIG. 2, the installation direction of the belt conveyor 45, i.e., the transport direction, is preferably aligned with the installation direction of the rails 3, but may be any other direction. The belt conveyor 45 may also include curved or bent portions. The belt conveyor 45 needs to be provided between the pair of rails 3 at the location where the bulk goods M unloaded from the CSU 1 are received, but may be provided outside the pair of rails 3 at other locations.

[0017] The CSU 1 comprises a traveling section 2 as a moving section movable relative to the ship 200, a revolving frame 5 constituting a rotating section capable of rotating relative to the traveling section 2, and a lifting section 9 provided at the tip of the revolving frame 5 as a discharge section for discharging bulk cargo M. The revolving frame 5 is supported on the traveling section 2 so as to be rotatable about a vertical (up and down direction in FIG. 1) revolving axis. A boom 7 is provided on the revolving frame 5 and extends laterally and intersects with the revolving axis, and a bucket elevator constituting the main part of the lifting section 9 is supported at the tip of the boom 7.

[0018] The lifting unit 9 maintains a vertical position regardless of the hoisting angle of the boom 7 (the rotation angle around the hoisting axis perpendicular to the plane of FIG. 1) by a parallel link mechanism formed between the revolving frame 5, the boom 7, and the parallel link 8. A counterweight 13 is provided at the rear end of the revolving frame 5 opposite the tip of the boom 7. The counterweight 13 is connected to the tip of the boom 7 via a balancing lever 12. The action of this counterweight 13 puts the lifting unit 9 in a substantially unloaded state, achieving a stable load balance. Note that the main components of the revolving unit, such as the revolving frame 5, the boom 7, the balancing lever 12, and the counterweight 13, may be collectively referred to as the main body below.

[0019] A cylinder 15 is provided to adjust the hoisting angle of the boom 7. When the cylinder 15 is at its standard length, the hoisting angle is 0°, i.e., the boom 7 is parallel or horizontal to the ground (left and right in Figure 1). When the cylinder 15 is extended beyond its standard length, the tip of the boom 7 rises, resulting in a positive hoisting angle. When the cylinder 15 is shortened beyond its standard length, the tip of the boom 7 descends, resulting in a negative hoisting angle. The lifting unit 9 supported at the tip of the boom 7 rises while maintaining a vertical position when the hoisting angle of the boom 7 increases, and descends while maintaining a vertical position when the hoisting angle of the boom 7 decreases.

[0020] A main operation room 16 for operating the CSU 1 is provided in the main body. Specifically, the main operation room 16 is provided on the lifting unit 9 side of the revolving frame 5. An operator in the main operation room 16 can safely operate the CSU 1 while visually checking the lifting unit 9. Parameters related to the position and attitude of the CSU 1, such as the position of the traveling unit 2, the rotation angle of the revolving frame 5, and the elevation angle of the boom 7, are controlled according to the operation of the main operation room 16. In addition, the operation of carrying out the bulk load M by the lifting unit 9 can also be operated from the main operation room 16.

[0021] The lifting section 9 includes a scraping section 11 that scrapes off bulk goods M, and a bucket elevator as an elevator section that transports the scraped off bulk goods M upward. The scraping section 11 is provided at the bottom of the lifting section 9, and continuously excavates and scrapes off the bulk goods M in the warehouse 201 with a number of buckets 27 (see FIG. 3) that are movably provided along its periphery. The scraped off bulk goods M are transported upward together with the buckets 27 by the bucket elevator.

[0022] Fig. 3 shows a detailed configuration of the lifting section 9. The bucket elevator comprises a cylindrical elevator body 14 extending in the vertical direction, and a chain bucket 29 that moves in circles relative to the elevator body 14. The chain bucket 29 comprises a pair of roller chains 25, each of which is an endless chain, and a plurality of buckets 27, both sides of which are supported 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 Fig. 3(B), and each bucket 27 is attached so as to be suspended between the pair of roller chains 25.

[0023] The bucket elevator includes a driving roller 31a that guides the stretched roller chain 25, driven rollers 31b and 31c, and a deflecting roller 33. The driving roller 31a is provided at the top 9a of the bucket elevator, and is rotated by a motor or the like (not shown) to cause the chain bucket 29 to move in a circular motion. The driven roller 31b is provided in front of the scraping unit 11 (left side in FIG. 3(B)), and the driven roller 31c is provided behind the scraping unit 11 (right side in FIG. 3(B)), and each of them guides the circularly moving chain bucket 29. The deflecting roller 33 is a driven roller provided below the driving roller 31a, and guides the circularly moving chain bucket 29 and changes the direction of its movement. An expandable cylinder 35 is provided between the driven roller 31b and the driven roller 31c. When the cylinder 35 expands and contracts, the distance between the axes of the driven rollers 31b, 31c changes, changing the trajectory of the orbital motion of the chain bucket 29. The expansion and contraction control of the cylinder 35 may be performed by operation of the main operation room 16, or may be performed automatically according to a program by a computer built into the CSU 1. Since two roller chains 25 are provided, two each of the drive roller 31a, driven rollers 31b, 31c, and deflection roller 33 are also provided, and are arranged side by side in a direction perpendicular to the plane of the paper in FIG. 3(B).

[0024] By the rotational drive of the drive roller 31a, the chain bucket 29 moves in an orbit relative to the elevator body 14. For example, the chain bucket 29 moves in an orbit counterclockwise direction along the arrow W shown in Fig. 3(B). At this time, the chain bucket 29 reciprocates between the scraping unit 11 provided at the bottom of the bucket elevator and the drive roller 31a provided at the top 9a of the bucket elevator.

[0025] Each bucket 27 of the chain bucket 29 rises inside the elevator body 14 while maintaining a posture in which its opening faces upward. When each bucket 27 passes through the driving 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 turns from upward to downward. A discharge chute (not shown) is provided below the opening of each bucket 27 thus turned downward, and the bulk goods M picked up by each bucket 27 are discharged. The discharge chute discharges the bulk goods M onto a rotary feeder 37 (FIG. 1) provided on the outer periphery of the upper part of the lifting section 9.

[0026] The rotary feeder 37 rotates around a rotation axis in the extension direction of the elevator body 14, i.e., the vertical direction, and transfers the bulk goods M discharged from the discharge chute to a boom conveyor 39 of the boom 7. The boom conveyor 39 transports the bulk goods M within the boom 7 to the vicinity of the rotation axis of the rotating frame 5 and supplies them to a hopper (not shown) provided there. An internal conveyor 43 that receives the bulk goods M is provided within the running section 2 below the discharge opening of the hopper. The internal conveyor 43 transfers the bulk goods M to the aforementioned belt conveyor 45 provided on the wharf 102 as land.

