Object input management device, method, and program

Abstract

To further accurately specify a charge position of an object such as stone material.SOLUTION: A discharged amount calculation unit 111 calculates the amount of objects to be discharged with a bucket. A bucket position specification unit 112 specifies positions of the bucket moving in a state of discharging the objects in time series. A charged amount specification unit 113 specifies the amount of objects charged into water from the bucket at the specified positions of the bucket in time series. A water bottom position calculation unit 114 calculates a water bottom position which is the position of the objects placed in the water bottom on the basis of the amount of objects charged at the specified positions of the bucket in time series. A display unit 115 displays distribution and accumulated height of the objects at positions on the calculated water bottom.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a technique for throwing objects such as stones into water. [Background technology]

[0002] When dumping stone into water from a crane ship during port construction work, a system is known that uses positioning from a GNSS (Global Navigation Satellite System) device installed at the tip of the crane boom to determine the location where the stone has been dumped from a bucket suspended from the boom (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6386982 Summary of the Invention [Problem to be solved by the invention]

[0004] When dumping stone with the crane boom stopped, it is possible to estimate the amount of stone piled up on the water bottom at the dumping position using the GNSS device, but when dumping stone while the boom is rotating, the bucket is not always located directly below the GNSS device, and the positions of the bucket and the GNSS device may be misaligned. Also, not all of the stone held by the bucket is dumped the instant the bucket opens; the stone falls gradually over a period of time after the bucket opens, making it difficult to accurately determine when, how much, and where the stone was dumped.

[0005] For these reasons, it has been difficult with conventional technology to accurately determine the location and amount of stone thrown from a rotating bucket. Therefore, the present invention aims to more accurately determine the throwing location of objects such as stone, and to determine the amount of stone that has been thrown on the bottom of the water. [Means for solving the problem]

[0006] In order to solve the above problem, the object input management device according to the present invention includes a carry-out amount calculation unit that calculates the amount of objects carried out by a bucket, and a bucket position identification unit that identifies the time-series position of the bucket that is moving while carrying out the objects. a bucket position specifying unit that specifies a time-series position of the bucket based on a position measured by a GNSS (Global Navigation Satellite System) device provided at the tip of a boom from which the bucket is suspended, and a distance between a position directly below the tip of the boom calculated using an image captured by a camera provided at the tip of the boom and the measured position of the bucket; The system includes a throw-in amount determination unit that determines the amount of the object thrown into the water from the bucket at each identified time-series position of the bucket, and a bottom position calculation unit that calculates the bottom position, which is the position of the object on the bottom of the water, based on the amount of the object thrown into the water at each identified time-series position of the bucket.

[0007] The input amount specifying unit Each opening degree of the bucket is stored in association with the size or shape of the bucket as viewed from the camera, and the planar size or shape of the bucket is image-recognized in an image captured by the camera, and the opening degree of the bucket stored in association with the image-recognized size or shape of the bucket is identified; The amount of the object put in at each time series position may be determined based on the amount of the object carried out by the bucket and the opening degree of the bucket at each time series position of the bucket.

[0008] The water bottom position calculation unit calculates a moving speed of the bucket calculated from each time-series position of the bucket, a distance between the bucket and the water surface, and a depth to the water bottom at the water surface. Identified by a tidal current meter installed in the target sea area of ​​the object The speed of the water flow in the water, An algorithm that has undergone a predetermined simulation to determine how much the object that has landed on the water will move under the influence of water currents or tides until it reaches the bottom of the water. The water bottom position may be calculated using the following equation.

[0009] The water bottom position calculation unit may calculate the distribution and accumulation height of the objects at the water bottom position each time the objects are dumped from the bucket multiple times.

[0010] A display unit may be provided that displays the calculated distribution of the target object at the bottom of the water and the accumulated sediment height.

[0011] The display unit may display the calculated distribution and cumulative deposition height of the objects at the bottom of the water, and a history of the movement trajectory of the bucket.

[0012] The display unit may be configured to display the difference between the calculated distribution of the bottom positions of the objects and the cumulative sedimentation height and the range of the bottom positions of the objects and the planned amount of deposit specified in the design stage.

