LOADING SYSTEM AND CONTROL METHOD FOR LOADING SYSTEM

Abstract

To provide a loading system and a control method for the loading system with which cargoes stored in a warehouse can be automatically loaded onto a load-carrying platform of a vehicle.SOLUTION: A control device 600 makes a rear face range finder 200 measure a measuring object, and causes a crane device 500 to transfer a coil 800 to the vicinity of the measuring object on the basis of a first position that is a measurement result of position of the measuring object measured by the rear face range finder 200. Further, the control device makes a moving device 400 move a lateral face range finder 300 to a position where the first position enters a visual field on the basis of the first position, and obtains a distance of a gap between the coil 800 and the measuring object on the basis of a second position including a result of measurement of a position of the coil 800 transferred by the crane device 500 and a result of measurement of the position of the measuring object measured by the lateral face range finder 300 moved by the moving device 400. On the basis of the distance of the gap, the control device causes the crane device 500 to bring the coil 800 closer to the measuring object and place the coil on a load-carrying platform 720.SELECTED DRAWING: Figure 1

Description

[Technical field]

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

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

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

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

[0005] Here, the reason why the loading work cannot be automated is that the stopping position of the truck or the like is different each time, and the information for controlling the crane device (for example, target coordinates) cannot be fixed. In addition, the height of the loading platform differs depending on the type of truck, etc., and the height of the loading platform changes (decreases) as the coils, etc. are loaded onto the loading platform due to the weight of the coils, etc.

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

[0007] The present invention has been made in consideration of the above circumstances, and an exemplary object of the present invention is to provide a loading system and a control method for a loading system that can automatically load cargo stored in a warehouse onto the bed of a vehicle. [Means for solving the problem]

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

[0009] A loading system that automatically loads cargo onto a loading platform of a vehicle having a loading platform on one side of a first direction in a horizontal plane from outside the vehicle, A first measuring device that is arranged in a position overlooking the platform from the one side of the first direction and has a position measuring function; a second measurement device that is arranged at a position overlooking the vehicle from the side of the vehicle, is movable, and has a position measurement function; a moving device that moves the second measuring device; A transport device that transports the load from outside the vehicle to the loading platform; a control device that controls the first measuring device and the second measuring device, controls the moving device based on a result of measurement by the first measuring device, and controls the transporting device based on the result of measurement by the first measuring device and the second measuring device; Equipped with The vehicle has a measurement target for determining a target coordinate when the load is transported from outside the vehicle to the loading platform by the transporting device, The control device includes: causing the first measuring device to measure the measurement target; transporting the cargo to the vicinity of the measurement target by the transport device based on a first position that is a result of measuring the position of the measurement target by the first measuring device; moving the second measurement device to a position where the first position is in a field of view by the moving device based on the first position; determining a distance between the load and the measurement object based on a second position including a result of measuring the position of the load transported by the transporting device and a result of measuring the position of the measurement object by the second measuring device moved by the moving device; Based on the distance of the gap, the transport device moves the cargo toward the measurement target and lands it on the loading platform.

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

[0011] According to the present invention, it is possible to provide a loading system and a control method for a loading system that can automatically load cargo stored in a warehouse onto the bed of a vehicle. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a schematic diagram showing an overall configuration of a loading system according to an embodiment; [Diagram 2] FIG. 1A is a schematic side view showing the arrangement of a rear ranging device according to an embodiment; FIG. [Diagram 3] FIG. 1A is a schematic front view of a moving device according to an embodiment; FIG. [Figure 4]FIG. 1A is a perspective view of a coil according to an embodiment; FIG. 1B is a top view of a restricting member and a pair of skids; and FIG. 1C is a side view of the restricting member and the skids. [Diagram 5] Block diagram of a loading system according to an embodiment. [Figure 6] FIG. 1A is a schematic diagram illustrating coordinates in the lateral direction and the elevation direction of an embodiment; FIG. 1B is a schematic diagram illustrating coordinates in the travel direction and the distance of the gap; and FIG. 1C is a schematic diagram illustrating how to calculate the distance of the gap. [Figure 7] Flowchart showing loading processing according to an embodiment DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

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

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

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

[0016] The loading system 100 of this embodiment includes a rear distance measuring device 200 which is a first measuring device, a side distance measuring device 300 which is a second measuring device, a moving device 400, a crane device 500 which is a transporting device, and a control device 600. The coil yard 900 has a vehicle entrance / exit 910, a ceiling 912 (see FIG. 2), and a floor surface 914. The truck 700 has a cabin 710 and a loading platform 720.

