UNLOADING DEVICE, METHOD FOR DETECTING ABNORMALITY IN UNLOADING DEVICE, AND PROGRAM FOR DETECTING ABNORMALITY IN UNLOADING DEVICE

Abstract

To provide an unloading device which effectively detects abnormality.SOLUTION: An unloading device 1 unloading a cargo comprises: a travel part 2 which is movable against a ship 200; a revolving frame 5 which is rotatable against the travel part 2; an unloading part 9 which carries out a cargo connected through the revolving frame 5 and a boom 7; a detection part which detects an object; a position storage part which stores a position of a detection object detected by the detection part at the first time as a first position; a position comparison part which compares a second position of the same detection object detected by the detection part at the second time with the first position; and an abnormality detection part which detects abnormality when the difference between the first position and the second position is a prescribed value or more.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to an unloading device for unloading cargo from a ship. [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 2016-160034 A Summary of the Invention [Problem to be solved by the invention]

[0004] The CSU may be provided with a detection unit such as a distance sensor or a camera that detects the hold for storing bulk cargo or the bulk cargo. By accurately controlling each movable part of the CSU (the moving part, rotating part, discharge part, etc. described below) according to the distance to the hold or bulk cargo detected by the detection unit, it is possible to prevent the discharge part inserted into the hold from colliding with the hold, and to efficiently unload the bulk cargo. The inventor recognized the possibility of effectively detecting abnormalities in the CSU by using such a detection unit.

[0005] The present invention has been made in view of the above circumstances, and has an object to provide an unloading device that can effectively detect abnormalities. [Means for solving the problem]

[0006] In order to solve the above problems, an unloading device of one embodiment of the present invention is an unloading device for unloading cargo from a ship, and includes a moving unit that can move relative to the ship, a rotating unit that can rotate relative to the moving unit, a discharging unit that is provided on the rotating unit and discharging the cargo, a detection unit that detects an object, a position memory unit that stores the position of the detected object detected by the detection unit at a first time as a first position, a position comparison unit that compares a second position, which is the position of the detected object detected by the detection unit at a second time, with the first position, and an anomaly detection unit that detects an abnormality when the difference between the first position and the second position is equal to or greater than a certain value.

[0007] According to this aspect, an abnormality in the unloading device can be effectively detected based on a comparison of the positions of the same detection object detected by the detection unit.

[0008] Another aspect of the present invention is a method for detecting an abnormality in an unloading device, the method comprising a moving section movable relative to a ship, a rotating section rotatable relative to the moving section, a discharge section provided on the rotating section for discharging cargo from the ship, and a detection section for detecting an object, the method comprising a position storing step of storing a position of a detection object detected by the detection section at a first time as a first position, a position comparing step of comparing a second position, which is the position of the detection object detected by the detection section at a second time, with the first position, and an abnormality detecting step of detecting an abnormality when a difference between the first position and the second position is equal to or greater than a certain value.

[0009] 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

[0010] According to the present invention, an unloading device capable of effectively detecting abnormalities can be provided. [Brief description of the drawings]

[0011] [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] 1 is a functional block diagram of a calibration device according to a first embodiment. [Figure 7] FIG. 2 is a diagram showing a schematic diagram of each coordinate system set with respect to the lifting device. [Figure 8] FIG. 13 is a top view showing an example of measurement of a reference object using a lifting device. [Figure 9] 5 is a flowchart showing an example of a calibration process of a distance measuring sensor performed by the calibration device according to the first embodiment. [Figure 10] FIG. 11 is a functional block diagram of a calibration device according to a second embodiment. [Figure 11] 10 is a flowchart showing an example of a camera calibration process performed by the calibration device according to the second embodiment. [Figure 12] FIG. 11 is a functional block diagram of a calibration device according to a third embodiment. [Figure 13] 13 is a flowchart showing an example of a calibration process for a plurality of detection units by the calibration device according to the third embodiment. [Figure 14] FIG. 13 is a functional block diagram of an anomaly detection device according to a fourth embodiment. [Figure 15] 13 is a flowchart showing an example of an anomaly detection process performed by the anomaly detection device according to the fourth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] 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.

[0013] FIG. 1 shows the overall configuration of a lifting device 1 as an unloading device according to a first embodiment of the present invention. The lifting device 1 is a continuous unloader or a ship continuous unloader that unloads bulk cargo M 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 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.

[0014] 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.

[0015] 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.

[0016] 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.

[0017] 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.

[0018] 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.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] 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).

[0023] 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.

[0024] 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.

[0025] 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.

[0026] Next, the basic lifting operation of the CSU 1 having the above configuration will be described.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] Next, a distance measurement sensor provided in the CSU 1 to improve the safety and efficiency of lifting will be described.

[0033] 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.

[0034] 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.

[0035] 4 shows the appearance of the distance measuring sensors 18 and 19. The distance measuring sensors 18 and 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 the object to be measured, and a laser receiving unit (not shown) as a wave receiving unit that receives the laser light reflected by the object to be measured, constituting a distance measuring unit that measures the distance to the object to be measured. 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 and 19.

[0036] 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.

[0037] 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).

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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 shape of the opening 21 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 shape of the opening 21 can be stably measured regardless of the orientation of the CSU 1 during lifting.

[0049] By controlling each movable part of CSU1, i.e., movable traveling part 2, rotatable rotating frame 5, riseable boom 7, rotatable and deformable scraping part 11, etc., according to the distance to the object to be measured inside and outside the shipyard 201 measured by the distance measuring sensors 18, 19 as described above, it is possible to prevent the lifting part 9 from colliding with other objects inside and outside the shipyard 201 during lifting, and to efficiently lift the bulk goods M. However, if there is an error in the mounting position or posture of the distance measuring sensors 18, 19, or if the relationship (relative position and posture) between the distance measuring sensors 18, 19 and each movable part of CSU1 changes due to changes in the external environment such as the weight, temperature, etc. of the lifting part 9 itself or the bulk goods M being loaded, the effect of the distance measuring sensors 18, 19 described above is reduced. Therefore, in this embodiment, in order to obtain the maximum effect from the distance measurement sensors 18, 19, a calibration device 300 is provided to calibrate or correct errors in the mounting position and attitude of the distance measurement sensors 18, 19 and changes in the relationship between the distance measurement sensors 18, 19 and each movable part of the CSU1.

[0050] 6 is a functional block diagram of the calibration device 300. The calibration device 300 includes a ranging point coordinate acquisition unit 301, a coordinate conversion unit 302, a coordinate error detection unit 303, and a coordinate system correction unit 304. 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 a computer inside or outside the CSU1, and software executed using these resources. Regardless of the type of computer or 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.

[0051] Before describing each functional block of the calibration device 300, the coordinate system on which it is based will be described. Fig. 7 shows a schematic diagram of each coordinate system set for the CSU 1. Fig. 7(A) is a schematic diagram of the CSU 1 in a vertical plane including the traveling unit 2, revolving frame 5, boom 7, and hoisting unit 9, and Fig. 7(B) is a schematic diagram of the CSU 1 as viewed from above. Fig. 7(A) is a cross-sectional view taken along a plane including the boom 7 extending diagonally downward and to the left in Fig. 7(B).

[0052] The coordinate system u is a ground coordinate system based on the ground on which the traveling unit 2 travels (or a moving unit coordinate system based on the traveling unit 2), and u is the x-axis in the xyz Cartesian coordinate system. x axis, and u as the y-axis y axis, and u as the z axis z The origin of the coordinate system u is set on the track of the running part 2 formed by the rail 3, and u x The direction of the axis coincides with the direction of laying the rail 3, which is the direction of movement of the running part 2, and u y The axis direction is u in the horizontal plane. x The direction is perpendicular to the u axis. z The axis is oriented vertically.

[0053] Here, "the coordinate system u is a ground coordinate system based on the ground" means that the coordinate system u has as its origin an arbitrary point on the ground or an object whose position on the ground is known. For example, the ground coordinate system u may be a coordinate system whose origin is an arbitrary position on the pier 102, which is the land on which the running unit 2 is installed, or may be a coordinate system whose origin is the running unit 2, whose position on the ground is known. The ground coordinate system u is also a moving unit coordinate system whose reference is the running unit 2. Here, "the coordinate system u is a moving unit coordinate system whose reference is the running unit 2" means that the position and attitude of the running unit 2, which is its reference, can be accurately tracked in the coordinate system u. In the illustrated example, in the coordinate system u, the running unit 2 is in a constant attitude and is aligned with u x Since it moves only along the axis, the u y Coordinates and u z The coordinates do not change (for simplicity, the coordinates of the running part 2 are assumed to be u y Coordinates and u z The coordinates are set to 0. x The coordinates are the position x of the running part 2 on the rail 3. tl In this way, the three-dimensional coordinates (u x ,u y ,u z )=(x tlSince the coordinate system u is a moving unit coordinate system based on the traveling unit 2, the coordinate system u is a moving unit coordinate system based on the traveling unit 2. In the illustrated example, for the sake of simplicity, x The axis direction is set to coincide with the direction in which the rails 3 are laid, but the direction of each axis of the ground coordinate system u can be set arbitrarily.

[0054] The coordinate system r is a rotating part coordinate system based on the rotating frame 5, and r is the x-axis in the xyz Cartesian coordinate system. x axis, and r as the y-axis y axis, and r as the z axis z The origin of the coordinate system r is the rotation center O of the rotating frame 5 in the top view of FIG. r The center of rotation O in the cross-sectional view of Figure 7(A) r It coincides with a point on land directly below. x The axis direction is u x It rotates by an angle of θ2 with respect to the axis direction, and r y The axis direction is r in the horizontal plane. x r is a direction perpendicular to the axis (the extension direction of the boom 7 in FIG. 7(B) as viewed from above), z The axis is oriented vertically.

[0055] Here, "the coordinate system r is a rotating part coordinate system based on the rotating frame 5" means that the center of rotation O of the rotating frame 5, which is the reference in the coordinate system r, is r This means that the position and orientation of the center of rotation O can be accurately tracked. r Since coincides with the origin of the coordinate system r, x Coordinates and r y The coordinate is 0. Also, the center of rotation O r r z The coordinate is the height h from the land. r The rotation angle θ2, which indicates the attitude of the rotating frame 5, can be measured by an angle sensor or the like. r The three-dimensional coordinates of (r x ,r y ,r z )=(0,0,h r) and posture can be accurately tracked, the coordinate system r is a rotating part coordinate system based on the rotating frame 5. The rotating part coordinate system r may be a coordinate system with the origin being any position on the rotating frame 5, boom 7, counterweight 13, or main operation room 16 that can rotate integrally with the rotating part. In the illustrated example, for the sake of simplicity, y The direction of the axis is aligned with the extension direction of the boom 7 when viewed from above, but the direction of each axis of the rotating part coordinate system r can be set arbitrarily.

[0056] The coordinate system b is a hoisting coordinate system based on the boom 7 and the lifting section 9, and b is the x-axis in the xyz Cartesian coordinate system. x axis, and b as the y-axis y axis, and b as the z axis z The origin of the coordinate system b is located at the connection between the boom 7 and the lifting part 9. y The axis direction is horizontal and coincides with the extension direction of the boom 7 when viewed from above in FIG. 7(B), and b x The axis direction is b in the horizontal plane. y A direction perpendicular to the axis, b z The axis is oriented vertically.

[0057] Here, "the coordinate system b is a hoisting coordinate system based on the boom 7 and the lifting part 9" means that the hoisting center O b This means that the position and posture of the boom 7 can be accurately tracked. b As shown in Figure 7(A), the origin of the coordinate system b and the center of the undulations O b The distance between b1 Then, the center of the undulation in the coordinate system b is O b The coordinates of (b x ,b y ,b z ) is (0,-L b1 cosθ1,-L b1 sinθ1). The undulating angle θ1, which represents the posture of the undulating part, can be measured by an angle sensor or the like. bSince the position and orientation of the boom 7 and the scraping unit 9 can be accurately tracked, the coordinate system b is a hoisting unit coordinate system based on the boom 7 and the scraping unit 9. The origin of the hoisting unit coordinate system b may be any point on the boom 7 that constitutes the hoisting unit, for example, the hoisting center O b may be set as the origin of the undulating part coordinate system b. In this case, the directions of the axes are left as they are in the figure, and the coordinates (b x ,b y ,b z ) is (0,L b1 cosθ1,L b1 sinθ1). In the example shown, for simplicity of explanation, y The direction of the axis is aligned with the extension direction of the boom 7 when viewed from above, but the direction of each axis of the undulating portion coordinate system b can be set arbitrarily.