[0013] The display unit may display the moving speed, trajectory and opening degree of the bucket for newly dumping the objects based on the distribution of the positions of the objects on the water bottom and the accumulated height of the objects.

[0014] The object input management method according to the present invention includes a step of calculating the amount of objects carried out by a bucket, and a step of identifying the time-series position of the bucket that is moving while carrying out the objects. and specifying a time-series position of the bucket based on a position measured by a GNSS (Global Navigation Satellite System) device provided at the tip of a boom from which the bucket is suspended, and a distance between a position directly below the tip of the boom calculated using an image taken by a camera provided at the tip of the boom and the measured position of the bucket. and , special The method includes a step of identifying the amount of the object thrown into the water from the bucket at each time series position of the bucket, and a step of calculating the bottom distribution position, which is the position of the object on the bottom of the water, and the cumulative deposition height based on the amount of the object thrown into the water at each time series position of the bucket identified.

[0015] The present invention also provides a program for operating the object input management device. [Effects of the Invention]

[0016] According to the present invention, when stones or other materials are dumped into the water while rotating the crane boom from a crane barge, the distribution state and cumulative amount of stones or other materials on the bottom of the water in the target dumping range can be grasped, making it possible to dump stones in an amount that corresponds to the designed quantity into areas where the amount of stone or other materials to be dumped is insufficient, thereby enabling efficient stone dumping operations and reducing the amount of stone dumped. [Brief explanation of the drawings]

[0017] [Figure 1] 1 is a plan view illustrating a main part of a crane ship 1 according to an embodiment of the present invention. [Figure 2] 1 is a side view illustrating a main part of a crane ship 1 according to an embodiment of the present invention. [Figure 3] FIG. 1 is a block diagram showing the hardware configuration of a stone input management system 10. [Figure 4] FIG. 2 is a block diagram showing an example of the hardware configuration of a computer 11. [Figure 5] FIG. 2 is a block diagram showing an example of the functional configuration of a computer 11. [Figure 6] 3 is a diagram illustrating an example of the positional relationship between the boom 3 and the bucket 5 when the boom 3 is rotating, and an image captured by the camera 9. FIG. [Figure 7] 3A to 3C are diagrams illustrating examples of images captured by the camera 9 according to the distance between the boom 3 and the bucket 5. [Figure 8] Graph showing an example of the relationship between the bucket opening degree and the amount of stone discharged from the bucket, depending on the speed at which the bucket is opened. [Figure 9] 1A and 1B are diagrams illustrating examples of images displayed by the computer 11. [Figure 10] 1A and 1B are diagrams illustrating examples of images displayed by the computer 11. DETAILED DESCRIPTION OF THE INVENTION

[0018] An example of an embodiment of the present invention will be described. Fig. 1 is a plan view illustrating the main parts of a crane ship 1 according to one embodiment of the present invention, and Fig. 2 is a side view illustrating the main parts of the crane ship 1. As shown in Figs. 1 and 2, the crane ship 1 is equipped with a slewing device 2 supported at a predetermined position on the deck so as to be rotatable in the direction of arrow a, a boom 3 supported on the slewing device 2 so as to be rotatable up and down, a wire 4 reeled out from the tip of the boom 3, a bucket 5 suspended from the wire 4, and a hold 6 in which objects to be thrown into water (stone in this embodiment) are loaded.

[0019] In the crane ship 1, stones in the hold 6 are grabbed with a bucket 5 suspended from a wire 4 reeled out from the tip of a boom 3, and the bucket 5 is moved outward by crane operation and released within the desired range above the water surface to dump the stones into the water. By repeating this dumping operation multiple times, a mound of the desired shape is created on the water bottom. Note that in Figures 1 and 2, the Y axis is an axis parallel to the overall length of the crane ship 1, with its positive direction running from the stern to the bow, the X axis is an axis parallel to the overall width of the ship, with its positive direction running from starboard to port, and the Z axis is an axis perpendicular to the X and Y axes, with its positive direction running from bottom to top (the same applies below).

[0020] In the crane ship 1, a LiDAR (Light Detection and Ranging) device 7 is installed in a position overlooking the entire hold 6, such as above the wheelhouse. The LiDAR device 7 measures the overall shape of the stones piled up in the hold 6 by irradiating the interior of the hold 6 with laser light in the range indicated by arrow b and measuring the reflected light.