[0027] Next, the basic lifting operation of the CSU 1 having the above configuration will be described.

[0028] The operator of the CSU1 operates the CSU1 in the main operation room 16. First, the traveling section 2 travels on the rail 3 and stops at a position close to the opening 21 of the shipyard 201 to be unloaded. Next, the revolving frame 5 is rotated about a vertical rotation axis provided at a position overlapping the traveling section 2 in a top view (when viewed from above in FIG. 1), and the lifting section 9 provided at the tip of the boom 7 is moved above the opening 21 of the shipyard 201 to be unloaded. Here, it is preferable to perform the traveling operation and the revolving operation with the lifting section 9 raised by raising the boom 7 in the positive direction (clockwise direction in FIG. 1) so that the lifting section 9 does not collide with the wharf 102 or the ship 200. Next, the boom 7 is raised in the negative direction (counterclockwise direction in FIG. 1), and the scraping section 11 provided at the tip of the lifting section 9 is inserted into the shipyard 201 through the opening 21. The movement of the traveling section 2, the rotation of the revolving frame 5, and the raising and lowering of the boom 7 may be performed simultaneously.

[0029] After the scraping unit 11 is inserted into the shipyard 201, the roller chain 25 is caused to make a circular motion along the arrow W. When the multiple buckets 27 attached to the roller chain 25 make a circular motion integrally with the roller chain 25, they excavate and scrape off the bulk goods M stored in the shipyard 201. The bulk goods M scraped off by each bucket 27 are transported upward in the elevator body 14 as the roller chain 25 makes a circular motion.

[0030] The scraping unit 11 appropriately changes its three-dimensional position in the shipyard 201 in order to efficiently scrape off the bulk goods M at various places in the shipyard 201. For example, when the surface position of the bulk goods M becomes lower as the lifting work progresses, the boom 7 is raised and lowered in the negative direction to lower the scraping unit 11. In addition, in order to scrape off the bulk goods M near the wall of the shipyard 201, the running unit 2 and / or the rotating frame 5 may be operated to change the position of the scraping unit 11 in the horizontal plane. The scraping unit 11 can change not only its three-dimensional position but also its attitude and shape. For example, the scraping unit 11 can rotate around a rotation axis in the extension direction of the elevator body 14, i.e., the vertical direction, and its orientation can be changed arbitrarily. In addition, as shown by the dashed line in FIG. 3(B), the scraping unit 11 can take an inclined shape or a horizontally elongated shape that is contracted vertically and extended horizontally. As a result, even if the shipyard 201 has a large horizontal distance from the opening 21 to the wall, the scraping part 11 can be brought close to the wall and the bulk cargo M can be scraped off efficiently.

[0031] The above-mentioned changes in position, posture, and shape of the scraping unit 11 within the shipyard 201 may be performed autonomously by the CSU 1 using a ranging sensor and camera described below, or may be performed manually by an operator in the main operation room 16 while communicating with workers within the shipyard 201.

[0032] The bucket 27 that has scraped off the bulk goods M in the warehouse 201 rises in the elevator body 14 and turns from an upward to a downward direction when passing through the drive roller 31a at the top 9a. The bulk goods M that fall as the bucket 27 turns enters the discharge chute and is discharged onto the rotary feeder 37. Thereafter, the bulk goods M are transferred via the boom conveyor 39 and the internal conveyor 43 to the belt conveyor 45 provided on the wharf 102 as land. The above-mentioned carrying-out operation is repeated by the multiple buckets 27, so that the bulk goods M in the warehouse 201 are continuously unloaded.

[0033] Next, a description will be given of a distance measurement sensor provided in the CSU 1 to improve the safety and efficiency of lifting. The distance measurement sensor constitutes a position measurement unit that measures the position of a part of the shipyard 201, such as the edge of the opening 21, the top / side surface facing the edge, the ceiling / wall / bottom of the shipyard 201, and structures within the shipyard 201.

[0034] As shown in FIG. 1, a plurality of distance measuring sensors 19 are provided on the upper part of the lifting section 9 to measure the distance to the measurement objects below and to the sides. During the lifting shown in the figure, the measurement objects of the distance measuring sensors 19 are the edge of the opening 21, the ceiling / wall / bottom of the warehouse 201, the bulk cargo M and other objects, people / structures in the warehouse 201, the scraping section 11, the ship 200, other parts of the CSU 1 such as the boom 7 / rotating frame 5 / traveling section 2 / main operation room 16, the quay 101, the wharf 102, the rail 3, the belt conveyor 45, etc. The plurality of distance measuring sensors 19 may be disposed, for example, on the upper part of the cylindrical elevator body 14 so as to surround the outer periphery of the elevator body 14. Alternatively, the plurality of distance measuring sensors 19 may be provided on a flange portion 91 that rotatably supports the upper part of the elevator body 14 so as to surround the outer periphery of the elevator body 14. It is preferable that the multiple distance measuring sensors 19 are provided below the connection part between the lifting unit 9 and the boom 7 so that the boom 7 does not enter the measurement range below and to the sides of the multiple distance measuring sensors 19. On the other hand, if the multiple distance measuring sensors 19 are provided above the connection part between the lifting unit 9 and the boom 7, each distance measuring sensor 19 should be provided at a position that does not overlap with the boom 7 when viewed from above (when viewed from above in Figure 1). The arrangement of the multiple distance measuring sensors 19 when viewed from above 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 unit 9 and any number of distance measuring sensors 19 that measure distance mainly to the sides of the lifting unit 9 may be provided.

[0035] The scraping section 11 at the bottom of the lifting section 9 is provided with a plurality of distance measuring sensors 18 for measuring the distance to the measurement object above, to the side, and below. During lifting as shown in the figure, the measurement objects of the distance measuring sensors 18 are the edge of the opening 21, the ceiling / wall / bottom of the warehouse 201, the bulk goods M and other objects, people / structures in the warehouse 201, and other parts of the CSU 1 such as the boom 7. The distance measuring sensors 18 are provided at the front (left part of FIG. 1) and rear (right part of FIG. 1) of the scraping section 11, respectively. In order to avoid deterioration of the measurement accuracy due to dust of the bulk goods M scraped by the bucket 27 of the scraping section 11, it is preferable that the plurality of distance measuring sensors 18 are provided at a position (upper part of the scraping section 11) away from the place where the bucket 27 excavates the bulk goods M (lower part 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 centered on the sides of the scraping unit 11 and any number of distance measuring sensors 18 that measure distances centered on the bottom of the scraping unit 11 may be provided.