[0058] The coordinate system l is a distance measuring unit coordinate system based on the distance measuring sensor 19, and l is the x-axis in the xyz Cartesian coordinate system. x axis, and l as y-axis y axis, and l as the z axis z The origin of the coordinate system l is set at the attachment position of the distance measuring sensor 19. y The axis direction is horizontal and coincides with the extension direction of the boom 7 when viewed from above in FIG. 7(B). x The axis direction is in the horizontal plane. y The direction is perpendicular to the axis, and z The axis direction is the vertical direction. When multiple distance measurement sensors are provided like distance measurement sensors 191 to 193 in Fig. 5, the coordinate system l may be common to the multiple distance measurement sensors, or a coordinate system l may be set for each distance measurement sensor.

[0059] Here, "the coordinate system l is a distance measurement unit coordinate system with the distance measurement sensor 19 as a reference" means that the position and orientation of the distance measurement sensor 19, which is the reference in the coordinate system l, can be accurately tracked. In the above example, the three-dimensional coordinates (l x ,l y ,l z) is always (0,0,0) and its orientation is also constant. The distance measurement unit coordinate system l may have an origin at any position on the top of the lifting unit 9 where the distance measurement sensors 19 are attached. In this case, if the attachment positions and orientations of each distance measurement sensor 19 on the top of the lifting unit 9 are recorded, the position and orientation of each distance measurement sensor 19 with respect to the origin of the distance measurement unit coordinate system l can be calculated. In addition, in the illustrated example, l is used for the sake of simplicity of explanation. y Although the direction of the axis is made to coincide with the extension direction of the boom 7 when viewed from above, the direction of each axis of the distance measuring unit coordinate system l can be set arbitrarily.

[0060] The coordinate system d is a distance measurement unit coordinate system based on the distance measurement sensor 18, and d is the x-axis in the xyz Cartesian coordinate system. x axis, and d as the y-axis y axis, and d as the z axis z The origin of the coordinate system d is located at the connection between the elevator body 14 and the scraping part 11. y The direction of the axis is horizontal and coincides with the extension direction of the scraping part 11 (not shown) when viewed from above in FIG. 7(B), and d x The axis direction is d in the horizontal plane. y The direction is perpendicular to the axis, and d z The axis is oriented vertically. As shown in FIG. 7(B), d y The axis direction is b y axis and r y The direction of the axis, i.e., the extension direction of the boom 7 in a top view, is shifted by a rotation angle θ4. This indicates that the scraping part 11 rotates around the axis of the elevator body 14 by θ4.

[0061] Here, "the coordinate system d is a distance measurement unit coordinate system based on the distance measurement sensor 18" means that the position and attitude of the distance measurement sensor 18, which is the reference, can be accurately tracked in the coordinate system d. In FIG. 1, the mounting positions and attitudes of the multiple distance measurement sensors 18 on the scraping unit 11 are known, so the three-dimensional coordinates and attitude of each distance measurement sensor 18 relative to the origin of the distance measurement unit coordinate system d at the connecting portion between the elevator body 14 and the scraping unit 11 can be calculated. The origin of the distance measurement unit coordinate system d may be any position on the scraping unit 11, and for example, the mounting position of the distance measurement sensor 18 may be the origin of the distance measurement unit coordinate system d. Here, when multiple distance measurement sensors 18 are provided as in FIG. 1, the coordinate system d may be common to the multiple distance measurement sensors, or a coordinate system d may be set for each distance measurement sensor. In the illustrated example, for the sake of simplicity of explanation, the coordinate system d is set to d. z Although the axis direction is set to the vertical direction, the direction of each axis of the distance measuring unit coordinate system d can be set arbitrarily.

[0062] In addition, in Fig. 7(A), the scraping unit 11 is shown as a rectangle extending in a direction perpendicular to the axial direction of the elevator body 14, but as shown in Fig. 7(C) as a schematic, the scraping unit 11 may be configured with a main part 11A that scrapes off the bulk goods M and a bent part 11B that can be bent with respect to the elevator body 14. In this case as well, the origin of the distance measuring unit coordinate system d can be set at any position on the scraping unit 11, i.e., on the main part 11A and the bent part 11B. In the coordinate transformation described later, the bending angle θ5 of the bent part 11B is also taken into consideration.

[0063] Next, each functional block of the calibration device 300 in Fig. 6 will be described. The ranging point coordinate acquisition unit 301 measures a reference object whose coordinates are known in a ground coordinate system u based on the ground on which the traveling unit 2 travels, using the ranging sensors 18, 19, and acquires the ranging point coordinates in the ranging unit coordinate systems l, d based on the ranging sensors 18, 19, respectively.

[0064] FIG. 8 shows a top view of an example of measuring a reference object by the CSU1. In this example, eight measurement positions P1 to P8 are provided, each with a rotation angle of the rotating frame 5 that differs from the others by 45°. The CSU1 measures the reference object at each measurement position P1 to P8 using a distance measuring sensor 18 (not shown) and distance measuring sensors 19 (191 to 193). The reference object is any stationary object whose coordinates in the ground coordinate system u used for calibrating the CSU1 by the calibration device 300 are known. As described with reference to FIG. 7, the origin of the ground coordinate system u may be any position on the wharf 102. Therefore, any stationary object on the wharf 102 can be used as the reference object. Preferably, a structure having a linear edge and flat surfaces on both sides thereof that can be easily measured by the distance measuring sensors 18 and 19 is used as the reference object. For example, the quay wall 101, rail 3, and belt conveyor 45 shown in FIG. 8 are suitable as reference objects because they have long linear edges and wide flat surfaces on both sides thereof. In addition, since the origin of the ground coordinate system u shown in FIG. 7 is set on the track of the traveling part 2, the rail 3 and the belt conveyor 45, which are structures arranged along the track, are particularly suitable as reference objects. As will be described later in detail, in this case, the distance information of the reference object measured by the distance measuring sensors 18 and 19 is calculated based on the distance u in the direction in which the reference object extends. x Since it is necessary to substantially consider only the coordinates, it is possible to efficiently calibrate the CSU 1. Furthermore, in order to improve the distance measurement accuracy of the distance measurement sensors 18, 19, reflectors having high reflectivity for the laser light from the distance measurement sensors 18, 19 may be arranged along the rail 3 or the belt conveyor 45.

[0065] Measurement position P1 is shown in FIG. 5. In FIG. 5, which shows the time of unloading, a ship 200 is present below the unloading section 9, but the ship 200 does not have to be present when measuring the distance to the reference object for calibrating the CSU1. On the other hand, if the ship 200 is present as in FIG. 5, the CSU1 can be calibrated in real time while unloading the bulk cargo M from the shipyard 201. The dotted lines extending in both directions from each of the distance measuring sensors 191-193 represent the respective reference planes S1-S3 (see FIG. 5), and distance measurement is possible when these dotted lines intersect with the reference object. Therefore, at measurement position P1, only the distance measuring sensor 191 can measure the distance to the reference object on the wharf 102. The measurement points, which are the intersections of the dotted lines extending from the distance measuring sensor 191 toward the wharf 102 and each reference object, are indicated by black circles. The distance measurement point coordinate acquisition unit 301 acquires the positions of these distance measurement points as distance measurement point coordinates (l x ,l y ,l z Similarly, the distance measuring sensor 18 (not shown) also measures the distance to each reference object on the wharf 102 at the measurement position P1, and obtains the distance measuring point coordinates (d x ,d y ,d z ) is acquired by the distance measurement point coordinate acquisition unit 301.

[0066] Similarly, at the other measurement positions P2 to P8, the distance measurement point coordinate acquisition unit 301 acquires the distance measurement point coordinates (l x ,l y ,l z ), (d x ,d y ,d z) is obtained. With regard to the distance measurement sensors 19, all distance measurement sensors 191-193 can measure the distance to the reference object on the wharf 102 at measurement position P2, distance measurement sensors 192 and 193 at measurement position P3, all distance measurement sensors 191-193 at measurement position P4, distance measurement sensor 191 at measurement position P5, all distance measurement sensors 191-193 at measurement position P6, distance measurement sensors 192 and 193 at measurement position P7, and all distance measurement sensors 191-193 at measurement position P8. In this way, although the distance measurement sensors 191-193 that can measure the distance to the reference object are different at each measurement position P1-P8, all distance measurement sensors 191-193 can be calibrated by having CSU 1 patrol the multiple measurement positions P1-P8. Although FIG. 8 illustrates eight measurement positions P1 to P8 with rotation angles differing from one another by 45°, the rotation angles of the measurement positions are arbitrary.

[0067] As described above, among the measurement positions P1 to P8, only the measurement position P1 performs unloading in the basic posture in FIG. 5. At the other measurement positions P2 to P8, unloading in the basic posture is not assumed, but in this embodiment, the distance measurement point coordinate acquisition unit 301 acquires the distance measurement point coordinate of the reference object even in such postures where unloading is not normally performed. In other words, the distance measurement point coordinate acquisition unit 301 acquires the distance measurement point coordinate when the unloading unit 9 is not above the ship 200 due to the rotation of the rotating frame 5 (including when the ship 200 is not at the measurement position P1). Also, at the measurement positions P2 to P6, the unloading unit 9 is above the land (pier 102). Thus, in this embodiment, the distance measurement point coordinate acquisition unit 301 acquires the distance measurement point coordinate of the reference object even in postures that the CSU1 cannot take when unloading. In particular, at measurement positions P2 and P6, the lifting section 9 on which the distance measuring sensors 18, 19 are mounted is located directly above the reference object as the distance measurement target, so that all distance measuring sensors can obtain the distance measurement point coordinates with high accuracy, and the CSU 1 can be calibrated efficiently.

[0068] 7, it is preferable to acquire as many coordinates of measurement points as possible by the measurement point coordinate acquisition unit 301 while changing each parameter of CSU1, such as the hoisting angle θ1 of the boom 7, the rotation angle θ4 of the scraping unit 11, and the bending angle θ5 of the scraping unit 11. In the above example in which the reference object is placed along the track (rail 3) of the traveling unit 2, it is not necessary to move the traveling unit 2 to calibrate the CSU1. However, if the reference object has a shape that does not follow the track of the traveling unit 2, the position x of the traveling unit 2 may be changed. tl It is preferable to obtain the coordinates of the range finding point while changing the focal length.

[0069] The coordinate conversion unit 302 converts the distance measurement point coordinates in the distance measurement unit coordinate system l, d and the known coordinates of the reference object in the ground coordinate system u into an identical coordinate system based on the relative position and attitude of the lifting unit 9 with respect to the distance measurement sensors 18, 19, the relative position and attitude of the lifting unit 9 with respect to the lifting unit 9, and the relative position and attitude of the traveling unit 2 with respect to the revolving frame 5. In the following description, the converted identical coordinate system is described as the ground coordinate system u. In this case, the coordinate conversion unit 302 converts the distance measurement point coordinates (l, d) of the reference object on the wharf 102 into an identical coordinate system. x ,l y ,l z ), (d x ,d y ,d z ) from the distance measurement unit coordinate system l, d to the ground coordinate system u (u x ,u y ,u z )

[0070] The coordinates of the distance measurement point in the distance measurement unit coordinate system l of the reference object measured by the distance measurement sensor 19 are p l =(l x ,l y ,l z ) is a three-dimensional vector. l In order to convert from the distance measurement unit coordinate system l to the ground coordinate system u, the coordinate conversion unit 302 converts the coordinate p l From the coordinate p of the relief coordinate system b b =(b x ,b y ,b z ) to the coordinate p of the relief coordinate system bb From the coordinate p of the rotating part coordinate system r r =(r x ,r y ,r z ) to the coordinate p of the rotating part coordinate system r r From the coordinate p in the ground coordinate system u u =(u x ,u y ,u z ) and then converting it to the coordinate system. Each coordinate conversion is expressed by the following formula.

number

[0071] The first equation is the coordinate p of the distance measuring unit coordinate system l. l The coordinate p of the undulating part coordinate system b b This is the formula for converting t lb is the three-dimensional translation vector connecting the origin of the distance measurement unit coordinate system l and the origin of the relief unit coordinate system b, and R lb is a 3×3 matrix that represents the difference in attitude, i.e., rotation, between the ranging unit coordinate system l and the undulating unit coordinate system b. t lb and R lb is determined according to the position and posture of the distance measuring sensor 19 at the lifting unit 9. In the example of FIG. 7, since there is no rotation between the distance measuring unit coordinate system l and the undulating unit coordinate system b, in which the directions of the axes are the same, R lb is a 3x3 identity matrix.