[0021] A GNSS device 8 is provided above the tip of the boom 3. The GNSS device 8 performs positioning using GNSS signals emitted from artificial satellites.

[0022] A camera 9 is provided below the tip of the boom 3. The camera 9 captures an image of the range indicated by the arrow c, that is, the space including the bucket 5 suspended from the tip of the boom 3.

[0023] 3 is a diagram showing the hardware configuration of the stone input management system 10 installed on the crane ship 1. The stone input management system 10 is a system in which a computer 11 functioning as the object input management device according to the present invention, a LiDAR device 7, a GNSS device 8, and a camera 9 are networked together via a communication line such as Ethernet or optical fiber.

[0024] FIG. 4 is a diagram showing the hardware configuration of a computer 11 that functions as an object input management device. The computer 11 is installed, for example, in a wheelhouse. The computer 11 physically includes a processor 1101, a memory 1102, a storage 1103, a communication device 1104, an input device 1105, an output device 1106, and a bus connecting these. Each of these devices operates using power supplied from a power source (not shown). The hardware configuration of the computer 11 may be configured to include one or more of the devices shown in FIG. 4, or may be configured without including some of the devices. Furthermore, the computer 11 may be externally attached to the outside of the computer 11.

[0025] Each function in computer 11 is realized by loading specified software (programs) onto hardware such as processor 1101 and memory 1102, causing processor 1101 to perform calculations, control communications via communication device 1104, acquire data transmitted from other devices, and control at least one of reading and writing data in memory 1102 and storage 1103.

[0026] The processor 1101 controls the entire computer by running, for example, an operating system, and may be configured as a central processing unit (CPU) including an interface with peripheral devices, a control device, an arithmetic unit, a register, etc.

[0027] The processor 1101 reads programs (program codes), software modules, data, etc. from at least one of the storage 1103 and the communication device 1104 into the memory 1102, and executes various processes in accordance with these.

[0028] The memory 1102 is a computer-readable recording medium and may be configured by, for example, at least one of a read-only memory (ROM), an erasable programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM), a random access memory (RAM), etc. The memory 1102 may also be called a register, a cache, a main memory (primary storage device), etc. The memory 1102 can store executable programs (program codes), software modules, etc. for implementing the method according to this embodiment.

[0029] Storage 1103 is a computer-readable recording medium, and may be constituted by at least one of, for example, a CD-ROM (Compact Disc ROM), a compact disc, a digital versatile disc, an optical disc such as a Blu-ray disc, a hard disk drive, a solid state drive, a flexible disk, a smart card, a flash memory (e.g., a card, stick, key drive), a floppy disk, a magnetic strip, etc. Storage 1103 may also be referred to as an auxiliary storage device.

[0030] The communication device 1104 is hardware (transmission / reception device) for performing communication between a computer and other devices via at least one of wired and wireless communication, and is also called, for example, a network device, a network controller, a network card, or a communication module.

[0031] The input device 1105 is an input device (for example, a keyboard, a mouse, a microphone, a switch, a button, etc.) that accepts input from the outside. The output device 1106 is an output device (for example, a display, a speaker, an LED lamp, etc.) that outputs to the outside.

[0032] FIG. 5 is a diagram showing an example of the functional configuration of the computer 11. In FIG. 5, the transport amount calculation unit 111 calculates the amount of stone transported from the hold 6 by one gripping of the bucket 5. Specifically, the transport amount calculation unit 111 measures the overall shape of the stone in the hold 6 measured by the LiDAR device 7 before and after the stone is gripped by the bucket 5, and calculates the volume of the change in the overall shape of the stone using the difference between the measurement results. The volume calculated in this way corresponds to the amount of stone transported from the hold 6 by one gripping of the bucket 5. In this way, the transport amount calculation unit 111 calculates the amount of stone transported each time stone is transported from the hold 6 by one gripping of the bucket 5.