[0036] 4 shows the appearance of the distance measuring sensors 18, 19. The distance measuring sensors 18, 19 are laser sensors capable of measuring distances, and include a laser emitting unit (not shown) as a wave transmitting unit that transmits laser light to a measurement object including the shipyard 201, and a laser receiving unit (not shown) as a wave receiving unit that receives the laser light reflected by the measurement object, constituting a distance measuring unit that measures the distance to the measurement object. A light transmitting portion 171 through which the laser light can pass 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, 19.

[0037] A plurality of laser emission units are provided at positions facing the light-transmitting portion 171 in the housing 17, and emit linear laser light to the outside of the housing 17 through the light-transmitting portion 171. The laser emission units are arranged at a predetermined interval along the direction of the axis A of the housing 17 (the vertical direction in FIG. 4), but FIG. 4 shows the laser light emitted from one point for simplicity. As shown in the schematic diagram, the emission angles of the laser emission units are different from each other by about 0.1° to 3°. With this configuration, the distance measuring sensors 18 and 19 can irradiate laser light within a predetermined angle range (in the range of θ- to θ+ in the figure) above and below the reference plane S, which is a plane perpendicular to the axis A of the housing 17. θ- and θ+ can be designed arbitrarily, but hereinafter, -θ-=θ+=15°. At this time, the distance measuring sensors 18 and 19 irradiate laser light within a range of ±15° centered on the reference plane S. Furthermore, these multiple laser emission units are integrally provided so as to be rotatable 360° around the axis A of the housing 17. With this configuration, the distance measuring sensors 18, 19 can irradiate laser light to all measurement objects around (to the sides of) the housing 17. Note that 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 CSU 1 or the ship 200.

[0038] Distance measuring sensors 18, 19 rotate multiple laser emitters together and emit pulsed laser light at each predetermined rotation angle. The pulsed laser light emitted by each laser emitter is reflected or scattered by the object to be measured and returns to distance measuring sensors 18, 19, where it is received by a laser receiver provided together with each laser emitter in housing 17. A calculation unit (not shown) of distance measuring sensors 18, 19 calculates the distance to the object to be measured based on the time from when the laser emitter emits a pulse of laser light to when the laser receiver receives the reflected pulse of laser light. This technology is also called LIDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging).

[0039] Although a laser sensor has been given as an example of the distance measuring sensors 18 and 19 in the above, the distance measuring sensors 18 and 19 may be sensors that use other 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 the distance measuring sensors 18 and 19. Since the frequency of millimeter waves is high, about 30 GHz to 300 GHz, they have high linearity and can be treated like a laser. The millimeter wave sensor can be configured in the same manner as the laser sensor in FIG. 4, and a millimeter wave transmitter that transmits millimeter waves to the measurement object instead of the laser emitter and a millimeter wave receiver that receives millimeter waves reflected by the measurement object instead of the laser receiver may be provided. In addition, an optical sensor that uses light other than laser light, such as a Time of Flight (ToF) type image sensor, may be used as the distance measuring sensors 18 and 19. In addition, the distance measuring sensors 18 and 19 may not be provided with a transmitter that transmits electromagnetic waves to the measurement object. For example, a stereo camera or the like that can measure the distance by simultaneously photographing the measurement object from different directions may be used as the distance measuring sensors 18 and 19.

[0040] Furthermore, instead of / in addition to the distance measuring sensors 18, 19, one or more cameras as photographing units for photographing the object may be provided at any position in any posture of the unloading unit 9. Since the position of the object to be photographed, including the warehouse 201, can be measured based on the image captured by the camera, similarly to the distance measuring sensors 18, 19, it is possible to prevent the unloading unit 9 from colliding with other objects during unloading, and the bulk cargo M can be efficiently unloaded.

[0041] The distance measuring sensors 18 and 19 in Fig. 4 are attached to the CSU 1 in Fig. 1 in any orientation depending on the purpose of measurement. For example, the distance measuring sensor 18 of the scraping unit 11 is attached so that the axis A in Fig. 4 is vertical and the reference plane S is a horizontal plane. In this case, the distance measuring sensor 18 can measure the distance inside the warehouse 201 with the side of the scraping unit 11 as the center. The distance measuring sensor 18 may also be attached so that the axis A in Fig. 4 is horizontal and the reference plane S is a vertical plane. In this case, the distance measuring sensor 18 can measure the distance to the opening 21 above the scraping unit 11 and the bulk material M below the scraping unit 11. The direction of the axis A of the distance measuring sensor 18 is not limited to the vertical or horizontal direction and may be any direction.

[0042] The distance measuring sensor 19 on the top of the lifting section 9 is attached so that the axis A in FIG. 4 is horizontal and the reference plane S is vertical. In this case, the distance measuring sensor 19 can measure the edge of the opening 21 of the warehouse 201 below and the bulk cargo M inside the warehouse 201. The distance measuring sensor 19 can also emit laser light upward, but since there is no measurement target above, the upper side of the distance measuring sensor 19 is covered with a light-shielding cover, etc., to disable the measurement above. The distance measuring sensor 19 may also be attached so that the axis A in FIG. 4 is vertical and the reference plane S is parallel to the horizontal plane. In this case, the distance measuring sensor 19 can efficiently measure the measurement target outside the warehouse 201 to the side. The direction of the axis A of the distance measuring sensor 19 may be any direction, not limited to the horizontal or vertical direction, but the case of the horizontal direction will be described in detail below.

[0043] By providing the distance measuring sensors 18, 19 as described above in the lifting unit 9, it is possible to accurately grasp the positions of various measurement objects such as the edge of the opening 21, the ceiling / walls / bottom of the warehouse 201, bulk goods M and other objects, people / structures within the warehouse 201, the scraping unit 11, etc. Therefore, it is possible to prevent the lifting unit 9 from colliding with other objects during lifting, and the bulk goods M can be lifted efficiently.

[0044] FIG. 5 shows an example of the arrangement of the distance measuring sensor 19 from a top view. Three distance measuring sensors 191, 192, and 193 as the distance measuring sensor 19 are arranged to surround the outer periphery of the flange portion 91 or the elevator main body 14. The distance measuring sensor 191 is arranged so that the axis A in FIG. 4 is the left-right direction in FIG. 5, and the reference plane S1 corresponding to the reference plane S in FIG. 4 is the up-down direction in FIG. 5. The distance measuring sensor 191 measures distance by irradiating laser light within a range of ±15° centered on the reference plane S1. The distance measuring sensors 192 and 193 are arranged so that the axis A in FIG. 4 is the up-down direction in FIG. 5, and the reference planes S2 and S3 corresponding to the reference plane S in FIG. 4 are the left-right direction in FIG. The distance measuring sensors 192 and 193 measure distance by irradiating laser light within a range of ±15° centered on the reference planes S2 and S3. The reference planes S2 and S3 of the distance measuring sensors 192 and 193 are different planes parallel to each other and perpendicular to the reference plane S1 of the distance measuring sensor 191.