[0072] The second equation is given by the coordinate p in the relief coordinate system b. b The coordinate p of the rotating part coordinate system r is r This is the formula to convert to R x (±θ1) passes through the origin of the undulating coordinate system b x This is a 3x3 rotation matrix that rotates the three-dimensional coordinates in the positive or negative direction by the undulation angle θ1 around the axis. First, R x (-θ1) to p b By applying the above to the y-coordinate, the y-coordinate is converted to a value along the extension direction of the boom 7 during the hoisting at the hoisting angle θ1. Then, the hoisting center O along this direction is b Distance to L b1 is added. Then R xBy applying (+θ1), the coordinates are returned to the original coordinate system b (which is also the same as the rotation coordinate system r of the transformation target). Then, b and the distance L in the y direction from the origin of the rotating part coordinate system r b3 is subtracted, and the distance L in the z direction is p Thus, the second equation is b The coordinate transformation from the undulating coordinate system b to the rotating coordinate system r is given via the parameters θ1 and L b1 , L b3 , L p is determined according to the relative position and attitude of the revolving frame 5 with respect to the lifting section 9.

[0073] The third equation is the coordinate p of the rotating part coordinate system r. r The coordinate p of the ground coordinate system u u This is the formula to convert to R z (θ2) is the r that passes through the origin of the rotating part coordinate system r z This is a 3x3 rotation matrix that rotates the three-dimensional coordinates by a rotation angle θ2 around the axis, and acts to align the rotation unit coordinate system r with the attitude of the ground coordinate system u. Also, x coordinate is tl The x-direction vector with the following formula is a translation vector connecting the origin of the rotating unit coordinate system r and the origin of the ground coordinate system u. In this way, the third formula gives the coordinate transformation from the rotating unit coordinate system r to the ground coordinate system u by the first term that transforms the rotation component and the second term that transforms the translation component. Also, the parameter θ2 in this formula is determined based on the relative attitude of the running unit 2 with respect to the rotating frame 5, and x tl is measured by a position sensor or the like that measures the position of the traveling part 2 on the rail 3.

[0074] From the above equations 1 to 3, the coordinates p of the distance measurement point in the distance measurement unit coordinate system l of the reference object measured by the distance measurement sensor 19 are calculated. l =(l x ,l y ,l z ) is expressed as the coordinates of the measuring point p in the ground coordinate system u via the undulating coordinate system b and the rotating coordinate system r. u =(u x ,u y ,u zSimilarly, the coordinates p of the distance measurement point in the distance measurement unit coordinate system d of the reference object measured by the distance measurement sensor 18 are converted into d =(d x ,d y ,d z ) also passes through the undulating coordinate system b and the rotating coordinate system r to the coordinates of the measuring point p in the ground coordinate system u. u =(u x ,u y ,u z In this case, the first equation above can be converted to the coordinate p d The coordinate p of the undulating part coordinate system b b Since the position and attitude of the distance measuring sensor 18 also change depending on the rotation angle θ4 and bending angle θ5 of the scraping part 11 shown in FIGS. 7B and 7C, these parameters are included in the conversion equation.

[0075] The coordinate error detection unit 303 detects the coordinate p of the measurement point in the ground coordinate system u of the reference object. u =(u x ,u y ,u z ) and the known coordinates of the reference object p u0 =(u x0 ,u y0 ,u z0 Here, when the reference object is a mark or an end point provided at a specific point on the wharf 102, or when a mark is provided at a specific point on the quay wall 101, the rail 3, or the belt conveyor 45 as the reference object, the distance measuring sensor 18, 19 measures the distance to the mark and obtains the distance measuring point coordinate p u =(u x ,u y ,u z ) and the known coordinates of the landmark p u0 =(u x0 ,u y0 ,u z0 ) error of each coordinate u x -u x0 , u y -u y0 , u z -u z0 Or, distance (u x -u x0 )^2+(u y -u y0 )^2+(uz -u z0 )^2)^0.5, etc. are detected as coordinate errors by the coordinate error detection unit 303. If a significant detection error is detected, the detection error is corrected or calibrated in the subsequent coordinate system correction unit 304.

[0076] On the other hand, when a reference object is provided over a certain range, such as a wharf 101, a rail 3, a belt conveyor 45, a long reflector, etc., the coordinates p u =(u x ,u y ,u z ) corresponds to which point on the reference object. In such a case, the coordinate error is detected based on a group of multiple distance measurement points obtained from the same distance measurement sensor 18, 19, rather than a single distance measurement point. As described above with reference to Figs. 4 and 5, one distance measurement sensor 18, 19 includes multiple laser emission units and can simultaneously measure a predetermined angle range (θ- to θ+ in Fig. 5) centered on the reference plane S. Therefore, when the distance measurement sensor 18, 19 measures the distance to a quay wall 101, a rail 3, a belt conveyor 45, a long reflector, etc. having a linear edge, a group of multiple distance measurement points arranged in a line corresponding to the edge and a group of multiple distance measurement points arranged in two planes that are perpendicular or intersecting each other corresponding to the planes on both sides of the edge are obtained. The coordinate error detection unit 303 detects the distance measurement point coordinate p of the reference object based on whether or not a line segment or plane formed by this group of distance measurement points overlaps with a known edge or plane of the reference object. u =(u x ,u y ,u z ) and the known coordinate p u0 =(u x0 ,u y0 ,u z0 ) is judged whether there is an error. If the end points (corners) of a reference object such as the conveyor belt 45 are included in the distance measurement range of the distance measurement sensors 18 and 19, the coordinates of the distance measurement points corresponding to the end points of the reference object can be easily identified, and the distance measurement points can be used as a reference to accurately compare the known shape features of the reference object with the group of distance measurement points. Details will be described later with regard to the processing by the coordinate system correction unit 304.

[0077] The coordinate system correction unit 304 corrects the relationship between the ground coordinate system u and the ranging unit coordinate systems l and d so as to reduce the error detected by the coordinate error detection unit 303. A correction model for correcting the relationship between the ranging unit coordinate system l and the ground coordinate system u is expressed by, for example, the following equation.

number

[0078] The first to third equations correspond to the first to third equations of the coordinate conversion equations by the coordinate conversion unit 302, but parameters that are likely to cause errors detected by the coordinate error detection unit 303 are corrected by the following correction parameters.

number

[0079] The first correction parameter R xyz (φ) is used to correct the error in the attitude of the distance measuring sensor 19. For example, the error in the attitude of the distance measuring sensor 19 is caused by an error in the installation of the distance measuring sensor 19, or by deformation of the lifting unit 9 due to changes in the external environment such as the weight of the lifting unit 9 itself or the bulk load M during loading, or changes in temperature, causing a change in the relationship between the distance measuring sensor 19 and the lifting unit 9. xyz Specifically, the 3 × 3 matrix R representing the rotation between the range finder coordinate system l and the relief coordinate system b is lb If the orientation of the actual distance measuring sensor 19 does not match the orientation of the actual distance measuring sensor 19, the 3 × 3 matrix R xyz (φ) by R lb is corrected, where R xyz The direction of the rotation axis and the rotation angle φ according to (φ) are calculated so as to minimize the misalignment in the attitude of the distance measuring sensor 19.

[0080] The second correction parameter b is used to correct the error in the position of the distance measurement sensor 19. For example, b corrects the error in the position of the distance measurement sensor 19 caused by an error in mounting the distance measurement sensor 19, or by deformation of the lifting unit 9 due to changes in the external environment such as the weight of the lifting unit 9 itself or the bulk load M being loaded, or changes in temperature, which changes the relationship between the distance measurement sensor 19 and the lifting unit 9. Specifically, the three-dimensional translation vector t connecting the origin of the distance measurement unit coordinate system l and the origin of the undulating unit coordinate system b is lb If t does not match the actual position of the distance measuring sensor 19, t is calculated by a three-dimensional translation vector b that minimizes the mismatch. lb Here, the direction and magnitude of b are calculated to minimize the misalignment of the position of the distance measuring sensor 19.

[0081] The third correction parameter ρ1 corrects errors in the hoisting angle θ1. For example, errors in the hoisting angle θ1 and errors in the angle sensor that measures the hoisting angle θ1 caused by deformation of the boom 7 and other parts due to changes in the relationship between the lifting unit 9 and the rotating frame 5 caused by changes in the weight of the lifting unit 9 itself or the bulk load M being loaded, changes in temperature, and other external environmental changes are corrected by ρ1. Specifically, if the hoisting angle θ1 does not match the actual hoisting angle of the boom 7, θ1 is corrected by a correction angle ρ1 that minimizes the mismatch. Here, the direction and magnitude of ρ1 are calculated to minimize the mismatch of the hoisting angle θ1.

[0082] The fourth correction parameter ρ2 corrects an error in the slewing angle θ2. For example, the error in the slewing angle θ2 caused by deformation of the slewing frame 5 and the like due to changes in the external environment such as the weight of the lifting unit 9 itself or the bulk load M being loaded, or changes in temperature, which changes the relationship between the slewing frame 5 and the traveling unit 2, or an error in the angle sensor measuring the slewing angle θ2, is corrected by ρ2. Specifically, when the slewing angle θ2 does not match the actual slewing angle of the slewing frame 5, θ2 is corrected by a correction angle ρ2 that minimizes the mismatch. Here, the direction and magnitude of ρ2 are calculated to minimize the mismatch of the slewing angle θ2.

[0083] The fifth correction parameter d is the length L of the boom 7 along the extension direction. b1 (In Fig. 7, the origin of the undulation coordinate system b and the undulation center O b For example, the length L caused by the deformation of the boom 7 due to changes in the external environment such as the weight of the lifting section 9 itself or the bulk load M being loaded, or temperature, is corrected. b1 The error of is corrected by d. Specifically, the length L b1 If L does not match the actual boom 7 length, the correction amount d that minimizes the mismatch is used to correct L b1 is corrected. Here, the direction and magnitude of d are the length L b1 The calculation is performed so as to minimize the mismatch of the center of undulations O b and the distance L in the y direction from the origin of the rotating part coordinate system r b3 and the distance in the z direction L p No correction parameters are set for the length of the boom 7, L b1 However, in order to perform more precise correction, the error that may occur is considered to be smaller than that of L b3 , distance L p A correction parameter may also be set for

[0084] In addition, the correction parameter c in the third equation of the correction model x , c y are the u of running part 2, x direction, u y For example, the error in the position of the running part 2 caused by the error in laying the rail 3 or the deformation of the running part 2 or the rail 3 due to the change in the external environment such as temperature is corrected by the error in the position of the running part 2. x , c y Specifically, the coordinates of the measurement point of the reference object calculated in the first and second terms on the right side of the third equation of the correction model are corrected by the u x direction, u y If the direction is not aligned with the actual position, the correction amount c that minimizes the misalignment x , c y The coordinates of the measurement point are corrected by c x , c yThe direction and magnitude of are calculated so as to minimize the mismatch of the distance measurement point coordinates. z The error in the position of the traveling part 2 in the direction is u x direction, u y Since it is considered to be small compared to the error in the position of the traveling part 2 in the u z Direction correction parameter c z However, in order to perform more precise correction, z Direction correction parameter c z may be set.

[0085] The correction parameters used in the above correction model are collectively represented as x as follows.

number

[0086] In addition, the three equations of the correction model above are expressed by the coordinates p of the measuring point in the measuring unit coordinate system l. l and the coordinates of the measurement point p in the ground coordinate system u u This can be transformed into the following equation, which expresses the relationship:

number

[0087] The notation in the second line is the rotation R between the range finder coordinate system l and the ground coordinate system u. lu and translation t lu The notation in the third line is the coordinates of the measuring point p in the measuring unit coordinate system l. l , the vector u = (θ1, θ2, x tl ), which is summarized as a function g with the correction parameter x as a variable.

[0088] The coordinate system correction unit 304 uses the above correction model to correct the relationship between the ground coordinate system u and the distance measurement unit coordinate system l so as to reduce the error detected by the coordinate error detection unit 303. Here, an example of correction using the belt conveyor 45 as the reference object will be described. As shown in FIG. 8, the belt conveyor 45 is u xLong side of direction and u y As shown in FIG. 2, the belt conveyor 45 is oriented in the vertical direction (u z It has a rectangular shape with height in the vertical direction.