[0033] The bucket position identification unit 112 identifies the time-series position of the bucket 5 moving while holding a stone. Because the bucket 5 may be released while the boom 3 is rotating when dumping stones, the bucket 5 is not always located directly below the tip of the boom 3, that is, directly below the GNSS device 8, and there may be a deviation between the position of the bucket 5 and the tip of the boom 3. Therefore, the bucket position identification unit 112 identifies the position of the bucket 5 by taking into account the amount by which the bucket 5 deviates from the straight line extending directly below the tip of the boom 3, relative to the position of the tip of the boom 3 measured by the GNSS device 8.

[0034] The bucket position identifying unit 112 calculates the amount of deviation of the position of the bucket 5 from a line extending directly downward from the tip of the boom 3 as follows. FIG. 6 is a diagram illustrating the positional relationship between the boom 3 and the bucket 5 when the boom 3 is rotating, and an image captured by the camera 9. In the left diagram of FIG. 6(A), the boom 3 is rotating from the rest position indicated by the dashed line to the position indicated by the solid line. In this state, due to the law of inertia, the bucket 5 starts moving slightly later than the rotation of the boom 3, and is therefore deviated from the position directly below the tip of the boom 3. Note that the symbol g indicates a position extending directly downward from the tip of the boom 3. At this time, as shown in the right diagram of FIG. 6(A), in the image captured by the camera 9, the position g directly below the tip of the boom 3 does not match the center position of the bucket 5. The bucket position identifying unit 112 counts the distance between the position g directly below the tip of the boom 3 and the center position of the bucket 5 based on the number of pixels in the image.

[0035] Furthermore, the bucket position identifying unit 112 calculates the distance between the tip of the boom 3 and the bucket 5 from the amount of wire 4 that has been let out, and calculates an absolute distance equivalent to the number of counted pixels. Here, FIG. 7 is a diagram showing examples of images captured by the camera 9 according to the distance between the boom 3 and the bucket 5. As can be seen from a comparison of FIGS. 7(A) and 7(B), when the amount of wire 4 that has been let out is small, the bucket 5 in the captured image is large, and when the amount of wire 4 that has been let out is large, the bucket 5 in the captured image is small. The bucket position identifying unit 112 stores in advance the relationship between the distance between the boom 3 and the bucket 5 and the display size (number of pixels) of the bucket 5 in the captured image, and calculates the absolute distance equivalent to the number of pixels between position g directly below the tip of the boom 3 and the center position of the bucket 5. The bucket position identification unit 112 then calculates and offsets a position (three-dimensional position) that is the above-mentioned absolute distance (a distance corresponding to the above-mentioned number of pixels in the captured image) away from the position (three-dimensional position) of the tip of the boom 3 measured by the GNSS device 8 in the tangential direction of the swinging motion of the boom 3, and that is the distance between the tip of the boom 3 and the bucket 5 vertically downward (a distance corresponding to the amount of payout of the wire 4), thereby identifying the position (absolute position) of the bucket 5 from the absolute coordinate position of the GNSS device 8. Note that the distance between the attachment position of the GNSS device 8 and the position of the wire payout drum on the boom 3 is also offset.

[0036] 6(B), which is a transition from the state in FIG. 6(A), the swing speed of the boom 3 decreases, so that the bucket 5 catches up with the swinging motion of the boom due to the law of inertia, and the position of the bucket 5 coincides with the position g directly below the tip of the boom 3. At this time, the distance between the position g directly below the tip of the boom 3 and the center position of the bucket 5 is zero, so the bucket position identification unit 112 identifies, as the position (absolute position) of the bucket 5, a position that is away vertically downward from the position of the tip of the boom 3 measured by the GNSS device 8 by the distance between the tip of the boom 3 and the bucket 5.

[0037] 6(C), which is a transition from the state in FIG. 6(B), even though the swinging motion of the boom 3 has stopped, the bucket 5 is still moving, and so the position g directly below the tip of the boom 3 and the center position of the bucket 5 again become misaligned. As described above, the bucket position identifying unit 112 counts the distance between the position g directly below the tip of the boom 3 and the center position of the bucket 5 based on the number of pixels in the image, and then calculates an absolute distance equivalent to the number of pixels counted. The bucket position identifying unit 112 then calculates the distance between the tip of the boom 3 and the bucket 5 by the above-mentioned absolute distance in the tangential direction of the swinging motion of the boom 3 from the position of the tip of the boom 3 measured by the GNSS device 8, and also calculates the distance between the tip of the boom 3 and the bucket 5 vertically downward, and identifies the position (absolute position) of the bucket 5 by performing offset processing.