[0045] The CSU 1 unloads bulk cargo M from the shipyard 201 with the posture shown in Fig. 5 as the basic posture for unloading. In this basic posture, the traveling part 2 is in a position shifted from the front position of the shipyard 201, and the rotating frame 5 and the boom 7 are in a rotating position forming an acute angle with the rail 3 constituting the track of the traveling part 2. At this time, the unloading part 9 is located above the shipyard 201 of the ship 200, and the scraping part 11 at its lower part is inserted into the shipyard 201 through the opening 21.

[0046] The opening 21 of the shipyard 201 is often rectangular and long in the direction of travel of the ship 200 (horizontal direction in FIG. 5). In this case, the upper edge E11 and the lower edge E12 of the opening 21 can be detected by the distance measuring sensor 191 that irradiates laser light parallel to the short side (vertical side in FIG. 5) of the opening 21. Note that the points shown at the centers of the edges E11 and E12 represent the positions where the laser light on the reference plane S1 of the distance measuring sensor 191 hits the edge of the opening 21, and the rectangle surrounding it represents the range where the irradiated laser light hits the edge of the opening 21 within a range of ±15° centered on the reference plane S1. Hereinafter, the same notation is used for the distance measuring sensors 192 and 193.

[0047] Similarly, distance measuring sensors 192, 193 that irradiate laser light parallel to the long sides (the left and right sides in FIG. 5) of opening 21 can detect edges E21, E31 on the left side and edges E22, E32 on the right side of opening 21. By using two distance measuring sensors 192, 193, distance measurement can be performed with high accuracy even in the long direction, which is more difficult to measure distances in than the short direction. In this way, the arrangement of distance measuring sensors 191, 192, 193 in FIG. 5 is suitable for detecting the edges of opening 21 that has a shape that is long in one direction, such as a rectangle.

[0048] Even if CSU1 is not in the basic posture shown in Figure 5, if the loading section 9 is within the opening 21 when viewed from above, the three distance measuring sensors 191, 192, and 193 can acquire six distance measuring point groups on the edge of the opening 21 corresponding to E11, E12, E21, E22, E31, and E32, and the position of the opening 21 can be accurately determined.

[0049] 5, the basic position of the CSU1 during lifting may be such that the travel unit 2 is in front of the shipyard 201 and the revolving frame 5 and the boom 7 are perpendicular to the rail 3. In this case, the extension direction of the boom 7 coincides with the short side direction of the opening 21, so that the reference plane S1 of the distance measuring sensor 191 is parallel to the extension direction of the boom 7 and the reference planes S2 and S3 of the distance measuring sensors 192 and 193 are perpendicular to the extension direction of the boom 7. If the distance measuring sensors 191, 192, and 193 are integrally rotatable around the axis of the cylindrical elevator body 14, it is possible to easily arrange the distance measuring sensors 191, 192, and 193 in a manner suitable for the elongated opening 21, depending on the change in the basic position of the CSU1 during lifting.

[0050] The number and arrangement of the distance measuring sensors 19 described above are merely an example, and any number and arrangement may be adopted. The number of distance measuring sensors 19 is preferably at least two in order to efficiently measure the position and shape of the shiphouse 201 surrounding the lifting section 9 in a top view. More preferably, it is three or more. The multiple distance measuring sensors 19 may be arranged at equal intervals along the outer periphery of the flange section 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 is installed so that the reference surface S of the distance measuring sensor 19 is in contact with the outer periphery of the flange section 91 or the elevator body 14. With such a symmetrical arrangement, the position and shape of the shiphouse 201 can be stably measured regardless of the orientation of the CSU 1 during lifting.

[0051] FIG. 6 is a functional block diagram of a structure detection device 300 that detects the structure in the shipyard 201. The structure detection device 300 includes a user operation reception unit 301, a structure model registration unit 302, a structure model storage unit 303, a position measurement unit 304, a deviation detection unit 305, an inquiry unit 306, a display unit 307, and a structure model update unit 308. These functional blocks are realized by the cooperation of hardware resources such as the central processing unit, memory, input device, output device, and peripheral devices connected to the computer of the computer inside and outside the CSU1, and software executed using them. Regardless of the type of computer and the installation location, each of the above functional blocks may be realized by the hardware resources of a single computer, or may be realized by combining hardware resources distributed among multiple computers.

[0052] The user operation reception unit 301 receives user operations. Examples of the user include an operator who operates the CSU1 in the main operation room 16, and a system technician who sets up the CSU1 and configures the CSU1 before it goes live. The structural model registration unit 302 registers a structural model of the interior of the warehouse 201 in the structural model storage unit 303 in response to the user operations received by the user operation reception unit 301.

[0053] Here, the structural model of the inside of the shipyard 201 is a three-dimensional model that imitates or reproduces various structures within the shipyard 201, such as the edge of the opening 21, the ceiling surface / wall surface / bottom surface / irregularities of the shipyard 201, and ladders / fire extinguishers / piping / workbenches / tool ​​storage areas within the shipyard 201.

[0054] FIG. 7 shows an example of a structural model of the interior of the shiphouse 201. The structural model of the interior of the shiphouse 201 is a three-dimensional model, but this figure shows a schematic cross section along the yz plane in FIG. 5. Although not included in the actual structural model, the lifting section 9 inserted into the shiphouse 201 is also shown in schematic form. The structural model of the interior of the shiphouse 201 includes various structures that define the space within the shiphouse 201, such as the opening 21, the ceiling surface 22, the wall surface 23, the bottom surface 24, and the protrusion 26. The structural model of the interior of the shiphouse 201 also includes various structures that are permanently or temporarily installed within the shiphouse 201, such as the ladder 51 and the piping 53. The structures included in the structural model are not particularly limited, but are preferably stationary objects that remain at a certain location within the shiphouse 201 for a certain period of time. As long as the structures remain at a certain location within the shiphouse 201, the same structural model can be used for subsequent port calls.