[0089] The distance measurement point coordinate p in the distance measurement unit coordinate system l obtained by the distance measurement sensor 19 to be calibrated measuring the distance of the belt conveyor 45 at time k l Among the group, the side of the belt conveyor 45 (u y A set of distance measurement points corresponding to the upper surface (u z The set of distance measurement points corresponding to the surface (plane with normal direction) is expressed as follows:

number

number

[0090] On the other hand, in the ground coordinate system u, the u y Coordinates are d y , u y Let the normal vector in the direction be n y = (0, 1, 0), and the u z Coordinates are d z , u z Let the normal vector in the direction be n z =(0,0,1).

[0091] In this case, in the following error evaluation formula, n y gd y =n y p u -d y is the coordinate p of the measurement point on the side of the conveyor belt 45 converted into the ground coordinate system u. u u y Coordinates (n y p u ) and the known u on the side of the conveyor belt 45 y Coordinates (d y ) error, and n z gd z =nz p u -d z is the coordinate p of the measurement point on the top surface of the conveyor belt 45 converted into the ground coordinate system u. u u z Coordinates (n z p u ) and the known u on the top of the conveyor belt 45 z Coordinates (d z ) Therefore, the objective function E(x) in the error evaluation formula below is the sum of the total squared error of the distance measurement point coordinates on the side of the belt conveyor 45 and the average of the total squared error of the distance measurement point coordinates on the top surface of the belt conveyor 45 from time 1 to K.

number

[0092] If there is no error in the distance measurement point coordinates, the objective function E(x) will be 0, and there is no need to calibrate the distance measurement sensor 19. On the other hand, if there is an error in the distance measurement point coordinates, the objective function E(x) will have a positive value. In this case, the coordinate system correction unit 304 calibrates the distance measurement sensor 19 by searching for a correction parameter x that minimizes the objective function E(x).

[0093] The correction parameter x is a set of many correction parameters (φ, ρ1, ρ2, b, c x , c y , d), it may be difficult to uniquely find a solution x that minimizes the objective function E(x). Therefore, instead of minimizing E(x), we minimize the following equation with L2 regularization, where η is the regularization coefficient and N is the total number of points.

number

[0094] In addition to or instead of the error evaluation formula using the above objective function E(x), the root mean square error RMSE for the side of the belt conveyor 45 is y and the root mean square error (RMSE) for the top surface of the belt conveyor 45 zmay be evaluated individually and the correction parameter x may be adjusted so that they are minimized.

number

[0095] The above describes the method of calibrating distance measurement sensor 19 provided in distance measurement unit coordinate system l by coordinate system correction unit 304. Distance measurement sensor 18 provided in distance measurement unit coordinate system d can be calibrated in a similar manner. If "distance measurement sensor 19" is replaced with "distance measurement sensor 18" and "l" in the distance measurement unit coordinate system is replaced with "d", the above formulas and explanations apply almost directly to the calibration of distance measurement sensor 18. Note that in distance measurement sensor 18 provided in scraping unit 11, the rotation angle θ4 and bending angle θ5 of scraping unit 11 are added as parameters representing the state of CSU1, so that vector u representing the state of CSU1 becomes (θ1, θ2, θ4, θ5, x tl ) In addition, correction parameters ρ4 and ρ5 for θ4 and θ5 may be set in the same manner as the correction parameters ρ1 and ρ2 for θ1 and θ2.

[0096] In the above description of the calibration device 300, the coordinates of the distance measurement point p in the distance measurement unit coordinate system l, d are l , p d The coordinates of the measurement point p in the ground coordinate system u u In the above, the known coordinates of the reference object in the ground coordinate system u are converted to the distance measuring unit coordinate system l, d, and the error with the known coordinates of the reference object is detected, but the error detection may be performed in any coordinate system other than the ground coordinate system u. For example, the known coordinates of the reference object in the ground coordinate system u are converted to the distance measuring unit coordinate system l, d, and the distance measuring point coordinate p l , p d The error may be detected by converting the distance measurement point coordinates and the known coordinates of the reference object into a coordinate system intermediate between the distance measurement unit coordinate systems l, d and the ground coordinate system u, such as the undulating unit coordinate system b or the rotating unit coordinate system r. The error may be detected by converting the distance measurement point coordinates and the known coordinates of the reference object into any identical coordinate system other than the above coordinate systems.

[0097] Next, a second example of a correction model for correcting the relationship between the distance measurement unit coordinate system l and the ground coordinate system u by the coordinate system correction unit 304 will be shown. This correction model is expressed by the following equation.

number

[0098] Moreover, the correction parameters set in the second correction model are as follows:

number

number

[0099] The second correction model is intended to accurately correct in real time various errors that occur during lifting by the CSU 1. Examples of such real-time errors include the position and attitude of each part of the CSU 1 during lifting, the weight of each part of the CSU 1 itself and the bulk load M being loaded, external forces acting on each part of the CSU 1 during lifting, and the inclination of the lifting unit 9 and the twist of the boom 7 that occur due to changes in the external environment such as temperature. Also, backlash in the gears in the lifting and rotating parts may prevent the hoisting angle θ1 and the rotation angle θ2 from being measured accurately by the sensors.

[0100] In order to correct such real-time errors, the second correction model is added to the first correction model by a 3 × 3 matrix R bs , a 3 × 3 matrix R that corrects the torsion of the boom 7 y (ζ), the correction angles ξ1 and ξ2 for correcting the elevation angle θ1 and the turning angle θ2 are included as correction parameters. Here, R bs The parameters κ1 and κ2 in the figure represent the inclination angles of the lifting section 9 in the x and y directions, respectively, and R y The parameter ζ included in (ζ) represents the torsion angle of the boom 7. Note that the superscript k represents a discrete time, and the superscript m (=1 to M) represents the number of each distance measuring sensor 19.

[0101] The three equations of the second correction model above are expressed as follows: l and the coordinates of the measurement point p in the ground coordinate system u u This can be transformed into the following equation, which expresses the relationship:

number

[0102] In this formula, x (y and z) below corresponds to the correction parameter x in the first correction model, and the optimal one that minimizes the coordinate error can be found by the method described for the first correction model.

number

[0103] Meanwhile, v below is a correction parameter for correcting the real-time error additionally provided in the second correction model. Hereinafter, a method for finding an optimal correction parameter v that minimizes the real-time error will be described.

number

[0104] An error evaluation formula for finding the optimal correction parameter v is given, for example, as follows:

number

[0105] This error evaluation formula corresponds to the error evaluation formula of the first correction model with E(x) as the objective function. Here, i in the first term in the parentheses is the side (u y The number of the measurement points (1 to N) belonging to the set that represents the surface with the normal direction y ), and i in the second term in the parentheses represents the upper surface (u z The number of the measurement points (1 to N) belonging to the set that represents the surface with the normal direction z ) in the error evaluation formula for the first correction model.y , d z The side of the conveyor belt 45 marked u y Coordinate, top u z The coordinates here are β y , β z It is written as follows.

[0106] If there is no error in the distance measurement point coordinates, the objective function E(v) will be 0, and there is no need to calibrate the distance measurement sensor 19. On the other hand, if there is an error in the distance measurement point coordinates, the objective function E(v) will have a positive value. In this case, the coordinate system correction unit 304 calibrates the distance measurement sensor 19 in real time by searching for a correction parameter v that minimizes the objective function E(v).

[0107] In order to find the optimal correction parameter v, the following formula may be used:

number

[0108] The second term in the parentheses is a regularization term that has the effect of stabilizing the estimation of the correction parameter v. χ is a group of parameters that are set according to the required correction amount for each correction parameter, with values ​​that correspond to correction parameters with large required correction amounts being set small, and values ​​that correspond to correction parameters with small required correction amounts, such as when a good sensor is installed, being set large.

[0109] The third term in the brackets is the estimate v for the previous time k-1. k-1 By taking into account the difference between k γ is a parameter group that is set according to the amount of fluctuation of each correction parameter, and a value corresponding to a correction parameter with a large amount of fluctuation is set to be small, and a value corresponding to a correction parameter with a small amount of fluctuation is set to be large.

[0110] 9 is a flowchart showing an example of a calibration process for the distance measuring sensors 18, 19 by the calibration device 300. "S" in the flowchart indicates a step.

[0111] In S1, the calibration device 300 moves each movable part of the CSU 1 to one of the measurement positions P1 to P8 as shown in Fig. 8. In S2, the calibration device 300 causes the distance measuring sensors 18 and 19 to measure the distance to a reference object on the wharf 102 from the measurement position to which the CSU 1 moved in S1. At this time, while using the measurement position to which the CSU 1 moved in S1 as a reference, the hoisting angle θ1 of the boom 7, the swivel angle θ2 of the swivel frame 5, the rotation angle θ4 of the scraping unit 11, the bending angle θ5 of the scraping unit 11, the position x of the traveling unit 2, tl It is preferable to change each state parameter of the CSU 1 such as the above and measure the distance to the reference object while gradually changing the measurement attitude of the distance measuring sensors 18 and 19.

[0112] In S3, the distance measurement point coordinate acquisition unit 301 acquires the distance measurement point coordinates obtained by the distance measurement sensors 18 and 19 in S2. l belongs to the distance measurement unit coordinate system l, and the distance measurement point coordinate p of the distance measurement sensor 19 d belongs to the distance measurement unit coordinate system d. In S4, the distance measurement point coordinate acquisition unit 301 selects the side (u y A planar set of distance measurement points corresponding to the upper surface (u z A planar set of distance measurement points corresponding to a plane having a normal line in the direction of the target object (plane) or a line segment set of distance measurement points corresponding to a linear edge of a reference object such as a conveyor belt 45 is extracted.

[0113] In S5, the calibration device 300 calculates the state vector u=(θ1, θ2, θ4, θ5, x tl) is acquired. In S6, the calibration device 300 determines whether distance measurement has been completed at all measurement positions. If there are any measurement positions for which distance measurement has not been performed, the process returns to S1, and each movable part of the CSU1 moves to the next measurement position. As described above, the CSU1 while unloading from the ship 200 basically needs to be at the measurement position P1 in FIG. 8, so if calibration is performed in real time during unloading, the processes of S1 to S5 are executed for the measurement position P1, and the process proceeds to the subsequent S7. On the other hand, while the CSU1 is not unloading, such as before the ship 200 calls at port, the calibration accuracy can be improved by measuring the distance to the reference object at measurement positions P2 to P8 other than measurement position P1.

[0114] If it is determined in S6 that distance measurement at all measurement positions has been completed, in S7 the coordinate conversion unit 302 converts the distance measurement point coordinates in the distance measurement unit coordinate system l, d acquired in S3 and the known coordinates of the reference object in the ground coordinate system u into the same coordinate system based on the CSU state acquired in S5. In S8, the coordinate error detection unit 303 detects an error in the distance measurement point coordinates and the known coordinates of the reference object in the same coordinate system converted in S7.

[0115] In S9, the coordinate system correction unit 304 calculates correction parameters for correcting the relationship between the ground coordinate system u and the distance measurement unit coordinate systems l and d so as to reduce the error detected in S8. If the calibration is performed while the CSU1 is not unloading, it is preferable to calculate the correction parameter x using the first correction model. On the other hand, if the calibration is performed in real time while the CSU1 is unloading, it is preferable to calculate the dynamic correction parameter v in real time in addition to the static correction parameter x using the second correction model. In this case, the correction parameters x and v calculated in S9 are immediately applied to the CSU1, and after a certain time has elapsed, the process returns to S2 and the subsequent processes S2 to S9 (S6 is skipped) are repeated.

[0116] Next, a second embodiment of the present invention will be described. In the CSU1 according to the second embodiment, instead of / in addition to the distance measuring sensors 18 and 19 in the first embodiment, one or more cameras as a photographing unit for photographing a photographing object are provided at any position of the lifting unit 9 in any posture. The camera may be provided in the scraping unit 11 at the bottom of the lifting unit 9 like the distance measuring sensor 18, or may be provided in the upper part of the lifting unit 9 like the distance measuring sensor 19. The object photographed by the camera is not particularly limited, but when the CSU1 is lifted, the objects photographed 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 unit 11, the ship 200, other parts of the CSU1 such as the boom 7 / swivel frame 5 / traveling unit 2 / main operation room 16, the quay wall 101, the wharf 102, the rail 3, the belt conveyor 45, etc., as with the distance measuring sensors 18 and 19. By providing a camera in the lifting unit 9, it is possible to accurately grasp the positions of the edge of the opening 21, the ceiling / walls / bottom of the warehouse 201, the bulk cargo M and other objects, people / structures in 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 cargo M can be lifted efficiently.