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

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

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

[0020] 2A is a schematic side view showing the arrangement of the rear distance measuring device 200. The rear distance measuring device 200 is aligned along a central axis C indicated by a dashed line. v1 (Optical axis) direction is perpendicular to the above and below, with angle θ v1 and has a field of view of θ h1The rear distance measuring device 200 has a field of view of 100 mm (not shown). Here, the rear distance measuring device 200 is disposed so that the vertical direction is substantially the same as the lifting direction of the present embodiment. The rear distance measuring device 200 has a central axis C v1 and the floor surface 914 form an angle θ 1 The angle θ v1 For example, 38.4 degrees, angle θ 1 is, for example, 30 degrees, but is not limited to these values.

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

[0022] <Side distance measuring device> The side ranging device 300 is also, for example, a three-dimensional LiDAR. The side ranging device 300 has an irradiation unit 320, a receiving unit 340, and a control unit 360 (see FIG. 5). The functions of the irradiation unit 320, the receiving unit 340, and the control unit 360 are similar to those of the irradiation unit 220, the receiving unit 240, and the control unit 260, so their explanations are omitted. However, since the side ranging device 300 of this embodiment measures a relative value (difference) of the gap distance described later, it does not need to correspond to the world coordinate system, and it is sufficient if three-dimensional coordinates can be calculated in the local coordinate system.

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

[0024] 2B is a schematic rear view of the side distance measuring device 300 as seen from one side (rear side) in the traveling direction. For the sake of explanation, the cabin 710 of the truck 700 is omitted. The side distance measuring device 300 is aligned along a central axis C indicated by a dashed line. v2 (Optical axis) direction is perpendicular to the above and below, with angle θ v2 and has a field of view of θ h2 The side distance measuring device 300 has a field of view of 100 mm (not shown). Here, the side distance measuring device 300 is disposed so that the vertical direction is substantially the same as the lifting direction of the present embodiment. The side distance measuring device 300 is also disposed on the central axis C v2 is arranged so as to be substantially parallel to the floor surface 914. v2 The field of view of the side distance measuring device 300 is, for example, 38.4 degrees, but is not limited to this value. The side distance measuring device 300 is attached to the moving device 400. When the truck 700 is viewed from the side distance measuring device 300, the right side in the lateral direction corresponds to the rear side, and the left side corresponds to the front side. The field of view of the side distance measuring device 300 is indicated by a dashed line F in FIG. 2(a). v2 Shown as:

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

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

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

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

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

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

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

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

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

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

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

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

[0037] (coil) Here, the coil 800 will be described. FIG. 4(a) is a perspective schematic diagram of the coil 800. The coil 800 is also called a steel strip, and is made of steel or other metals (e.g., aluminum, copper, titanium, etc.) wound into a coil shape, and is shipped to be processed into various products. The coil 800 has a cylindrical shape with a width value and a diameter value known in advance, and is stored in a coil yard 900 so that the central axis Cr of the cylindrical shape is approximately aligned with the traveling direction. The coil 800 is loaded onto a loading platform 720 of a truck 700 so that the central axis Cr is approximately aligned with the traveling direction. The coil 800 has a surface 810 that is approximately perpendicular to the central axis Cr, and a surface 820 on the opposite side to the surface 810. Here, the surface 810 of the coil 800 corresponds to a second surface that faces a surface 742 (see FIG. 4(b) and the like) of a regulating member 740 described later. The length of the coil 800 in the direction of the central axis Cr is called a width Wc. The thickness Dr of the coil 800 is the outer radius R of the coil 800. c1 and the inner radius R c2The difference between c1 -R c2 ) The coil 800 has a hole 830 formed by an inner diameter portion. The weight of the coil 800 depends on the material, thickness Dr, and width Wc, but is, for example, 1t to 20t. When the coil 800 is transported to the target coordinates described later, the coil 800 is oriented so that the surface 820 faces the rear distance measuring device 200.

[0038] Information about the coil 800 stored in the coil yard 900 (e.g., the identification number of the coil 800) is linked to information about the three-dimensional coordinates in the world coordinate system indicating the position of the coil 800, and is stored in the ROM, RAM, etc., by the control device 600 as a table, for example.