[0055] Among the structures included in the above structural model, the structures of the main parts of the shiphouse 201, such as the opening 21, the wall surface 23, and the bottom surface 24, are known, and are measured intensively by the distance measuring sensors 18 and 19 during unloading, so that even without a structural model, the possibility of the lifting unit 9 colliding with these structures during unloading is low. On the other hand, special structures such as the protrusions 26, including their presence or absence, differ depending on the ship 200, and are difficult to predict in advance. In the case of small structures, there is a high possibility that the distance measuring sensors 18 and 19 cannot measure them properly, so there is a risk that the lifting unit 9 will collide during unloading. The risk is even higher for structures such as the ladder 51 and the pipes 53. Therefore, in this embodiment, by incorporating these structures into the structural model, the risk of collision of the lifting unit 9 during unloading is reduced, and the safety and efficiency of unloading are improved. The structural model holding unit 303 holds the structural model of the inside of the shiphouse 201 as described above for each ship 200.

[0056] The position measurement unit 304 irradiates laser light into the shipyard 201 using the distance measurement sensors 18, 19, and detects the positions of multiple measurement points irradiated with the laser light. Only some of the distance measurement sensors 18, 19 may be used in the processing of the structure detection device 300. In this case, it is preferable to use the distance measurement sensor 18 provided in the scraping unit 11 inserted into the shipyard 201.

[0057] The position measurement process by the position measurement unit 304 may be performed in real time while the lifting unit 9 is lifting, or may be performed before and after the lifting unit 9 is lifting. During lifting, the positions and postures of the lifting unit 9 and the scraping unit 11 are limited in order to efficiently scrape off the bulk goods M, so it is preferable to perform the position measurement process by the position measurement unit 304 before and after lifting. In the position measurement process before and after lifting, it is preferable to detect the positions of as many measurement points as possible using the multiple distance measurement sensors 18, 19 while appropriately driving each movable part of the CSU 1 (the movable traveling unit 2, the rotatable rotating frame 5, the boom 7 that can be raised and lowered, the scraping unit 11 that can be rotated and deformed, etc.) to change the three-dimensional position and posture of the lifting unit 9 and the scraping unit 11 in the warehouse 201.

[0058] The deviation detection unit 305 detects deviations between the multiple measurement points detected by the position measurement unit 304 and the structural model held in the structural model holding unit 303. Figures 8 to 10 show an example of deviation detection processing by the deviation detection unit 305 in stages. In this simple example, the wall surface 23 and the bottom surface 24 in Figure 7 are incorporated into the structural model as known structures, but the protrusion 26 is not incorporated into the structural model and is therefore detected as a deviation by the deviation detection unit 305. In Figures 8 to 10, the upward U-shaped solid line represents the structural model including the wall surface 23 and the bottom surface 24, and the circles represent the measurement points detected by the distance measurement sensors 18, 19 (position measurement unit 304).

[0059] Here, as shown in Fig. 7, the structural model belongs to the shipyard coordinate system s based on the shipyard 201, and the measurement points belong to the distance measuring unit coordinate system l based on the distance measuring sensors 18, 19. Therefore, in order to superimpose the measurement points on the structural model as shown in Figs. 8 to 10, it is necessary to convert the measurement points from the distance measuring unit coordinate system l to the shipyard coordinate system s. The coordinates of the measurement points in the distance measuring unit coordinate system l are expressed as p l =(l x ,l y ,l z ) is expressed as a three-dimensional vector, and the coordinates p s =(s x ,s y ,s z) is converted to p s =R ls p l +t ls Here, t ls is the three-dimensional translation vector connecting the origin of the range finder coordinate system l and the origin of the shipyard coordinate system s, and R ls is a 3 × 3 matrix that represents the difference in attitude, i.e., rotation, between the ranging unit coordinate system l and the shipyard coordinate system s.

[0060] Fig. 8(A) shows measurement points detected in one measurement by one distance measuring sensor 18. Distance measuring sensor 18 irradiates a laser light within a measurement range 181 and detects the points where the laser light is reflected or scattered as measurement points. Fig. 8(B) shows measurement points detected in multiple measurements superimposed on each other. These measurement points may be detected simultaneously by multiple distance measuring sensors 18, 19, or may be detected while changing the position or attitude of one or more distance measuring sensors 18, 19.

[0061] 9(A), the deviation detection unit 305 excludes measurement points whose distance from the wall surface 23 is within a first predetermined value Δ1. This is because it is considered that these measurement points indicate the wall surface 23 and do not indicate a deviation from the structural model. The first predetermined value Δ1 can be set arbitrarily taking into consideration the error of the distance measuring sensors 18 and 19, and is set to, for example, about 0.1 m.

[0062] In FIG. 9(B), the deviation detection unit 305 excludes measurement points whose distance from the bottom surface 24 is within a second predetermined value Δ2. This is because these measurement points indicate the bulk load M or the bottom surface 24, and are considered not to indicate a deviation from the structural model. The second predetermined value Δ2 is adaptively set so as to exclude measurement points corresponding to the bulk load M piled on the bottom surface 24, based on the median or average value of the distance from the bottom surface 24 of the measurement points remaining at the time of FIG. 9(B). In this way, the second predetermined value Δ2 cannot be set to a constant value, unlike the first predetermined value Δ1, but is larger than the first predetermined value Δ1 because the height of the piled-up bulk load M is taken into consideration. For example, the median value h of the distance from the bottom surface 24 of the measurement points remaining at the time of FIG. 9(B) is considered to represent the average height of the bulk load M, and h+Δh, which is added with a margin Δh of about 0.5 m considering the unevenness due to the location of the bulk load M, is set as the second predetermined value Δ2. In order to precisely consider unevenness due to location of the bulk goods M, the bottom surface 24 may be divided into a lattice pattern or the like, and the second predetermined value Δ2 may be set for each section.

[0063] At the time of FIG. 9(B), the measurement points corresponding to the wall surface 23 in FIG. 9(A) have already been excluded, so that it is possible to effectively distinguish between the gray measurement points considered to be bulk load M and the white measurement points that may deviate from the structural model. Note that in FIG. 9(B), there are two gray measurement points whose distance from the bottom surface 24 is greater than Δ2. However, since these are far away from the wall surface 23, they are not considered to be the wall surface 23 or structures associated therewith, and since the number of measurement points is small, they are excluded as bulk load M that is locally piled high or noise. At this time, the measurement points may be excluded on the condition that the distance from the wall surface 23 is greater than a third predetermined value Δ3. The third predetermined value Δ3 is set to be greater than the first predetermined value Δ1, for example, about 1.0 m.

[0064] In Fig. 10(A), deviation detection unit 305 performs clustering processing on the remaining measurement points, forming a cluster of a certain number (e.g., 3) or more of measurement points that are close to each other. The single isolated gray measurement point in Fig. 10(A) cannot form a cluster, so it is excluded as noise. As a result, one cluster 26 of the three measurement points that are finally left in Fig. 10(B) represents the substantial deviation between the measurement points and the structural model. This cluster 26 represents the protrusion 26 in Fig. 7, and is added to the structural model in a later processing stage.