[0117] Fig. 10 is a functional block diagram of a calibration device 300 according to the second embodiment. The calibration device 300 has the same configuration as the calibration device 300 according to the first embodiment, except that the ranging point coordinate acquisition unit 301 in Fig. 6 is replaced with a pixel coordinate acquisition unit 305.

[0118] The pixel coordinate acquisition unit 305 uses a camera to capture an image of a reference object whose coordinates are known in a ground coordinate system u based on the ground on which the traveling unit 2 travels, and acquires the pixel coordinates of the reference object in the pixel coordinate system in the acquired image. Here, the pixel coordinate system is a coordinate system that determines the positions of the pixels that make up an image, and in the case of a planar image, it is a two-dimensional orthogonal coordinate system, while in the case of a stereoscopic image obtained by a camera equipped with a ToF image sensor, it is a three-dimensional orthogonal coordinate system. Since a camera capable of capturing stereoscopic images can be used as the distance measurement sensors 18, 19 of the first embodiment, the following second embodiment will explain the case where the image captured by the camera is a planar image and the pixel coordinate system is a two-dimensional orthogonal coordinate system. The two orthogonal axes that make up the pixel coordinate system are the u axis and the v axis, and the pixel coordinate is expressed as q=(q u ,q v ) etc.

[0119] The reference object photographed by the pixel coordinate acquisition unit 305 for calibrating the mounting position and attitude of the camera may be any stationary object on the wharf 102, as in the first embodiment. The reference object in the image can be recognized by image recognition technology, and the pixel coordinate q of each point of the reference object can be acquired. In particular, since the current image recognition technology has high detection accuracy of lines (boundary lines, etc.) in an image, it is preferable to use a structure having a linear edge that is easy to detect as the reference object. Therefore, as in the first embodiment, a structure having a long linear edge such as the quay wall 101, the rail 3, the belt conveyor 45, etc. is suitable as the reference object. Also, a marker (mark) having a linear edge arranged along the rail 3, etc. may be used as the reference object. In this case, the pixel coordinate acquisition unit 305 acquires pixel coordinates of at least two points on the edge of the reference object. Note that the shape feature for which the pixel coordinate acquisition unit 305 acquires pixel coordinates is not limited to a straight line, and may be a curve, a dotted line, a chain line, a corner, a circle, an ellipse, a polygon, etc.

[0120] As in the first embodiment shown in Fig. 8, the pixel coordinate acquisition unit 305 can use the camera to sequentially capture images of reference objects on the wharf 102 while changing the position and attitude of each movable part of the CSU1. While the CSU1 is unloading in the basic attitude, it is at the image capture position P1 in Fig. 8, but while the CSU1 is not unloading in the basic attitude, it can also patrol other image capture positions P2 to P8 and capture a large number of pixel coordinates at different positions and attitudes, and the camera can be calibrated with high accuracy by the coordinate system correction unit 304 at the subsequent stage.

[0121] The coordinate conversion unit 302 converts pixel coordinates in the pixel coordinate system and known coordinates of the reference object in the ground coordinate system u into an identical coordinate system based on the relative position and attitude of the lifting unit 9 with respect to the camera, the relative position and attitude of the swivel frame 5 with respect to the lifting unit 9, and the relative position and attitude of the traveling unit 2 with respect to the swivel frame 5. In the following, the identical coordinate system to which the conversion is made is described as the pixel coordinate system, but it may be any other coordinate system including the ground coordinate system u, the swivel unit coordinate system r, the undulating unit coordinate system b, the ranging unit coordinate systems l and d, and the imaging unit coordinate system c described below. The coordinate conversion unit 302 converts the known coordinates of the reference object from the ground coordinate system u into coordinates (r) in the pixel coordinate system. u ,r v Specifically, the known coordinates p of the two end points of the linear edge of the reference object in the ground coordinate system u are transformed into u1 =(p u1x ,p u1y ,p u1z ), p u2 =(p u2x ,p u2y ,p u2z ) to the end point r1=(r 1u ,r 1v ), r2=(r 2u ,r 2v ) is projected onto

[0122] First, the coordinate conversion unit 302 converts p u ni p u1 , p u2 and the three-dimensional coordinate p of the camera coordinate system c based on the camera c (respectively p c1 , p c2Here, the image capture unit coordinate system c corresponds to the distance measurement unit coordinate system l, d in the first embodiment, and the coordinate conversion formula is the same as that explained in the first embodiment, except that the subscript representing the coordinate system has been changed to c. That is, t in the first formula cb and R cb is determined according to the position and posture of the camera installed on the lifting unit 9. Specifically, t cb is the three-dimensional translation vector connecting the origin of the imaging coordinate system c and the origin of the relief coordinate system b, and R cb is a 3 × 3 matrix that represents the difference in attitude, i.e., rotation, between the camera coordinate system c and the undulating coordinate system b. Note that the superscript k represents the time of shooting by the camera.

number

[0123] The two three-dimensional coordinates p in the imaging coordinate system c obtained by the above coordinate transformation c1 , p c2 is projected to pixel coordinates on the flat image according to the camera model. For example, if the camera follows the pinhole camera model, then its focal length f u , f v and image center c u , c v Assuming that is known, p c1 =(p c1x ,p c1y ,p c1z ) is r1=(r 1u ,r 1v ), and p c2 =(p c2x ,p c2y ,p c2z ) is r2=(r 2u ,r 2v )

[0124] r 1u =f u (p c1x / p c1z )+c u r 1v =f v (p c1y / pc1z )+c v r 2u =f u (p c2x / p c2z )+c u r 2v =f v (p c2y / p c2z )+c v

[0125] As described above, the coordinate conversion unit 302 converts the known coordinate p of the end point of the edge of the reference object in the ground coordinate system u into u1 =(p u1x ,p u1y ,p u1z ), p u2 =(p u2x ,p u2y ,p u2z ) is the coordinate p in the camera coordinate system c c1 =(p c1x ,p c1y ,p c1z ), p c2 =(p c2x ,p c2y ,p c2z ) to get the coordinate r1 = (r 1u ,r 1v ), r2=(r 2u ,r 2v ) was converted to

[0126] The coordinate error detection unit 303 detects pixel coordinates q=(q u ,q v ) and the known coordinates of the reference object r = (r u ,r v More specifically, the coordinate error detection unit 303 detects an error in the pixel coordinate system, q1=(q 1u ,q 1v ), q2=(q 2u ,q 2v ) on the image and the known coordinates r1 = (r 1u ,r 1v ), r2=(r2u ,r 2v For example, if the distance of point q1 to a known line segment connecting r1 and r2 is d1 and the distance of point q2 to the known line segment connecting r1 and r2 is d2, the coordinate error is detected based on the amount of deviation between the lines, such as d1+d2, d1^2+d2^2, (d1^2+d2^2)^0.5, etc.

[0127] The coordinate system correction unit 304 corrects the relationship between the ground coordinate system u and the pixel coordinate system so as to reduce the coordinate error detected by the coordinate error detection unit 303. As described above, the ground coordinate system u is related to the pixel coordinate system via the image capture unit coordinate system c. Here, since the image capture unit coordinate system c and the pixel coordinate system are related in an almost fixed manner by a pinhole camera model or the like, the main subject of correction is the relationship between the ground coordinate system u and the image capture unit coordinate system c. A correction model for correcting the relationship between the ground coordinate system u and the image capture unit coordinate system c is expressed by, for example, the following equation.

number

[0128] The first to third equations correspond to the first to third equations of the coordinate conversion equations by the coordinate conversion unit 302, but parameters that are likely to cause errors detected by the coordinate error detection unit 303 are corrected by the following correction parameters.

number

[0129] The purpose of these correction parameters is the same as in the first embodiment, and therefore the description will be omitted. As in the first embodiment, the correction parameters are collectively represented as x as follows.

number

[0130] In addition, the three equations of the correction model above are expressed as the three-dimensional coordinate p c and the three-dimensional coordinate p in the ground coordinate system u u This can be transformed into the following equation, which expresses the relationship:

number

[0131] Using the above correction model, the coordinate system correction unit 304 corrects the relationship between the ground coordinate system u and the pixel coordinate system so as to reduce the coordinate error detected by the coordinate error detection unit 303. For example, the coordinate system correction unit 304 finds an optimal correction parameter x that minimizes the objective function E(x) of the following error evaluation formula:

number

[0132] In this error evaluation formula, the subscript k represents the time of photographing by the camera, and the subscript i represents the number of multiple edges of the reference object. The first term on the right side is the sum of the squares of the distance d1 of the pixel coordinate q1 to the i-th known edge (line segment) photographed at time k, over time k and edge number i, and divided by 2. The second term on the right side is the sum of the squares of the distance d2 of the pixel coordinate q2 to the i-th known edge (line segment) photographed at time k, over time k and edge number i, and divided by 2. In this way, the above objective function E(x) reflects the magnitude of the error (distance) of the pixel coordinates with respect to the known edges of the reference object.

[0133] When there is no error in the pixel coordinates, the objective function E(x) is 0, and no camera calibration is required. On the other hand, when there is an error in the pixel coordinates, the objective function E(x) has a positive value. In this case, the coordinate system correction unit 304 calibrates the camera by searching for a correction parameter x that minimizes the objective function E(x).

[0134] Instead of minimizing E(x), the following equation, which has been regularized by a second order, may be minimized. This makes it possible to stably find the optimal solution x even when the number of captured images or the number of edges on the reference object is small. In this equation, Λ is a diagonal matrix, and N is the total number of distances obtained. In the diagonal matrix Λ, the components of x that correspond to correction parameters with a large required correction amount are set small, and the components that correspond to correction parameters with a small required correction amount are set large. Specifically, since the design values ​​of CSU1 are often stable, the components corresponding to φ and b related to the mounting position and orientation of the camera are set small, and ρ1, ρ2, c related to the design values ​​of CSU1 are set large. x , c y , d is preferably set to a large value.

number

[0135] The above correction model corresponds to the first correction model in the first embodiment. In the first embodiment, a second correction model for correcting various errors occurring during unloading of the CSU 1 in real time with high accuracy was also exemplified, but a second correction model can be configured in a similar manner in the second embodiment. The specific contents can be understood from the explanation of the first embodiment, so a redundant explanation will not be given here.

[0136] FIG. 11 is a flowchart showing an example of a camera calibration process performed by the calibration device 300 according to the second embodiment.

[0137] In S11, the calibration device 300 moves each movable part of the CSU1 to one of the photographing positions P1 to P8 as shown in Fig. 8. In S12, the calibration device 300 causes the camera to photograph a reference object on the wharf 102 from the photographing position to which the CSU1 moved in S11. At this time, the hoisting angle θ1 of the boom 7, the swivel angle θ2 of the swivel frame 5, the rotation angle θ4 of the scraping unit 11, the bending angle θ5 of the scraping unit 11, the position x of the traveling unit 2, and the like are adjusted based on the photographing position to which the CSU1 moved in S11. tl It is preferable to change each state parameter of CSU1 such as the above and change the shooting attitude of the camera little by little while shooting the reference object.

[0138] In S13, the pixel coordinate acquisition unit 305 extracts shape features of the reference object reflected in the image captured in S12. Examples of shape features include straight lines, curved lines, dotted lines, chain lines, corners, end points, circles, ellipses, polygons, etc. In S14, the pixel coordinate acquisition unit 305 acquires pixel coordinates on the shape features extracted in S13.

[0139] In S15, the calibration device 300 calculates the state vector u=(θ1, θ2, θ4, θ5, x tl ) is acquired. In S16, the calibration device 300 judges whether or not imaging at all imaging positions has been completed. If there are any imaging positions that have not yet been imaged, the process returns to S11, and each movable part of the CSU1 moves to the next imaging position. As described above, since the CSU1 while unloading from the ship 200 basically needs to be at the imaging position P1 in FIG. 8, if calibration is to be performed in real time during unloading, the processes of S11 to S15 are executed for the imaging position P1, and the process proceeds to the subsequent S17. On the other hand, while the CSU1 is not unloading, such as before the ship 200 calls at port, the calibration accuracy can be improved by also imaging the reference object at imaging positions P2 to P8 other than the imaging position P1.

[0140] If it is determined in S16 that photographing at all photographing positions has been completed, in S17, the coordinate conversion unit 302 converts the pixel coordinates in the pixel coordinate system acquired in S14 and the known coordinates of the reference object in the ground coordinate system u into the same coordinate system based on the CSU state acquired in S15. In S18, the coordinate error detection unit 303 detects an error between the pixel coordinates and the known coordinates of the reference object in the same coordinate system converted in S17.