[0038] The bucket position identifying unit 112 calculates the time-series position of the bucket 5 by repeating the above process in short time units.

[0039] Returning to the explanation of FIG. 5 , the throw-in amount identifying unit 113 identifies the amount of stone thrown into water from the bucket 5 at each time series position of the bucket 5 identified by the bucket position identifying unit 112. Specifically, the throw-in amount identifying unit 113 identifies the amount of stone thrown at each time series position based on the amount of stone carried out by the bucket 5 and the opening degree of the bucket 5 at each time series position. At this time, the throw-in amount identifying unit 113 identifies the opening degree of the bucket 5 by performing image recognition on images captured by the camera 9. When viewed from above, the planar size or shape of the bucket 5 differs between when the bucket 5 is closed and when it is open. For example, in the case of an orange bucket, when viewed from above, the entire bucket appears flatter and larger when it is open than when it is closed. Furthermore, in the case of a clamshell, when viewed from above, the entire bucket appears flatter and larger when it is open than when it is closed, and the shape of the entire bucket also changes. The input amount determination unit 113 stores the correspondence between each opening degree of the bucket 5 and the planar size or shape of the bucket 5 when viewed from above, and determines the opening degree of the bucket 5 from the time-series change in the planar size or shape of the bucket 5 in the captured image.

[0040] Furthermore, the throw-amount determination unit 113 stores the relationship between the opening degree of the bucket 5 and the amount of stones thrown from the bucket 5 for each speed at which the bucket 5 is opened. Based on this stored content, the amount of stones thrown into the water from the bucket 5 is determined according to the opening degree and opening speed of the bucket 5 at each time series position of the bucket 5. FIG. 8 is a graph illustrating the relationship between the opening degree of the bucket 5 and the amount of stones thrown from the bucket 5 for each speed at which the bucket 5 is opened. For example, when the bucket 5 is opened quickly, as shown in graph g11, the opening degree of the bucket 5 reaches its upper limit in a short time, and as shown in graph g12, the amount of stones thrown follows a curve with a high peak value and a short end time. On the other hand, when the bucket 5 is opened slowly, as shown in graph g31, the opening degree of the bucket 5 reaches its upper limit over a long time, and as shown in graph g32, the amount of stones thrown follows a curve with a low peak value and a long end time. When the bucket 5 is opened at a medium speed, as shown in graphs g21 and g22, a curve intermediate between graphs g11 and g12 and graphs g31 and g32 is drawn. The input amount specifying unit 113 specifies the input amount of stone at each time series position of the bucket 5 by applying the opening degree and opening speed of the bucket 5 at each time series position of the bucket 5 specified by the bucket position specifying unit 112 and the output amount of stone specified by the output amount calculating unit 111 to the relationship between the opening degree of the bucket 5 and the output amount of stone from the bucket 5 as described above.

[0041] The water bottom position calculation unit 114 calculates the water bottom position, which is the position of the stones thrown on the water bottom, based on each time-series position of the bucket 5 identified by the throwing amount identification unit 113 and the amount of stones thrown at each time-series position. As described above, stones are thrown from the bucket 5 while the boom 3 is rotating, so the stones released into the air from the bucket 5 fall freely in a direction having a component in the direction of movement of the bucket 5 due to the law of inertia. Therefore, the water bottom position calculation unit 114 calculates the fall position on the water surface of the stones released into the air at the movement speed from each time-series position of the bucket 5 based on the movement speed of the bucket 5 calculated from each time-series position data of the bucket 5 and the distance between the bucket 5 and the water surface. Both the movement speed of the bucket 5 and the distance between the bucket 5 and the water surface can be identified from the time-series position (three-dimensional position) of the bucket 5 identified by the bucket position identification unit 112. After the stone hits the water, the horizontal speed of the stone is assumed to be nearly zero due to the resistance of the water, and the position on the water bottom directly below where the stone fell on the water surface is taken as the water bottom position of the stone. The water bottom position calculation unit 114 calculates the water bottom position distribution and pile height of these stones by repeating the above process each time a stone is dropped multiple times.