[0065] The inquiry unit 306 inquires of the user as to whether or not the structural model needs to be updated, based on the deviation detected by the deviation detection unit 305. The form of the inquiry is arbitrary, and for example, the content of the inquiry is displayed on a display unit 307 that is visible to the user. A response from the user to the inquiry is input via the user operation acceptance unit 301. The user operation acceptance unit 301 and the display unit 307 may be integrally configured by a touch panel or the like.

[0066] FIG. 11 shows an example of an inquiry screen. First, the opening sentence "A structure not registered in the model was detected" notifies the user that a deviation between the measurement point and the structural model has been detected. The next sentence "This structure may be a 'ladder'" suggests the structure (ladder) estimated by the deviation detection unit 305 based on the analysis of the shape of the cluster 26. A known object recognition method, such as VoteNet, PointPillar, or Hough Forest, can be used for the analysis of the shape. At this time, the deviation detection unit 305 functions as an object recognition unit that recognizes the object indicated by the detected deviation. The small screen on the left below displays the cluster 26 as the deviation detected by the deviation detection unit 305 together with the structural model, and the small screen on the right displays the structural model incorporating the structure (ladder) estimated by the deviation detection unit 305.

[0067] The next sentence, "Do you want to add this structure to the model?" asks the user whether or not to add the structure corresponding to cluster 26 to the structural model. The user makes a decision by referring to the contents of the above two small screens and detailed data obtained from the distance measuring sensors 18, 19 and cameras provided in the loading and unloading unit 9, and checks either the "Yes" or "No" checkbox. The next sentence, "If this structure is not a 'ladder' and you know the correct structure, please enter it below," allows the user to correct the structure (ladder) estimated by deviation detection unit 305 by entering the correct structure (a protrusion from the wall of the warehouse) if it is incorrect.

[0068] In addition, in cases of high urgency, such as when the structure detection process by the structure detection device 300 is performed in real time in parallel with the unloading of the unloading unit 9, or when the user cannot respond to the inquiry promptly, the process of the inquiry unit 306 may be omitted and the process may proceed to the next process of the structural model update unit 308. Similarly, in cases where the number of measurement points constituting the cluster (divergence) detected by the deviation detection unit 305 is large, or when the structure to be added to the structural model can be specifically identified without the user's confirmation, the process of the inquiry unit 306 may be omitted. When the process of the inquiry unit 306 is omitted, the structural model is updated by the structural model update unit 308 at the subsequent stage, but the user may be asked afterwards whether or not to update.

[0069] The structural model update unit 308 updates the structural model held in the structural model holding unit 303 based on the deviation detected by the deviation detection unit 305. When the inquiry unit 306 inquires of the user about whether the structural model needs to be updated, the structural model update unit 308 updates the structural model held in the structural model holding unit 303 in response to a reply from the user that the structural model needs to be updated, which is input via the user operation acceptance unit 301 ("Yes" in FIG. 11).

[0070] According to the structure detection device 300 configured as above, the structure inside the shipyard 201 can be efficiently detected based on deviations from the structural model of the shipyard 201 stored in the structural model storage unit 303, which is used as a reference. Specifically, since a structure identified as a deviation from the structural model can be adaptively incorporated into the structural model, it is possible to effectively detect special structures of the shipyard 201 such as the protrusions 26, and structures inside a small shipyard 201 with various installation modes such as the ladders 51 and the pipes 53.

[0071] 12 is a flowchart showing an example of structure detection processing by the structure detection device 300. "S" in the flowchart indicates a step.

[0072] In S1, the structure detection device 300 appropriately drives each movable part of the CSU1 (the traveling part 2, the revolving frame 5, the boom 7, the scraping part 11, etc.) to change the position and attitude of the lifting part 9 and the scraping part 11 in the shiphouse 201. In S2, the position measurement part 304 measures the shiphouse 201 using the distance measurement sensors 18, 19 at the position and attitude of S1. In S3, the structural model held in the structural model holding part 303 is read. In S4, the position and attitude of the shiphouse 201 are detected by comparing the measurement point in the distance measurement part coordinate system l detected in S2 with the structural model in the shiphouse coordinate system s read in S3. Specifically, the relationship between the distance measurement part coordinate system l and the shiphouse coordinate system s shown in Figure 7, i.e., the three-dimensional translation vector t between the two coordinate systems, is calculated. ls and the rotation matrix R ls In S5, the t obtained in S4 is ls and R ls Based on this, the measurement point detected in S2 is transformed from the distance measuring unit coordinate system l to the shipyard coordinate system s.

[0073] In S6, it is determined whether or not a sufficient number of measurement points have been collected. If a sufficient number of measurement points have not been collected, the process returns to S1, and the positions and attitudes of the lifting section 9 and the scraping section 11 in the warehouse 201 are changed to continue acquiring measurement points (S2). If a sufficient number of measurement points have been collected, the process proceeds to S7. Here, the criteria for judgment in S6 can be set arbitrarily, but for example, it is determined that there is enough if a certain number and / or density of measurement points have been acquired near each surface of the structural model (see FIG. 7) loaded in S3, such as the ceiling surface 22, the wall surface 23, the bottom surface 24, etc.

[0074] In S7, deviation detection unit 305 detects deviations between the multiple measurement points detected in S2 and the structural model read in S3 (see FIGS. 8 to 10). In S8, it is determined whether deviations are detected in S7. If deviations are detected, the process proceeds to S9, where inquiry unit 306 inquires of the user whether the structural model needs to be updated based on the deviations detected in S7 (see FIG. 11). In S10, it is determined whether the user responds to the inquiry in S9 that the structural model needs to be updated. If the user responds that the structural model needs to be updated, the process proceeds to S11, where structural model update unit 308 updates the structural model read in S3 and stores it in structural model holding unit 303.

[0075] The present invention has been described above based on the embodiments. The embodiments are merely examples, and it will be understood by those skilled in the art that various modifications are possible in the combination of each component and each treatment process, and that such modifications are also within the scope of the present invention.

[0076] In the embodiment, the structural model can be updated interactively while exchanging information with the user via the inquiry unit 306. This concept can be further advanced, and instead of preparing a detailed structural model from the beginning as in FIG. 7, a simple structural model represented by vertical or horizontal lines as in FIG. 13 may be started, and the structural model may be refined stepwise by repeated dialogue with the user. Also, as shown in the example screen of FIG. 14, a structural model may not be prepared at first, and only the measurement points detected by the position measurement unit 304 may be displayed, and a structural model may be created from scratch in cooperation with the user through questions to the user ("Is the shipyard W40m, H15m?") and operation instructions ("Click on the point on the bottom surface").