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

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

[0041] The control unit 540 can transmit and receive information to and from the control device 600 via a wired or wireless communication network (not shown), and controls various operations of the crane device 500 according to the control of the control device 600. When the control device 600 inputs the three-dimensional coordinates of the coil 800 and the target coordinates of the transport destination, the control unit 540 controls the crane device 500 to move to the position of the coil 800, lift the coil 800, and transport the lifted coil 800 to the target coordinates. The control unit 540 has, for example, a CPU, a ROM, a RAM, a timer, and the like. The control unit 540 uses the RAM as a temporary working area according to various programs stored in the ROM, monitors various timings with a timer, and performs various calculations with the CPU to control the crane device 500. Note that the movement, transport, and the like of the crane device 500 are controlled by known controls, and a description thereof will be omitted.

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

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

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

[0045] <Regulation members and skids> 4(b) and (c) are diagrams for explaining the regulating member 740 and a pair of skids 760, where (b) is a schematic diagram of the truck 700 viewed from above, and (c) is a schematic diagram of the truck 700 viewed from the left side. In FIG. 4(b), the state when the coil 800 is loaded on the loading platform 720 is shown by a broken line. A regulating member 740 that regulates the movement of the coil 800 in the traveling direction is arranged on the loading platform 720 of the truck 700. The regulating member 740 is also used for positioning the coil 800 in the traveling direction. In addition, a pair of skids 760 that are a pair of elongated parallel support members that support the coil 800 with the traveling direction as the longitudinal direction when arranged on the loading platform 720 of the truck 700 are arranged on the loading platform 720. In this embodiment, the regulating member 740 and the pair of skids 760 are measurement targets of the back distance measuring device 200.

[0046] The regulating member 740 has a surface 742, which is a first surface facing the back surface distance measuring device 200. Each of the pair of skids 760 has an upper surface 762 and a notch 764 (see FIG. 6(a)). The pair of skids 760 are arranged so that the notch 764 faces each other (see FIG. 6(a)). In other words, the pair of skids 760 are arranged so that each notch 764 faces the center of the pair of skids 760. When multiple coils 800 are loaded onto the loading platform 720, a new regulating member 740a is installed close to the surface 820 of the coil 800 already loaded, as shown by the dotted line in FIG. 4(b). Then, in order to load the next coil 800a, the back surface distance measuring device 200 measures the surface 742a of the regulating member 740a.

[0047] <Loading system block diagram> FIG. 5 is a block diagram of the loading system 100. The control device 600 transmits a control command to the control unit 260 of the back distance measuring device 200 to cause the back distance measuring device 200 to measure a first position (hereinafter referred to as the first position of the measurement target), which is the position of the measurement target. When the control unit 260 of the back distance measuring device 200 receives the control command from the control device 600, it causes the irradiation unit 220 to irradiate laser light and receives a reflected wave from the reception unit 240. The control unit 260 calculates the first position of the measurement target and outputs the three-dimensional coordinates of the measurement target to the control device 600 in the world coordinate system. Note that the control between the control device 600 and the side distance measuring device 300 is similar, so a description thereof will be omitted. However, the side distance measuring device 300 transmits the gap distance described later to the control device 600.

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

[0049] The control device 600 transmits the three-dimensional coordinates of the first position input from the back surface distance measuring device 200 to the control unit 450 of the moving device 400. The control unit 450 of the moving device 400 controls the driving unit 460 to move the horizontal moving unit 420 and the vertical moving unit 430 according to the three-dimensional coordinates input from the control device 600.

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

[0051] <Overview of Loading Control> Using Fig. 6, automatic loading control of the coil 800 onto the bed 720 of the truck 700 using the loading system 100 of this embodiment will be described. Fig. 6(a) is a schematic diagram for explaining the coordinates in the lateral direction and the elevation direction, (b) is a schematic diagram for explaining the coordinates in the traveling direction and the distance of the gap, and (c) is a schematic diagram for explaining how to obtain the distance of the gap. Note that Fig. 6(a) shows the state when the crane device 500 transports the coil 800 to the target coordinates with a dashed line.

[0052] (Measurement using rear ranging device and transporting coil) The control device 600 causes the rear distance measuring device 200 to measure the first positions of the regulating member 740 and the pair of skids 760, which are the measurement targets, and determines the target coordinates on the platform 720 of the truck 700 when the crane device 500 transports the coil 800. At this time, the control device 600 measures the regulating member 740 and the pair of skids 760, which are the measurement targets, and determines the coordinates of the first positions, specifically, the first coordinate, the second coordinate, and the third coordinate.