[0141] In S19, the coordinate system correction unit 304 determines a correction parameter for correcting the relationship between the ground coordinate system u and the pixel coordinate system so as to reduce the error detected in S18. Here, if calibration is performed while the CSU1 is not unloading, it is preferable to determine the correction parameter x using the first correction model. On the other hand, if calibration is performed in real time while the CSU1 is unloading, it is preferable to determine the dynamic correction parameter v in real time in addition to the static correction parameter x using the second correction model. In this case, the correction parameters x and v determined in S19 are immediately applied to the CSU1, and after a certain time has elapsed, the process returns to S12 and the subsequent processes S12 to S19 (S16 is skipped) are repeated.

[0142] Next, a third embodiment of the present invention will be described. In the CSU1 according to the third embodiment, a plurality of distance measuring sensors described in the first embodiment and a plurality of cameras described in the second embodiment are provided at different positions of the CSU1 as detection units for detecting detection objects, and calibration is performed between each detection unit. In the first and second embodiments, the detection unit (distance measuring sensor or camera) is provided in the lifting unit 9, but in the third embodiment, the detection unit is provided at any position of the CSU1, not limited to the lifting unit 9. For example, the detection unit may be provided in the boom 7, the revolving frame 5, the traveling unit 2, the counterweight 13, the main operation room 16, etc.

[0143] Hereinafter, one of any pair of detection units to be calibrated will be referred to as the first detection unit and the other as the second detection unit. The first detection unit and the second detection unit are each composed of a distance measurement sensor or a camera. Therefore, there may be cases where both the first detection unit and the second detection unit are distance measurement sensors, where both the first detection unit and the second detection unit are cameras, or where one of the first detection unit and the second detection unit is a distance measurement sensor and the other is a camera. The difference between a distance measurement sensor and a camera is manifested as the difference in the coordinate system to which the coordinates of the detection object detected by each belong.

[0144] The coordinate system of the object detected by the distance measuring sensor provided in the lifting unit 9 is the distance measuring unit coordinate system l, d described in the first embodiment. If the distance measuring sensor is provided in the boom 7 or the like, it is the elevation unit coordinate system b, if the distance measuring sensor is provided in the revolving frame 5 or the like, it is the revolving unit coordinate system r, and if the distance measuring sensor is provided in the traveling unit 2 or the like, it is the traveling unit coordinate system u. The coordinate system of the object detected by the camera is the pixel coordinate system described in the second embodiment. As described in the second embodiment, the pixel coordinate system is related to the photographing unit coordinate system c by a pinhole camera model or the like. Furthermore, the photographing unit coordinate system c is related to the elevation unit coordinate system b, the revolving unit coordinate system r, and the ground coordinate system u depending on the installation position of the camera. Hereinafter, the coordinate system based on the first detection unit is referred to as the first detection unit coordinate system, and the coordinate system based on the second detection unit is referred to as the first detection unit coordinate system. As described above, the first detection unit coordinate system and the second detection unit coordinate system may be the ranging unit coordinate system, the undulating unit coordinate system, the rotating unit coordinate system, the ground coordinate system, and the pixel coordinate system (or the image capture unit coordinate system), respectively, but as described in detail in the first and second embodiments, equations for mutually converting these coordinate systems are given. Therefore, the first detection unit coordinate system and the second detection unit coordinate system are mutually convertible.

[0145] Fig. 12 is a functional block diagram of a calibration device 300 according to the third embodiment. A first detection unit coordinate acquisition unit 306 detects a detection object with a first detection unit and acquires the first detection unit coordinates in the first detection unit coordinate system. When the first detection unit is a distance measurement sensor, the first detection unit coordinate acquisition unit 306 functions as the distance measurement point coordinate acquisition unit 301 of the first embodiment (Fig. 6), and when the first detection unit is a camera, the first detection unit coordinate acquisition unit 306 functions as the pixel coordinate acquisition unit 305 of the second embodiment (Fig. 10). A second detection unit coordinate acquisition unit 307 detects a detection object with a second detection unit and acquires the second detection unit coordinates in the second detection unit coordinate system. When the second detection unit is a distance measurement sensor, the second detection unit coordinate acquisition unit 307 functions as the distance measurement point coordinate acquisition unit 301 of the first embodiment (FIG. 6), and when the second detection unit is a camera, the second detection unit coordinate acquisition unit 307 functions as the pixel coordinate acquisition unit 305 of the second embodiment (FIG. 10).

[0146] The calibration device 300 of the third embodiment acquires the detection unit coordinates of the same detection object by a first detection unit coordinate acquisition unit 306 and a second detection unit coordinate acquisition unit 307, converts them into the same coordinate system by a coordinate conversion unit 302, and then detects coordinate errors by a coordinate error detection unit 303 and corrects the coordinate system by a coordinate system correction unit 304.

[0147] In the first and second embodiments, a reference object on the wharf 102 is used as a detection target for calibrating the detection unit, but in the third embodiment, the detection target detected in common by the first and second detection units is not limited to the reference object on the wharf 102, and may be any object that each detection unit can detect at the same time or different times. For example, in Fig. 2, the edge of the opening 21, the ceiling / wall / bottom of the shiphouse 201, bulk cargo M and other objects, people / structures in the shiphouse 201, the ship 200, each part of the CSU 1 such as the lifting unit 9 / boom 7 / rotating frame 5 / traveling unit 2 / main operation room 16, the quay 101, the wharf 102, the rail 3, the belt conveyor 45, etc. can be used as common detection targets for the first and second detection units to calibrate each detection unit. In addition, when the first detection unit and the second detection unit perform detection at the same time, objects that change greatly over time, such as bulk cargo M and people in the warehouse 201, can also be used as the detection objects; however, when the first detection unit and the second detection unit perform detection at different times, it is preferable to use other objects that change little over time as the detection objects.

[0148] The coordinate conversion unit 302 converts the first detection unit coordinates in the first detection unit coordinate system and the second detection unit coordinates in the second detection unit coordinate system into the same coordinate system based on the relative positions and attitudes of the first detection unit and the second detection unit. Regarding the conversion of the coordinate systems, the conversion formulas between the ranging unit coordinate systems l and d and the undulating unit coordinate system b, the rotating unit coordinate system r, and the ground coordinate system u were shown in the first embodiment, and the conversion formulas between the pixel coordinate system and the measuring unit coordinate system c and the undulating unit coordinate system b, the rotating unit coordinate system r, and the ground coordinate system u were shown in the second embodiment. By combining these conversion formulas, the coordinates of both detection units can be converted into the same coordinate system regardless of whether the first detection unit coordinate system and the second detection unit coordinate system are the ranging unit coordinate system, the undulating unit coordinate system, the rotating unit coordinate system, the ground coordinate system, or the pixel coordinate system. The same coordinate system converted by coordinate conversion unit 302 may be the first detection unit coordinate system, the second detection unit coordinate system, or any coordinate system other than the first detection unit coordinate system and the second detection unit coordinate system.

[0149] The coordinate error detection unit 303 detects an error between the first detection unit coordinates and the second detection unit coordinates in the same coordinate system converted by the coordinate conversion unit 302. When a distance measurement sensor is used as the first detection unit and / or the second detection unit, the coordinate error can be detected based on the shape characteristics such as edges and planes of the detection object constituted by the distance measurement point cloud as described in the first embodiment. When a camera is used as the first detection unit and / or the second detection unit, the coordinate error can be detected based on the shape characteristics (straight lines, curves, dotted lines, chain lines, corners, end points, circles, ellipses, polygons, etc.) of the detection object shown in the image as described in the second embodiment.

[0150] The coordinate system correction unit 304 corrects the relationship between the first detection unit coordinate system and the second detection unit coordinate system so that the error detected by the coordinate error detection unit 303 is reduced. In the first embodiment, an error evaluation formula and an objective function E(x) that minimize the error based on the shape characteristics of the detection object (error related to the side and top surface of the belt conveyor 45) in the ground coordinate system u, which is a three-dimensional coordinate system, are shown. In the second embodiment, an error evaluation formula and an objective function E(x) that minimize the error based on the shape characteristics of the detection object (error related to the line segment corresponding to the edge of the reference object) in the pixel coordinate system, which is a two-dimensional coordinate system, are shown. With these error evaluation formulas and E(x), it is possible to find an optimal correction parameter x that minimizes the coordinate error, whether the coordinate error detection by the coordinate error detection unit 303 and the coordinate system correction by the coordinate system correction unit 304 are performed in a three-dimensional coordinate system (e.g., a ranging unit coordinate system, an undulating unit coordinate system, a rotating unit coordinate system, a ground coordinate system, or an imaging unit coordinate system) or a two-dimensional coordinate system (e.g., a pixel coordinate system).

[0151] In the objective function E(x) of the first and second embodiments, there is one detection unit to be calibrated, but in the objective function E(x) of this embodiment, there are two (pairs) detection units to be calibrated, so the correction parameter x includes two φ related to the mounting orientation of each detection unit and two b related to the mounting position of each detection unit, as shown below. In the following example, φ related to the orientation of the first detection unit in the distance measurement unit coordinate system l is l , b for position l and φ c , b for position c is included in the correction parameter x.

number

[0152] Fig. 13 is a flowchart showing an example of a calibration process of the first detection unit and the second detection unit by the calibration device 300 according to the third embodiment. Fig. 13(A) is a flowchart showing mutual calibration of the multiple detection units while the CSU 1 is not unloading cargo, such as before the ship 200 calls at port, and Fig. 13(B) is a flowchart showing mutual calibration of the multiple detection units in real time while unloading cargo from the ship 200.

[0153] In S21, the calibration device 300 moves each movable part of the CSU 1 to one of the arbitrary detection positions. In the first and second embodiments, as shown in Fig. 8, each movable part of the CSU 1 is moved to a predetermined detection position P1 to P8 so that each detection unit can detect a reference object on the wharf 102, such as a rail 3, at a different position and attitude. On the other hand, in this embodiment, the detection object detected by the first detection unit and the second detection unit is not limited to a reference object on the wharf 102 and may be any object, so that the detection object does not necessarily have to be detected at the predetermined detection positions P1 to P8 and can be detected at any detection position.

[0154] In S22, the calibration device 300 causes the first and second detection units to detect the detection object from the detection position to which the CSU1 moved in S21. Here, if the detection object is within the detection ranges of both the first and second detection units at the detection position of S21, both detection units detect the detection object at the same time. Also, if the detection object is within the detection range of only one of the detection units, only that one detection unit detects the detection object (first time). The other detection unit detects the detection object when the CSU1 moves to another detection position in S21, which is executed again at a later time (second time). In this way, according to the calibration device 300 of this embodiment, multiple detection units can be mutually calibrated based on the detection unit coordinates (S24) acquired at different first and second times.

[0155] In S23, the first detection unit coordinate acquisition unit 306 and the second detection unit coordinate acquisition unit 307 extract shape features of the detected object from the detection data obtained in S22. In S24, the first detection unit coordinate acquisition unit 306 and the second detection unit coordinate acquisition unit 307 acquire the first detection unit coordinates and the second detection unit coordinates corresponding to the shape features extracted in S23.

[0156] In S25, the calibration device 300 calculates the state vector u=(θ1, θ2, θ4, θ5, x tl In S26, the calibration device 300 judges whether or not detection has been completed at all detection positions. If there are any undetected detection positions, the process returns to S21, and each movable part of the CSU 1 moves to the next detection position.

[0157] If it is determined in S26 that detection at all detection positions has been completed, in S27, a coordinate conversion unit 302 converts the first detection unit coordinates and the second detection unit coordinates acquired in S24 into the same coordinate system based on the relative positions and orientations of the first detection unit and the second detection unit that can be recognized from the CSU state acquired in S25. In S28, a coordinate error detection unit 303 detects an error between the first detection unit coordinates and the second detection unit coordinates in the same coordinate system converted in S27.

[0158] In S29, coordinate system correction unit 304 determines correction parameters for correcting the relationship between the first detection unit coordinate system and the second detection unit coordinate system so as to reduce the error detected in S28. Here, in Fig. 13(A) where calibration is performed while CSU1 is not lifting a load, it is not necessary to use the second correction model that takes into account the real-time error that occurs during lifting, and it is preferable to use the simpler first correction model.