[0077] The present invention is not limited to the bucket elevator type continuous unloader described in the embodiment, but can also be applied to a spiral type continuous unloader or a continuous unloader equipped with an air conveying mechanism.

[0078] The functional configuration of each device described in the embodiment can be realized by hardware resources, software resources, or by the cooperation of hardware resources and software resources. A processor, ROM, RAM, and other LSIs can be used as hardware resources. An operating system, an application, and other programs can be used as software resources. [Explanation of symbols]

[0079] 1 Compensating unit (CSU), 2 Running section, 5 Swing frame, 7 Boom, 9 Compensating section, 11 Scraping section, 14 Elevator body, 16 Main operation room, 18, 19 Distance measurement sensor, 21 Opening, 23 Wall surface, 24 Bottom surface, 26 Protrusion, 200 Ship, 201 Shipyard, 300 Structural detection device, 301 User operation reception section, 302 Structural model registration section, 303 Structural model storage section, 304 Position measurement section, 305 Deviation detection section, 306 Query section, 307 Display section, 308 Structural model update section.

Claims

1. A structure detection device for detecting a structure inside a cargo hold of a ship, A structural model storage unit that stores a structural model of the cargo compartment; a position measurement unit for detecting positions of a plurality of measurement points in the cargo compartment; a deviation detection unit that detects a deviation between the plurality of measurement points and the structural model; a structural model update unit that updates the structural model based on the deviation; Equipped with the structural model includes a wall surface of the cargo hold; The deviation detection unit is a structure detection device that excludes measurement points whose distance from the wall surface is within a predetermined value when detecting deviation.

2. A structure detection device for detecting a structure inside a cargo hold of a ship, comprising: A structural model storage unit that stores a structural model of the cargo compartment; a position measurement unit for detecting positions of a plurality of measurement points in the cargo compartment; a deviation detection unit that detects a deviation between the plurality of measurement points and the structural model; a structural model update unit that updates the structural model based on the deviation; Equipped with the structural model includes a bottom surface of the cargo hold; The deviation detection unit is a structure detection device that excludes measurement points whose distance from the bottom surface is within a predetermined value when detecting deviation.

3. A structure detection device for detecting a structure inside a cargo hold of a ship, comprising: A structural model storage unit that stores a structural model of the cargo compartment; a position measurement unit for detecting positions of a plurality of measurement points in the cargo compartment; a deviation detection unit that detects a deviation between the plurality of measurement points and the structural model; a structural model update unit that updates the structural model based on the deviation; Equipped with the structural model includes walls and a floor of the cargo hold; When detecting the deviation, the deviation detection unit excludes measurement points whose distance from the wall surface is within a first predetermined value and whose distance from the bottom surface is within a second predetermined value; The structure detection apparatus, wherein the first predetermined value is less than the second predetermined value.

4. A structure detection device for detecting a structure inside a cargo hold of a ship, comprising: A structural model storage unit that stores a structural model of the cargo compartment; a position measurement unit for detecting positions of a plurality of measurement points in the cargo compartment; a deviation detection unit that detects a deviation between the plurality of measurement points and the structural model; a structural model update unit that updates the structural model based on the deviation; Equipped with a query unit that queries a user about whether or not a structural model needs to be updated based on the deviation detected by the deviation detection unit, The structural model update unit is a structure detection device that updates the structural model in response to a response from a user indicating that the structural model needs to be updated.

5. 5. The structure detection device according to claim 1, wherein the position measurement unit is a laser sensor that uses laser light.

6. 6. The structure detection device according to claim 1, wherein the position measurement unit is provided in an unloading section that unloads cargo from the cargo hold.

7. The structure detection device according to claim 6 , wherein the position measurement unit is provided in a plurality of positions different from each other in the discharge unit.

8. A structure detection device for detecting a structure inside a cargo hold of a ship, comprising: A structural model storage unit that stores a structural model of the cargo compartment; a position measurement unit for detecting positions of a plurality of measurement points in the cargo compartment; a deviation detection unit that detects a deviation between the plurality of measurement points and the structural model; a structural model update unit that updates the structural model based on the deviation; Equipped with the deviation detection unit is an object recognition unit that performs a clustering process on the plurality of measurement points and recognizes an object indicated by the detected deviation as a cluster; The structural model update unit is a structure detection device that reflects the object recognized by the object recognition unit in the structural model.

9. A structure detection method for detecting a structure in a cargo hold of a ship, comprising the steps of: a structural model storage step of storing a structural model of the cargo compartment; a position measuring step of detecting positions of a plurality of measurement points in the cargo compartment; a deviation detection step of detecting a deviation between the plurality of measurement points and the structural model; a structural model updating step of updating the structural model based on the deviation; Equipped with the structural model includes a wall surface of the cargo hold; The deviation detection step is a structure detection method in which, when detecting deviation, measurement points whose distance from the wall surface is within a predetermined value are excluded.

10. A structure detection method for detecting a structure inside a cargo hold of a ship, comprising the steps of: a structural model storage step of storing a structural model of the cargo compartment; a position measuring step of detecting positions of a plurality of measurement points in the cargo compartment; a deviation detection step of detecting a deviation between the plurality of measurement points and the structural model; a structural model updating step of updating the structural model based on the deviation; Equipped with the structural model includes a bottom surface of the cargo hold; The deviation detection step includes excluding measurement points whose distance from the bottom surface is within a predetermined value when detecting deviation.

11. A structure detection method for detecting a structure inside a cargo hold of a ship, comprising: a structural model storage step of storing a structural model of the cargo compartment; a position measuring step of detecting positions of a plurality of measurement points in the cargo compartment; a deviation detection step of detecting a deviation between the plurality of measurement points and the structural model; a structural model updating step of updating the structural model based on the deviation; Equipped with the structural model includes walls and a floor of the cargo hold; In detecting the deviation, the deviation detection step excludes measurement points whose distance from the wall surface is within a first predetermined value and whose distance from the bottom surface is within a second predetermined value; The method of claim 1, wherein the first predetermined value is less than the second predetermined value.

12. A structure detection method for detecting a structure inside a cargo hold of a ship, comprising: a structural model storage step of storing a structural model of the cargo compartment; a position measuring step of detecting positions of a plurality of measurement points in the cargo compartment; a deviation detection step of detecting a deviation between the plurality of measurement points and the structural model; a structural model updating step of updating the structural model based on the deviation; Equipped with a query step of querying a user about whether or not the structural model needs to be updated based on the deviation detected in the deviation detection step, The structural model updating step is a structure detection method in which the structural model is updated in response to a response from a user indicating that the structural model needs to be updated.