[0053] As shown in FIG. 6(b), the first coordinate is a coordinate in the travel direction and is obtained based on the position of the regulating member 740 measured by the back distance measuring device 200. For example, the first coordinate is the coordinate of the surface 742 of the regulating member 740 in the travel direction. As shown in FIG. 6(a), the second coordinate is a coordinate in the lateral direction and is obtained based on the positions of the pair of skids 760 measured by the back distance measuring device 200. For example, the second coordinate is the coordinate of the approximate center of the pair of skids 760 in the lateral direction. The third coordinate is a coordinate in the elevation direction and is obtained based on the positions of the pair of skids 760 measured by the back distance measuring device 200. For example, the third coordinate is the coordinate of the upper surface 762 of the pair of skids 760 in the elevation direction.

[0054] The control device 600 calculates a coordinate obtained by adding half the value of the width Wc of the coil 800 and an offset value to the first coordinate, a diameter (2×R c1 As described above, the width Wc and diameter (2×R c1 ) is a known value. Target coordinate in travel direction (x) = 1st coordinate + coil width / 2 + offset value Target coordinate in the horizontal direction (y) = second coordinate Target coordinate in the lifting direction (z) = 3rd coordinate + coil diameter Here, an offset value is added to the target coordinate in the traveling direction because, if the offset value is not added, there is a risk of the coil 800 coming into contact with the regulating member 740 on the underside. Also, an offset value is not added in the lateral direction and elevation direction because it is considered that errors occurring during measurement by the rear distance measuring device 200 are absorbed by the notches 764 of the pair of skids 760. Note that offset values ​​may also be added in the lateral direction and elevation direction. The value obtained by adding half the coil width to the offset value corresponds to the shift value.

[0055] The control device 600 transmits the above-mentioned target coordinates to the control unit 540 of the crane device 500, and the crane device 500 transports the coil 800 to the target coordinates, which are in the vicinity of the regulating member 740 and the pair of skids 760 (in other words, in the vicinity of the first position). When the coil 800 is transported to the target coordinates, it is preferable that the central axis Cv is approximately parallel to the traveling direction. However, there are cases where the central axis Cv of the coil 800 is not approximately parallel to the traveling direction. This point will be described with reference to FIG. 6(c).

[0056] (Moving the mobile device) Based on the above-mentioned first position, the control device 600 moves the side distance measuring device 300 by the moving device 400 to a position where the regulating member 740 and the coil 800, i.e., the first position, are in the field of view. Specifically, the control device 600 moves the side distance measuring device 300 by the moving device 400 to a position where the surface 810 of the coil 800 is in the field of view of the side distance measuring device 300. Note that in this embodiment, for ease of explanation, it is assumed that the moving device 400 moves the side distance measuring device 300 only in the traveling direction based on the first coordinate, which is the coordinate of the traveling direction.

[0057] (Measured using a side ranging device) The control device 600 obtains the gap distance between the coil 800 and the regulating member 740 based on the second position including the result of measuring the position of the coil 800 after transportation and the result of measuring the position of the measurement target by the side distance measuring device 300 moved by the moving device 400. As shown in FIG. 3(c), the control device 600 obtains the distance on one end side (e.g., the front side) and the distance on the other end side (e.g., the back side) in the lateral direction as the distance between the surface 742 of the regulating member 740 and the surface 810 of the coil 800 by the side distance measuring device 300. Specifically, the side distance measuring device 300 measures the distance Ln between the surface 742 and the surface 810 at the front side edge 746 of the upper surface 744 of the regulating member 740. The side distance measuring device 300 measures the distance Lf between the surface 742 and the surface 810 at the back side edge 748 of the upper surface 744 of the regulating member 740. The side distance measuring device 300 determines the gap distance ΔLg as the average value Lav of the distance Ln on one end side and the distance Lf on the other end side, and transmits the gap distance ΔLg to the control device 600. This makes it possible to accurately calculate the gap distance ΔLg even if the central axis Cr of the coil 800 is not parallel to the running direction, as shown in FIG. 6(c).

[0058] (Coil placement and attachment) The control device 600 moves the crane apparatus 500 forward in the travel direction by the gap distance ΔLg to move the coil 800 closer to the regulating member 740 (hereinafter also referred to as a front-moving operation). The control device 600 lowers the crane apparatus 500 to land the coil 800 on the platform 720. The control device 600 causes the crane apparatus 500 to release the arm 584. If there is another coil 800 to be loaded, the control device 600 repeats the above-mentioned operation. On the other hand, if there is no next coil 800 to be loaded, the control device 600 returns the crane apparatus 500 to a predetermined position (a waiting area, etc.) (hereinafter referred to as a home position).