[0159] In FIG. 13(B), where calibration is performed in real time while the CSU1 is unloading, each movable part of the CSU1 moves to the unloading position (for example, P1 in FIG. 8) in the first S30. Then, the same processes S22 to 25 and 27 to 29 as those in FIG. 13(A) are executed. In the correction of the coordinate system in S29, it is preferable to use a second correction model that takes into account real-time errors occurring during unloading. The static correction parameter x and the dynamic correction parameter v obtained in S29 are immediately applied, and the detection part is calibrated in real time during unloading. In S30, the calibration device 300 judges whether unloading has been completed. Thereafter, the processes S22 to 25 and 27 to 29 are repeated until unloading is completed.

[0160] In the above repeated process, the CSU1 stops at a predetermined unloading position (e.g., P1 in FIG. 8). In such a case, in the first and second embodiments in which a reference object on the wharf 102 is used to calibrate the detection unit, there are limitations on the acquisition of detection data (distance measurement point coordinates, pixel coordinates) for calibration depending on the mounting position and attitude of the detection unit. For example, at the unloading position P1 in FIG. 8, the distance measurement sensors 192 and 193 cannot measure the distance to the reference object, and therefore they cannot be calibrated in real time during unloading.

[0161] However, in this embodiment, the detection object used to calibrate the detection unit may be any object, so the distance measuring sensors 192, 193 can also perform distance measurement for calibration in real time during unloading. For example, as shown in Fig. 5, the distance measuring sensors 192, 193 can detect a ship 200, an opening 21, a shiphouse 201, etc. during unloading. If a camera serving as a detection unit capable of photographing these detection objects is provided on the boom 7, etc., mutual calibration can be performed between the camera and the distance measuring sensors 192, 193. In this way, the calibration device 300 of the third embodiment is suitable for use in calibrating the detection unit in real time during unloading of the CSU 1.

[0162] On the other hand, in the case of calibrating the detectors while the CSU 1 is not discharging cargo, such as before the ship 200 arrives at port, the calibration device 300 of the first and second embodiments, which individually calibrates each detector based on an absolute reference object on the wharf 102, is suitable. Therefore, it is preferable to perform absolute calibration based on the reference object of the first and second embodiments when the CSU 1 is not discharging cargo, and to perform relative calibration based on the multiple detectors of the third embodiment when the CSU 1 is discharging cargo. Similarly, it is preferable to perform absolute calibration based on the reference object of the first and second embodiments when the lifting unit 9 is not above the ship 200 due to the rotation of the rotating frame 5, and to perform relative calibration based on the multiple detectors of the third embodiment when the lifting unit 9 is above the ship 200 due to the rotation of the rotating frame 5. It is also preferable to perform absolute calibration based on the reference object of the first and second embodiments when the lifting unit 9 is above land due to the rotation of the swivel frame 5, and to perform relative calibration based on the multiple detection units of the third embodiment when the lifting unit 9 is not above land due to the rotation of the swivel frame 5.

[0163] Next, a fourth embodiment of the present invention will be described. In the CSU1 according to the fourth embodiment, an abnormality detection device 400 is provided that detects an abnormality of the CSU1 based on the position of a detection target detected by a detection unit (range sensor or camera) provided at an arbitrary position of the CSU1, as in the third embodiment. Here, types of abnormalities of the CSU1 detected by the abnormality detection device 400 include changes in the mounting position and posture of the detection unit, deformation and changes in the relative positions and postures of each part of the CSU1 such as the lifting unit 9 / boom 7 / swivel frame 5 / travel unit 2, deformation of the rail 3 on which the travel unit 2 moves, changes in the elevation angle θ1 / swivel angle θ2 / rotation angle θ4 / bending angle θ5 / travel position x tl Examples include the discrepancy between the manipulated variable and the measured variable of the state parameter of CSU1.

[0164] 14 is a functional block diagram of an anomaly detection device 400. The anomaly detection device 400 includes a detection unit coordinate acquisition unit 401, a coordinate conversion unit 402, a position storage unit 403, a position comparison unit 404, an anomaly detection unit 405, and an anomaly estimation unit 406.

[0165] The detection unit coordinate acquisition unit 401 detects a detection target object with a detection unit and acquires the detection unit coordinates in a detection unit coordinate system based on the detection unit. Here, the detection unit is composed of a distance measurement sensor or a camera. As in the third embodiment, the number of detection units provided in the CSU 1 is arbitrary, and the mounting positions and postures of the detection units are also arbitrary. For example, each detection unit is mounted on the lifting unit 9, the boom 7, the revolving frame 5, the traveling unit 2, the counterweight 13, the main operation room 16, etc. Also, as in the third embodiment, the detection target object detected by the detection unit may be any object, not limited to a reference object on the wharf 102. 2, the detection objects can be the edge of the opening 21, the ceiling / walls / bottom of the shipyard 201, bulk cargo M and other objects, people / structures in the shipyard 201, the ship 200, various parts of the CSU 1 such as the lifting section 9 / 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. Also, the number of detection objects can be arbitrary.

[0166] The detection unit coordinate system based on the detection unit differs depending on the installation location of the detection unit and whether it is a distance measurement sensor or a camera. When the detection unit is a distance measurement sensor provided on the lifting unit 9, the distance measurement unit coordinate system l, d described in the first embodiment becomes the detection unit coordinate system. Similarly, when the detection unit is a distance measurement sensor provided on the boom 7 or the like, the elevation unit coordinate system b becomes the detection unit coordinate system, when the detection sensor is provided on the revolving frame 5 or the like, the revolving unit coordinate system r becomes the detection unit coordinate system, and when the detection sensor is provided on the traveling unit 2 or the like, the ground coordinate system (or the moving unit coordinate system) u becomes the detection unit coordinate system. Also, when the detection unit is a camera, the pixel coordinate system described in the second embodiment becomes the detection unit coordinate system. As described above, the detection unit coordinate systems from which each detection unit acquires the detection unit coordinates may differ from each other, but as described in the first to third embodiments, an equation for mutually converting these respective coordinate systems is given. The coordinate conversion unit 402 described next performs coordinate conversion for comparing the detection unit coordinates acquired from different detection units in the same coordinate system. The same coordinate system to which the conversion is made is arbitrary, and may be any of the distance measurement unit coordinate system, the elevation unit coordinate system, the rotation unit coordinate system, the ground coordinate system, the pixel coordinate system, and the image capture unit coordinate system described in the first to third embodiments, or any other coordinate system. In the following, an example in which the coordinate conversion unit 402 converts each detection unit coordinate from each detection unit coordinate system to the ground coordinate system u will be described.

[0167] The coordinate conversion unit 402 converts the detection unit coordinates acquired by the detection unit coordinate acquisition unit 401 from the detection unit coordinate system to the ground coordinate system u based on the relative positions and attitudes of the detection unit and the traveling unit 2. If the detection unit is provided in the ground coordinate system (or the moving unit coordinate system) u, coordinate conversion is not necessary. In addition, in the position comparison process at the subsequent stage, when comparing detection unit coordinates (positions) acquired by the same detection unit at different times, or when comparing detection unit coordinates (positions) acquired by multiple detection units provided at the same location (e.g., the unloading unit 9) of the CSU1, position comparison is possible while keeping the detection unit coordinate system, so conversion to the ground coordinate system u is not necessarily required. However, as described later, since it is possible to estimate an abnormality by tracing the calculation process of the coordinate conversion, it is preferable to perform coordinate conversion by the coordinate conversion unit 402 even when comparing detection unit coordinates derived from the same detection unit coordinate system.

[0168] Position storage unit 403 stores the detection unit coordinates converted into the ground coordinate system u by coordinate conversion unit 402 as position data of the detection object. Hereinafter, the position data of the detection object stored in position storage unit 403 will be expressed as P(k,m,n). Here, k represents a discrete detection time, m (=1 to M) represents the number of the detection unit, and n (=1 to N) represents the number of the detection object (or each detection target point on the detection object). Therefore, position data P(k,m,n) represents the position where the mth detection unit detected the nth detection object at time k.

[0169] The position comparison unit 404 compares a plurality of position data of the same detection object stored in the position storage unit 403, or compares the position data stored in the position storage unit 403 with the position data of the same detection object newly detected by the detection unit. In the latter case, the newly detected position data does not need to be stored in the position storage unit 403, but for convenience, the above notation P(k,m,n) is also used for the position data. Here, assuming that the nth detection object is the position comparison object, the first position data of the comparison object is expressed as P(k1,m1,n), and the second position data of the comparison object is expressed as P(k2,m2,n). That is, the first position data represents the position where the m1th detection unit detected the nth detection object at time k1 (first time), and the second position data represents the position where the m2th detection unit detected the nth detection object at time k2 (second time).

[0170] Here, the first time k1 and the second time k2 may be the same time. In this case, position data P(k0,m1,n) and P(k0,m2,n) in which different detection units (m1≠m2) detect the same detection object (n) at the same time (k0=k1=k2) are compared. Also, the first time k1 and the second time k2 may be different times. In this case, position data P(k1,m0,n) and P(k2,m0,n) in which the same detection object (n) is detected by the same detection unit (m0=m1=m2) at different times (k1≠k2) may be compared, or position data P(k1,m1,n) and P(k2,m2,n) in which different detection units (m1≠m2) detect the same detection object (n) at different times (k1≠k2) may be compared. In this way, the position comparison unit 404 can compare the position data P(k, m, n) between different detection times or different detection units.

[0171] In the position comparison process of the position comparison unit 404, as described with respect to the coordinate error detection unit 303 in the first to third embodiments, the error between both position data P(k1, m1, n) and P(k2, m2, n) may be detected based on the shape characteristics of the detected object constituted by the detection point group (the ranging point group by the ranging sensor or the pixel group by the camera).

[0172] The abnormality detection unit 405 detects an abnormality in the CSU1 when the difference between the first position data P(k1, m1, n) and the second position data P(k2, m2, n) compared by the position comparison unit 404 is equal to or greater than a certain value. The first position data P(k1, m1, n) and the second position data P(k2, m2, n) are the detection unit coordinates of the same detection target (n) transformed into the same coordinate system (ground coordinate system u), and therefore normally match. Conversely, when the difference between them is equal to or greater than a certain value, there is a high possibility that an abnormality has occurred in the CSU1, and the abnormality detection unit 405 notifies the operator in the main operation room 16 of this fact.

[0173] When detecting an abnormality in CSU1, anomaly detection unit 405 refers to the comparison results of multiple position data pairs. As described above, there are multiple position data pairs P(k1, m1, n), P(k2, m2, n) for evaluating the difference in the detection position of the nth detection object, depending on the combination of detection times k1, k2 and detection unit numbers m1, m2. Also, since there are a total of N detection objects (n = 1 to N), the number of position data pairs that can be referred to when detecting an abnormality in CSU1 increases accordingly. In this way, the total number of position data pairs that anomaly detection unit 405 can refer to when detecting an abnormality in CSU1 is set to N p Let us assume that.

[0174] The criteria for the anomaly detection unit 405 to detect an anomaly in the CSU1 based on the comparison results of a plurality of pairs of position data can be set arbitrarily. For example, p Among the location data pairs, a certain number (e.g. half (N p It is determined that an abnormality has occurred in CSU1 when the difference between the position data pairs (at least half (N / 2)) of the N detection objects is at least a certain level. It is also focused on the detection objects, and it is determined that an abnormality has occurred in CSU1 when the difference between the position data pairs of a certain number or more (for example, at least half (N / 2)) of the N detection objects is at least a certain level. It is also focused on the detection units, and it is determined that an abnormality has occurred in CSU1 when the difference between the position data pairs detected by a certain number or more (for example, at least half (M / 2)) of the M detection units is at least a certain level. In this way, by the abnormality detection unit 405 referring to the comparison results of multiple position data pairs when detecting an abnormality in CSU1, it is possible to prevent erroneous detection due to accidental events such as disturbances temporarily occurring at a specific time k, a detection unit with a specific number m, or a detection object with a specific number n, or detection of a foreign object.

[0175] When the anomaly detection unit 405 detects an anomaly, the anomaly estimation unit 406 traces the calculation process in the coordinate conversion unit 402 and estimates the type of anomaly that has occurred in the CSU 1. Specifically, the type of anomaly is estimated, such as a change in the mounting position or posture of the detection unit, deformation of each part of the CSU 1 or a change in the relative position or posture, deformation of the rail 3 on which the traveling unit 2 moves, or a discrepancy between the manipulated variable and the measured variable of the state parameters of the CSU 1.