13. A structure detection method for detecting a structure inside a cargo hold of a ship, comprising: a structural model storage step of storing a structural model of the cargo compartment; a position measuring step of detecting positions of a plurality of measurement points in the cargo compartment; a deviation detection step of detecting a deviation between the plurality of measurement points and the structural model; a structural model updating step of updating the structural model based on the deviation; Equipped with the deviation detection step is an object recognition step of performing a clustering process on the plurality of measurement points and recognizing an object indicated by the detected deviation as a cluster, The structural model updating step reflects the object recognized in the object recognition step in the structural model.

14. A structure detection program for detecting a structure inside a cargo hold of a ship, a structural model storage step of storing a structural model of the cargo compartment; a position measuring step of detecting positions of a plurality of measurement points in the cargo compartment; a deviation detection step of detecting a deviation between the plurality of measurement points and the structural model; a structural model updating step of updating the structural model based on the deviation; Run the following on your computer: the structural model includes a wall surface of the cargo hold; The deviation detection step is a structure detection program that excludes measurement points whose distance from the wall surface is within a predetermined value when detecting deviation.

15. A structure detection program for detecting a structure inside a cargo hold of a ship, comprising: a structural model storage step of storing a structural model of the cargo compartment; a position measuring step of detecting positions of a plurality of measurement points in the cargo compartment; a deviation detection step of detecting a deviation between the plurality of measurement points and the structural model; a structural model updating step of updating the structural model based on the deviation; Run the following on your computer: the structural model includes a bottom surface of the cargo hold; The deviation detection step is a structure detection program for excluding measurement points whose distance from the bottom surface is within a predetermined value when detecting deviation.

16. A structure detection program for detecting a structure inside a cargo hold of a ship, comprising: a structural model storage step of storing a structural model of the cargo compartment; a position measuring step of detecting positions of a plurality of measurement points in the cargo compartment; a deviation detection step of detecting a deviation between the plurality of measurement points and the structural model; a structural model updating step of updating the structural model based on the deviation; Run the following on your computer: the structural model includes walls and a floor of the cargo hold; In detecting the deviation, the deviation detection step excludes measurement points whose distance from the wall surface is within a first predetermined value and whose distance from the bottom surface is within a second predetermined value; The structure detection program, wherein the first predetermined value is smaller than the second predetermined value.

17. A structure detection program for detecting a structure inside a cargo hold of a ship, comprising: a structural model storage step of storing a structural model of the cargo compartment; a position measuring step of detecting positions of a plurality of measurement points in the cargo compartment; a deviation detection step of detecting a deviation between the plurality of measurement points and the structural model; a structural model updating step of updating the structural model based on the deviation; Run the following on your computer: further executing an inquiry step of inquiring of a user as to whether or not the structural model needs to be updated based on the deviation detected in the deviation detection step; The structural model updating step is a structure detection program that updates the structural model in response to a response from a user indicating that the structural model needs to be updated.

18. A structure detection program for detecting a structure inside a cargo hold of a ship, comprising: a structural model storage step of storing a structural model of the cargo compartment; a position measuring step of detecting positions of a plurality of measurement points in the cargo compartment; a deviation detection step of detecting a deviation between the plurality of measurement points and the structural model; a structural model updating step of updating the structural model based on the deviation; on the computer, the deviation detection step is an object recognition step of performing a clustering process on the plurality of measurement points and recognizing an object indicated by the detected deviation as a cluster, The structural model update step is a structure detection program for reflecting the object recognized in the object recognition step in the structural model.

19. 1. A discharge device for discharging cargo from a cargo hold of a ship, comprising: A structural model storage unit that stores a structural model of the cargo compartment; a position measurement unit for detecting positions of a plurality of measurement points in the cargo compartment; a deviation detection unit that detects a deviation between the plurality of measurement points and the structural model; a structural model update unit that updates the structural model based on the deviation; Equipped with the structural model includes a wall surface of the cargo hold; An unloading device in which the deviation detection unit excludes measurement points whose distance from the wall surface is within a predetermined value when detecting deviation.

20. An unloading device for unloading cargo from a cargo hold of a ship, comprising: A structural model storage unit that stores a structural model of the cargo compartment; a position measurement unit for detecting positions of a plurality of measurement points in the cargo compartment; a deviation detection unit that detects a deviation between the plurality of measurement points and the structural model; a structural model update unit that updates the structural model based on the deviation; Equipped with the structural model includes a bottom surface of the cargo hold; An unloading device in which the deviation detection unit excludes measurement points whose distance from the bottom surface is within a predetermined value when detecting deviation.

21. A discharge device for discharging cargo from a cargo hold of a ship, comprising: A structural model storage unit that stores a structural model of the cargo compartment; a position measurement unit for detecting positions of a plurality of measurement points in the cargo compartment; a deviation detection unit that detects a deviation between the plurality of measurement points and the structural model; a structural model update unit that updates the structural model based on the deviation; Equipped with the structural model includes walls and a floor of the cargo hold; When detecting the deviation, the deviation detection unit excludes measurement points whose distance from the wall surface is within a first predetermined value and whose distance from the bottom surface is within a second predetermined value; The unloading device, wherein the first predetermined value is less than the second predetermined value.

22. An unloading device for unloading cargo from a cargo hold of a ship, comprising: A structural model storage unit that stores a structural model of the cargo compartment; a position measurement unit for detecting positions of a plurality of measurement points in the cargo compartment; a deviation detection unit that detects a deviation between the plurality of measurement points and the structural model; a structural model update unit that updates the structural model based on the deviation; Equipped with a query unit that queries a user about whether or not a structural model needs to be updated based on the deviation detected by the deviation detection unit, The structural model update unit updates the structural model in response to a response from a user indicating that an update of the structural model is necessary.

23. An unloading device for unloading cargo from a cargo hold of a ship, comprising: A structural model storage unit that stores a structural model of the cargo compartment; a position measurement unit for detecting positions of a plurality of measurement points in the cargo compartment; a deviation detection unit that detects a deviation between the plurality of measurement points and the structural model; a structural model update unit that updates the structural model based on the deviation; Equipped with the deviation detection unit is an object recognition unit that performs a clustering process on the plurality of measurement points and recognizes an object indicated by the detected deviation as a cluster; The structural model update unit of the unloading device reflects the object recognized by the object recognition unit in the structural model.

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