[0059] <Loading process> 7 is a flow chart for explaining the loading process of this embodiment. When the truck 700 enters the coil yard 900 through the vehicle entrance 910 and stops at a predetermined position, and the operator inputs the start of automatic loading through the operation unit 610, the control device 600 starts the process from step (hereinafter, referred to as S) 100 onwards. In S100, the control device 600 transmits three-dimensional coordinates indicating the position of the coil 800 to be loaded onto the loading platform 720 of the truck 700 to the control unit 540 of the crane device 500, and moves the crane device 500 to the position of the coil 800. In S102, the control device 600 causes the control unit 260 of the rear distance measuring device 200 to scan the field of view, specifically the loading platform 720 of the truck 700.

[0060] In S104, the control device 600 obtains the coordinates of the first position by the back surface distance measuring device 200. Specifically, the back surface distance measuring device 200 obtains the coordinate of the surface 742 of the regulating member 740 in the travel direction as the first coordinate, the approximate center (illustrated as skid center) of the pair of skids 760 as the second coordinate, and the upper surface 762 of the pair of skids 760 as the third coordinate. In S106, the control device 600 obtains target coordinates based on the coordinates of the first position obtained in S104. Specifically, the control device 600 adds half the coil width and an offset value to the first coordinate to obtain the target coordinate in the travel direction, the second coordinate to obtain the target coordinate in the lateral direction, and the third coordinate to obtain the target coordinate in the elevation direction.

[0061] In S108, the control device 600 transmits the coordinates of the first position determined in S104 to the moving device 400, and transmits the target coordinates determined in S106 to the crane device 500. In S110, the control device 600 causes the crane device 500 to grasp the coil 800 and transport the coil 800 to the target coordinates. After the crane device 500 transports the coil 800 to the target coordinates, the control device 600 temporarily stops the transportation. In addition, the control device 600 causes the moving device 400 to move the side distance measuring device 300 to a position corresponding to the first position, and causes the side distance measuring device 300 to wait.

[0062] In S112, the control device 600 causes the side distance measuring device 300 to scan the regulating member 740 and the coil 800. In S114, the control device 600 calculates the gap distance ΔLg between the regulating member 740 and the coil 800 by the method described in FIG. 6(c). In S116, the control device 600 moves the crane device 500 forward in the traveling direction by the gap distance ΔLg calculated in S114, and performs a front-close operation to bring the coil 800 closer to the regulating member 740. In S118, the control device 600 causes the crane device 500 to lower the coil 800, and lands the coil 800 on the pair of skids 760 and the loading platform 720. In S120, the control device 600 releases the arm 584 of the crane device 500.

[0063] In S122, the control device 600 judges whether there is a coil 800 to be loaded next. If the control device 600 judges that there is a coil 800 to be loaded next in S122, the process returns to S100. If the control device 600 judges that there is no coil 800 to be loaded next, the process proceeds to S124. In S124, the control device 600 returns the crane device 500 to the home position and ends the loading process. If there is a coil 800 to be loaded next in S122, the control device 600 waits for a new regulating member 740a to be abutted against and installed on the surface 820 of the coil 800 loaded on the loading platform 720, and then performs the processes from S100 onward. For example, when the control device 600 receives an input from the operator via the operation unit 610 that the installation of the regulating member 740a has been completed, the control device 600 performs the processes from S100 onward.

[0064] As described above, according to the present embodiment, it is possible to provide a loading system and a control method for a loading system that can automatically load cargo stored in a warehouse onto the bed of a vehicle.

[0065] Although the preferred embodiments of the present invention have been described above, the present invention is not limited to these, and various modifications and changes are possible within the scope of the gist of the present invention.

[0066] For example, in the above embodiment, the rear ranging device 200 is fixed in position, but it does not have to be fixed. For example, the rear ranging device 200 may be disposed so as to be movable in parallel in one, two or three directions among the traveling direction, the lateral direction and the ascending / descending direction.

[0067] In addition, when the rear distance measuring device 200 and the side distance measuring device 300 are stopped (fixed) at a predetermined position, the vertical center axis C v1 , C v2 For example, the rear ranging device 200 and the side ranging device 300 may be configured to be able to rotate in one or both of the vertical and horizontal directions while the rear ranging device 200 and the side ranging device 300 are stopped at a predetermined position.