[0176] The abnormality estimation unit 406 performs correction processing based on the first correction model or the second correction model executed by the coordinate system correction unit 304 of the third embodiment for the error of the position data (detection unit coordinates) detected by the position comparison unit 404. As a result of the correction processing based on the first correction model, an optimal correction parameter x that minimizes the objective function E(x) is obtained. As shown in the third embodiment, the correction parameter x includes φ related to the attitude and b related to the position of each detection unit that generated the position data compared by the position comparison unit 404, ρ1 related to the elevation angle θ1, ρ2 related to the turning angle θ2, c related to the position of the traveling unit 2, x , c y , length L of boom 7 b1 Includes d etc.

[0177] The abnormality estimation unit 406 can estimate the location and cause of the abnormality by observing the changes in each of these correction parameters before and after the occurrence of the abnormality. That is, if φ changes significantly before and after the occurrence of the abnormality, it is understood that an abnormality has occurred in the attitude of the detection unit, if b changes significantly before and after the occurrence of the abnormality, it is understood that an abnormality has occurred in the position of the detection unit, if ρ1 changes significantly before and after the occurrence of the abnormality, it is understood that an abnormality has occurred in the operation system or sensor for the elevation angle θ1, if ρ2 changes significantly before and after the occurrence of the abnormality, it is understood that an abnormality has occurred in the operation system or sensor for the rotation angle θ2, and if c x , c y If d changes significantly before and after the occurrence of an abnormality, it can be determined that an abnormality has occurred in the running section 2 or the rail 3, and if d changes significantly before and after the occurrence of an abnormality, it can be determined that deformation of the boom 7, etc. has occurred.

[0178] Furthermore, when the abnormality estimation unit 406 performs a correction process based on the second correction model, in addition to the above correction parameter x, an optimal correction parameter v that minimizes the objective function E(v) is obtained. As shown in the first embodiment, the correction parameter v includes ξ1 related to the real-time error of the hoisting angle θ1, ξ2 related to the real-time error of the slewing angle θ2, κ1 and κ2 related to the inclination of the lifting unit 9, and ζ related to the twist of the boom 7. As in the above, if ξ1 changes significantly before and after the occurrence of an abnormality, it is understood that a real-time error has occurred in the operation system or sensor of the hoisting angle θ1, if ξ2 changes significantly before and after the occurrence of an abnormality, it is understood that a real-time error has occurred in the operation system or sensor of the slewing angle θ2, if κ1 and κ2 change significantly before and after the occurrence of an abnormality, it is understood that a tilt has occurred in the lifting unit 9, and if ζ changes significantly before and after the occurrence of an abnormality, it is understood that a twist has occurred in the boom 7.

[0179] The anomaly detection unit 405 notifies the operator in the main operation room 16 of the location and cause of the anomaly estimated by the anomaly estimation unit 406 along with the fact that the anomaly has occurred. This allows the operator to quickly take action to investigate and resolve the anomaly. Furthermore, when the optimal correction parameters x and v change due to the occurrence of an anomaly, the anomaly estimation unit 406 may immediately apply the changed optimal correction parameters x and v to the CSU1, as in the coordinate system correction unit 304 in the first to third embodiments, to attempt to resolve the anomaly.

[0180] Fig. 15 is a flowchart showing an example of an anomaly detection process by the anomaly detection device 400 according to the fourth embodiment. Fig. 15(A) is a flowchart for storing normal position data while the CSU 1 is not unloading cargo, such as before the ship 200 calls at port, and Fig. 15(B) is a flowchart for detecting an anomaly that occurs in the CSU 1 while unloading cargo from the ship 200.

[0181] The process of Fig. 15(A) is as follows. In S41, the anomaly detection device 400 moves each movable part of the CSU 1 to one of the arbitrary detection positions. As in the third embodiment, the detection object detected by the detection part is not limited to the reference object on the wharf 102 and may be any object, so the detection position is not limited to P1 to P8 shown in Fig. 8.

[0182] In S42, the anomaly detection device 400 causes the detection unit to detect the detection object from the detection position to which the CSU1 was moved in S41. In S43, the detection unit coordinate acquisition unit 401 extracts the shape characteristics of the detection object from the detection data obtained in S42. In S44, the detection unit coordinate acquisition unit 401 acquires the detection unit coordinates corresponding to the shape characteristics extracted in S43.

[0183] In S45, the anomaly detection device 400 calculates the state vector u=(θ1, θ2, θ4, θ5, x tl In S46, the abnormality detection device 400 judges whether or not detection has been completed at all detection positions. If there are any undetected detection positions, the process returns to S41, and each movable part of the CSU 1 moves to the next detection position.

[0184] If it is determined in S46 that detection at all detection positions has been completed, in S47 the coordinate conversion unit 402 converts the detection unit coordinates acquired in S44 from the detection unit coordinate system to the ground coordinate system u based on the CSU state acquired in S45. In S48, the position storage unit 403 stores the detection unit coordinates converted into the ground coordinate system u in S47 as position data P(k,m,n) of the detected object.

[0185] The process of Fig. 15(B) is as follows. In S49, each movable part of the CSU 1 moves to the unloading position (for example, P1 in Fig. 8). Thereafter, the same processes S42 to 45 and 47 as those in Fig. 15(A) are executed. In S50, the position comparison unit 404 compares the first position data P(k1, m1, n) of the detection object in the normal state stored in S48 with the second position data P(k2, m2, n) of the same detection object (n) newly acquired in S44 of Fig. 15(B).

[0186] In S51, the abnormality detection unit 405 determines that an abnormality has occurred in CSU1 when the difference between the first position data P(k1, m1, n) and the second position data P(k2, m2, n) compared in S50 is equal to or greater than a certain value. If it is determined that an abnormality has occurred in S51, the process proceeds to S52, where the abnormality estimation unit 406 traces the calculation process of the coordinate conversion in S47 by applying a predetermined correction model to the error in the position data detected in S50, and estimates the type of abnormality that has occurred in CSU1. In S53, the abnormality detection unit 405 notifies the operator in the main operation room 16 of the occurrence of the abnormality together with the type of abnormality estimated in S52.

[0187] As described above, the anomaly detection device 400 according to this embodiment can effectively detect and report an anomaly that occurs while the CSU1 is unloading in Fig. 15(B) by using as a reference the position data of the object to be detected during normal times that is recorded while the CSU1 is not unloading in Fig. 15(A). Furthermore, by using the correction models described in the first to third embodiments, the type of anomaly that occurs in the CSU1 can be specifically identified.

[0188] 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.

[0189] 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.

[0190] 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]

[0191] 1 Lifting unit (CSU), 2 Traveling unit, 3 Rail, 5 Swivel frame, 7 Boom, 9 Lifting unit, 11 Scraping unit, 14 Elevator body, 16 Main operation room, 18 Distance measurement sensor, 19 Distance measurement sensor, 21 Opening, 45 Belt conveyor, 101 Quay, 102 Pier, 191-193 Distance measurement sensor, 200 Ship, 201 Warehouse, 300 Calibration device, 301 Distance measurement point coordinate acquisition unit, 302 Coordinate conversion unit, 303 Coordinate error detection unit, 304 Coordinate system correction unit, 305 Pixel coordinate acquisition unit, 306 First detection unit coordinate acquisition unit, 307 Second detection unit coordinate acquisition unit, 400 Abnormality detection device, 401 Detection unit coordinate acquisition unit, 402 Coordinate conversion unit, 403 Position memory unit, 404 Position comparison unit, 405 Anomaly detection unit, 406 anomaly estimation unit.

Claims

1. A discharge device for discharge of cargo from a ship, comprising: A moving part movable relative to the ship; A rotating unit that is rotatable relative to the moving unit; A discharge section provided on the rotating section and configured to discharge the cargo; A detection unit that detects an object; a position storage unit that stores a position of a detection object detected by the detection unit at a first time as a first position; a position comparison unit that compares a second position, which is a position of the detection object detected by the detection unit at a second time, with the first position; an abnormality detection unit that detects an abnormality when a difference between the first position and the second position is equal to or greater than a certain value; Equipped with The detection unit is provided in the discharge unit, a detection unit coordinate acquisition unit that detects the detection object by the detection unit and acquires detection unit coordinates in a detection unit coordinate system based on the detection unit; a coordinate conversion unit that converts the detection unit coordinates from the detection unit coordinate system into a ground coordinate system based on the ground on which the moving unit moves, based on a relationship of the discharge unit with respect to the detection unit, a relationship of the rotation unit with respect to the discharge unit, and a relationship of the moving unit with respect to the rotation unit; An unloading device, wherein the first position and the second position are positions of the detected object in the ground coordinate system transformed by the coordinate transformation unit.

2. The unloading device as described in claim 1, further comprising an abnormality estimation unit that, when the abnormality detection unit detects an abnormality, traces the calculation process in the coordinate conversion unit and estimates whether an abnormality has occurred in the relationship of the discharge unit to the detection unit, the relationship of the rotating unit to the discharge unit, or the relationship of the moving unit to the rotating unit.

3. 3. The unloading device according to claim 1, wherein the first position and the second position are positions of the object detected by a same detection unit, and the first time is earlier than the second time.

4. The detection unit includes a first detection unit and a second detection unit provided at a position different from that of the first detection unit, The first position is a position of the object detected by the first detection unit, and the second position is a position of the object detected by the second detection unit. An unloading device according to any one of claims 1 to 3.

5. There are a plurality of detection objects, The anomaly detection unit detects an anomaly when a difference between the first position and the second position of a certain number or more of detection objects is equal to or greater than a certain value. An unloading device according to any one of claims 1 to 4.

6. The detection unit includes a plurality of detection units provided at different positions, The anomaly detection unit detects an anomaly when a difference between the first position and the second position detected by a certain number or more of detection units is equal to or greater than a certain value. An unloading device according to any one of claims 1 to 5.

7. The moving part is movable along a predetermined trajectory, The detection object is a structure arranged along the track. An unloading device according to any one of claims 1 to 6.

8. The unloading device according to claim 7, wherein the object to be detected is a railroad track constituting the track.

9. 9. The unloading device according to claim 1, wherein the detection object is a conveyor that transports the unloaded cargo in a fixed direction.

10. 10. The unloading apparatus according to claim 1, wherein the position comparison unit compares the first position with the second position when the discharge unit is not discharging the load.

11. A moving part that is movable relative to the ship; A rotating unit that is rotatable relative to the moving unit; A discharge section provided on the rotating section for discharging cargo from the ship; A detection unit that detects an object; An abnormality detection method for an unloading device comprising: a position storage step of storing a position of the detection object detected by the detection unit at a first time as a first position; a position comparison step of comparing a second position, which is a position of the detection object detected by the detection unit at a second time, with the first position; an anomaly detection step of detecting an anomaly when a difference between the first position and the second position is equal to or greater than a certain value; Equipped with The detection unit is provided in the discharge unit, a detection unit coordinate acquisition step of detecting the detection object by the detection unit and acquiring detection unit coordinates in a detection unit coordinate system based on the detection unit; a coordinate conversion step of converting the detection unit coordinates from the detection unit coordinate system to a ground coordinate system based on the ground on which the moving unit moves, based on a relationship of the discharge unit to the detection unit, a relationship of the rotation unit to the discharge unit, and a relationship of the moving unit to the rotation unit; An abnormality detection method for an unloading device, wherein the first position and the second position are positions of the detection object in the ground coordinate system transformed in the coordinate transformation step.

12. A moving part that is movable relative to the ship; A rotating unit that is rotatable relative to the moving unit; A discharge section provided on the rotating section for discharging cargo from the ship; A detection unit that detects an object; An abnormality detection program for an unloading device comprising: a position storage step of storing a position of the detection object detected by the detection unit at a first time as a first position; a position comparison step of comparing a second position, which is a position of the detection object detected by the detection unit at a second time, with the first position; an anomaly detection step of detecting an anomaly when a difference between the first position and the second position is equal to or greater than a certain value; Run the following on your computer: The detection unit is provided in the discharge unit, a detection unit coordinate acquisition step of detecting the detection object by the detection unit and acquiring detection unit coordinates in a detection unit coordinate system based on the detection unit; a coordinate conversion step of converting the detection unit coordinates from the detection unit coordinate system to a ground coordinate system based on the ground on which the moving unit moves, based on a relationship of the discharge unit to the detection unit, a relationship of the rotation unit to the discharge unit, and a relationship of the moving unit to the rotation unit; An abnormality detection program for an unloading device, wherein the first position and the second position are positions of the detection object in the ground coordinate system transformed in the coordinate transformation step.

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