[0068] Moreover, although the moving device 400 is configured to move in the horizontal and vertical directions, it may be configured to be movable in a direction substantially perpendicular to the horizontal and vertical directions (a lateral direction in this embodiment).

[0069] In addition, the regulating member 740 and the pair of skids 760 are set as the measurement targets of the rear distance measuring device 200, but are not limited thereto. The measurement target may be anything that exists within the range of the platform 720 of the truck 700 in the running direction and the lateral direction and at a position higher than the height of the platform 720 in the elevation direction, and may be, for example, a mark that can be measured by the rear distance measuring device 200.

[0070] Furthermore, in the flowchart of FIG. 7, the process of S100 and the processes of S102 to S108 may be performed in any order, or may be performed in parallel.

[0071] The present invention includes the following objects. [Objective 1] The loading system of the present invention comprises: A loading system that automatically loads cargo onto a loading platform of a vehicle having a loading platform on one side of a first direction in a horizontal plane from outside the vehicle, A first measuring device that is arranged in a position overlooking the platform from the one side of the first direction and has a position measuring function; a second measurement device that is arranged at a position overlooking the vehicle from the side of the vehicle, is movable, and has a position measurement function; a moving device that moves the second measuring device; A transport device that transports the load from outside the vehicle to the loading platform; a control device that controls the first measuring device and the second measuring device, controls the moving device based on a result of measurement by the first measuring device, and controls the transporting device based on the result of measurement by the first measuring device and the second measuring device; Equipped with The vehicle has a measurement target for determining a target coordinate when the load is transported from outside the vehicle to the loading platform by the transporting device, The control device includes: causing the first measuring device to measure the measurement target; transporting the cargo to the vicinity of the measurement target by the transport device based on a first position that is a result of measuring the position of the measurement target by the first measuring device; moving the second measurement device to a position where the first position is in a field of view by the moving device based on the first position; determining a distance between the load and the measurement object based on a second position including a result of measuring the position of the load transported by the transporting device and a result of measuring the position of the measurement object by the second measuring device moved by the moving device; Based on the distance of the gap, the transport device moves the cargo toward the measurement target and lands it on the loading platform.

[0072] [Objective 2] the vehicle includes a restricting member disposed on the loading platform and restricting movement of the load in the first direction; and a pair of elongated, parallel support members disposed on the loading platform and supporting the load when the load is placed on the loading platform with the first direction as a longitudinal direction; the measurement objects are the regulating member and the pair of supporting members, The control device includes: determining a first coordinate based on the position of the regulating member measured by the first measuring device; determining second and third coordinates based on the positions of the pair of support members measured by the first measuring device; the first coordinate is a coordinate in the first direction, the second coordinate is a coordinate in a second direction substantially perpendicular to the first direction in the horizontal plane, The third coordinate may be a coordinate in a third direction substantially perpendicular to the first direction and the second direction.

[0073] [Objective 3] the regulating member has a first surface facing the first measuring device, The control device includes: a position measured on the first surface by the first measuring device is defined as the first coordinate; a position measured by the first measuring device at approximately the center of the pair of support members in the second direction is defined as the second coordinate; The positions of the upper surfaces of the pair of support members measured in the third direction by the first measuring device may be set as the third coordinates.

[0074] [Objective 4] The cargo is a cylindrical coil having a width and a diameter that are known in advance, and the coil has a central axis of the cylindrical shape as the first direction, The control device may determine, as the target coordinates, coordinates obtained by adding a shift value to the first coordinates, the second coordinates, and coordinates obtained by adding the diameter value of the coil to the third coordinates.

[0075] [Objective 5] the coil has a second surface facing the first surface of the restricting member, The control device may move the second measurement device, using the movement device, to a position where the second surface is within the field of view of the second measurement device, based on the target coordinates.

[0076] [Objective 6] The second measuring device may calculate the distance between the first surface and the second surface as the distance on one end side in the second direction and the distance on the other end side in the second direction, and may calculate the average value of the distance on the one end side and the distance on the other end side as the distance of the gap.

[0077] [Objective 7] The moving device may be capable of moving the second measurement device in the first direction and / or the third direction.

[0078] [Objective 8] The conveying device is A gripping means for gripping the load; a first moving means capable of moving the gripping means in the first direction; second moving means capable of moving the gripping means in the second direction; a third moving means capable of moving the gripping means in the third direction; may have the following structure:

[0079] [Objective 9] The first measuring device and the second measuring device may be a three-dimensional LiDAR that irradiates near-infrared light, visible light, or ultraviolet laser light, or irradiates near-infrared light, visible light, or ultraviolet laser light in pulses to perform measurements.

[0080] [Objective 10] The method for controlling a loading system of the present invention comprises the steps of: A method for controlling a loading system that automatically loads cargo onto a loading platform of a vehicle having a loading platform on one side of a first direction in a horizontal plane from outside the vehicle, the method comprising: the loading system comprises a first measuring device arranged in a position overlooking the loading platform from one of the first directions and having a position measuring function, a second measuring device arranged in a position overlooking the vehicle from the side of the vehicle and capable of moving and having a position measuring function, a moving device for moving the second measuring device, a transporting device for transporting the load from outside the vehicle to the loading platform, and a control device for controlling the first measuring device and the second measuring device, controlling the moving device based on a result of measurement by the first measuring device, and controlling the transporting device based on the result of measurement by the first measuring device and the second measuring device, The vehicle has a measurement target for determining a target coordinate when the load is transported from outside the vehicle to the loading platform by the transporting device, a step of causing the control device to measure the measurement object by the first measuring device; a step of causing the control device to transport the load to the vicinity of the measurement target by the transport device based on a first position that is a result of measuring the position of the measurement target by the first measuring device; a step of the control device moving the second measurement device to a position where the first position is in a field of view by the movement device based on the first position; a step of the control device determining a distance between the load and the measurement object based on a second position including a result of measuring a position of the load transported by the transporting device and a result of measuring a position of the measurement object by the second measuring device moved by the moving device; a step of causing the control device to move the load toward the measurement target and land the load on the loading platform using the transport device based on the distance of the gap; Equipped with. [Explanation of symbols]

[0081] 100 Loading system 200 Rear ranging device 220 Irradiation unit 240 Reception unit 260 Control section 300 Side distance measuring device 320 Irradiation unit 340 Reception unit 360 Control section 400 Moving device 410 Holding section 420 Horizontal moving section 430 Vertical moving part 432 Horizontal rail 440 Support 442 Vertical rail 450 Control section 460 Drive section 500 Crane equipment 510 Saddle 520 Club 530 Top 532 hoisting drum 540 control section 550 Running rail 560 Drive unit 560a Girder 560b Traverse rail 570 Wire rope 580 Coil lifter 582 Main body 584 Arm 586 Claw section 600 Control device 610 Operation section 620 Display section 700 Truck 710 Cabin 720 Cargo bed 740, 740a Regulatory member 742, 742a surface 744 top surface 746 sides 748 sides 760 Skid 762 Top 764 Cutout 800 Coil 810 pages 820 pages 830 holes 900 coil yards 910 Vehicle entrance / exit 912 Ceiling 914 Floor

Claims

1. A loading system for automatically loading cargo from outside a vehicle onto a cargo bed of a vehicle having a cargo bed on one side of a first direction in a horizontal plane, comprising: a first measuring device that is arranged in a position overlooking the loading platform from the one side of the first direction and has a position measuring function; a second measurement device that is disposed at a position overlooking the vehicle from a side of the vehicle, is movable, and has a function of measuring a position; a moving device that moves the second measuring device; A transport device that transports the load from outside the vehicle to the loading platform; a control device that controls the first measuring device and the second measuring device, controls the moving device based on a result of measurement by the first measuring device, and controls the transporting device based on the result of measurement by the first measuring device and the second measuring device; Equipped with the vehicle includes a regulating member disposed on the loading platform for regulating movement of the load in the first direction, and a pair of elongated, parallel support members disposed on the loading platform for supporting the load with the first direction as a longitudinal direction when the load is disposed on the loading platform, the regulating member and the pair of support members being measurement targets for determining target coordinates when the load is transported from outside the vehicle to the loading platform by the transport device, The control device includes: measuring the measurement target by the first measuring device; determining a first coordinate that is a coordinate of a first position in the first direction based on the position of the regulating member measured by the first measuring device, determining a second coordinate that is a coordinate of the first position in a second direction substantially perpendicular to the first direction in the horizontal plane based on the positions of the pair of support members measured by the first measuring device, and a third coordinate that is a coordinate of the first position in a third direction substantially perpendicular to the first direction and the second direction in the horizontal plane, and transporting the load to the vicinity of the measurement target by the transporting device based on the first position; moving the second measurement device to a position where the first position is in a field of view by the moving device based on the first position; determining a distance between the load and the measurement object based on a second position including a result of measuring the position of the load transported by the transporting device and a result of measuring the position of the measurement object by the second measuring device moved by the moving device; A loading system that moves the cargo toward the measurement target and lands it on the loading platform using the transport device based on the distance of the gap.

2. the regulating member has a first surface facing the first measuring device, The control device includes: a position on the first surface measured by the first measuring device is defined as the first coordinate; a position measured by the first measuring device at approximately the center of the pair of support members in the second direction is defined as the second coordinate; The loading system according to claim 1 , wherein the third coordinates are defined as positions of the upper surfaces of the pair of support members measured in the third direction by the first measuring device.

3. The cargo is a cylindrical coil having a width and a diameter that are known in advance, and the coil has a central axis of the cylindrical shape as the first direction, 3. The loading system according to claim 2, wherein the control device sets as the target coordinates the coordinates obtained by adding a shift value to the first coordinate, the second coordinate, and the third coordinate and adding the diameter value of the coil.

4. the coil has a second surface facing the first surface of the restricting member, The loading system according to claim 3 , wherein the control device causes the moving device to move the second measuring device to a position where the second surface is within the field of view of the second measuring device based on the target coordinates.

5. 5. The loading system according to claim 4, wherein the second measuring device calculates a distance on one end side in the second direction and a distance on the other end side in the second direction as the distance between the first surface and the second surface, and calculates an average value of the distance on the one end side and the distance on the other end side as the gap distance.

6. The loading system according to claim 2 , wherein the moving device is capable of moving the second measuring device in the first direction and / or the third direction.

7. The conveying device is A gripping means for gripping the load; a first moving means capable of moving the gripping means in the first direction; second moving means capable of moving the gripping means in the second direction; a third moving means capable of moving the gripping means in the third direction; 7. The loading system of claim 1, further comprising:

8. The loading system according to any one of claims 1 to 7, wherein the first measuring device and the second measuring device are three-dimensional LiDAR that irradiate near-infrared light, visible light, or ultraviolet laser light, or irradiate near-infrared light, visible light, or ultraviolet laser light in a pulsed form to perform measurements.

9. A method for controlling a loading system that automatically loads cargo onto a loading platform of a vehicle having a loading platform on one side of a first direction in a horizontal plane from outside the vehicle, the method comprising: the loading system comprises a first measuring device arranged in a position overlooking the loading platform from one of the first directions and having a position measuring function, a second measuring device arranged in a position overlooking the vehicle from the side of the vehicle and capable of moving and having a position measuring function, a moving device for moving the second measuring device, a transporting device for transporting the load from outside the vehicle to the loading platform, and a control device for controlling the first measuring device and the second measuring device, controlling the moving device based on a result of measurement by the first measuring device, and controlling the transporting device based on the result of measurement by the first measuring device and the second measuring device, the vehicle includes a regulating member disposed on the loading platform for regulating movement of the load in the first direction, and a pair of elongated, parallel support members disposed on the loading platform for supporting the load with the first direction as a longitudinal direction when the load is disposed on the loading platform, the regulating member and the pair of support members being measurement targets for determining target coordinates when the load is transported from outside the vehicle to the loading platform by the transport device, a step in which the control device determines a first coordinate that is a coordinate of a first position in the first direction based on a position of the regulating member measured by the first measuring device, and determines a second coordinate that is a coordinate of the first position in a second direction substantially perpendicular to the first direction in the horizontal plane based on the positions of the pair of support members measured by the first measuring device, and a third coordinate that is a coordinate of the first position in a third direction substantially perpendicular to the first direction and the second direction; a step of causing the control device to transport the load to a vicinity of the measurement target by the transport device based on the first position which is a result of measuring the position of the measurement target by the first measuring device; a step of the control device moving the second measurement device to a position where the first position is in a field of view by the movement device based on the first position; a step of the control device determining a distance between the load and the measurement object based on a second position including a result of measuring a position of the load transported by the transporting device and a result of measuring a position of the measurement object by the second measuring device moved by the moving device; a step of causing the control device to move the load toward the measurement target and land the load on the loading platform using the transport device based on the distance of the gap; A method for controlling a loading system comprising:

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