[0042] The display unit 115 displays the distribution of the stones at the bottom of the water and the accumulated height or cumulative height calculated by the water bottom position calculation unit 114. Figures 9 and 10 are diagrams illustrating examples of images displayed by the display unit 115. Figure 9 shows an example in which the distribution of stones on the bottom of the water and the cumulative height are represented by contour lines Ma, along with an image C1 that simulates the crane barge 1 as seen from above. Figure 10 shows an example in which the distribution of stones on the bottom of the water B and the cumulative height are represented by line segments Mb corresponding to the accumulated height, along with an image C2 that simulates the crane barge 1 floating on the water surface S as seen from the side. In Figure 10, the line segments Mb are displayed with different colors or shapes for each stone insertion, so that the changes in the distribution and cumulative height of the stones can be seen with each insertion. Using these images as a reference, the operator can operate the crane barge 1 to insert stones while understanding the distribution and cumulative height of the stones on the bottom of the water B.

[0043] According to the embodiment described above, it is possible to accurately determine the amount and position of stone to be added.

[0044] [Variations] The present invention is not limited to the above-described embodiment, but may be modified as follows.

[0045] [Variation 1] The object to be thrown into the water is not limited to the stone material exemplified in the embodiment, and may be any object.

[0046] [Variation 2] In the above embodiment, it was assumed that the horizontal movement speed of the stone thrown from the bucket 5 was nearly zero due to water resistance after it hit the water. However, underwater currents or tidal currents and the depth to the bottom of the water surface may also be taken into consideration. A sensor such as a tidal current meter may be installed in the target sea area for stone throwing to correct the submerged position of the stone after it hits the water surface. That is, the water bottom position calculation unit 114 may calculate the water bottom position of the thrown stone using the movement speed of the bucket 5 calculated from each time-series position of the bucket 5, the distance between the bucket 5 and the water surface, the depth to the bottom of the water surface, and the speed of the tidal current (water current) in the water. In this case, the water bottom position calculation unit 114 may use an algorithm based on a predetermined simulation to calculate the extent to which the stone will move under the influence of currents or tidal currents before reaching the bottom of the water.

[0047] [Variation 3] The display unit 115 may display the time-series position history of the bucket 5 identified by the bucket position identification unit 112 (i.e., the history of the movement trajectory of the bucket 5) in addition to the distribution of stones at the water bottom position calculated by the water bottom position calculation unit 114. For example, the display unit 115 may display a line segment image corresponding to the time-series position history of the bucket 5 identified by the bucket position identification unit 112, superimposed on the image exemplified in FIGS.

[0048] [Variation 4] The display unit 115 may display the range of water bottom positions of stones specified in the design stage and the difference from the planned amount of stone to be added, in addition to the distribution of water bottom positions and cumulative deposition height of stones calculated by the water bottom position calculation unit 114. In this case, the computer 11 pre-stores design shape data of the water bottom to be formed by stone addition and data on the planned amount of stone to be added to realize the design shape. The display unit 115 displays the range of water bottom positions of stones specified in the design stage based on this design shape data, and also displays the planned amount of stone to be added in the future based on the planned amount of stone to be added.

[0049] [Variation 5] The display unit 115 may display the movement speed, trajectory, and opening degree of the bucket 5 (i.e., boom 3) for newly dumping stone materials based on the distribution of the stone materials' water bottom positions and cumulative pile height. In other words, the display unit 115 estimates the distribution of the stone materials' water bottom positions and pile height to be achieved by the next stone dump based on the current distribution of the stone materials' water bottom positions and cumulative pile height and the difference between the stone materials' water bottom positions and pile height indicated by the design shape data, and calculates and displays the movement speed, trajectory, and opening degree of the bucket 5 (i.e., boom 3) to achieve the estimated distribution and pile height. The calculation of the movement speed, trajectory, and opening degree of the bucket 5 (i.e., boom 3) based on the estimated stone materials' distribution and pile height can be realized by calculations that follow the reverse concept of the various calculation processes described in the embodiments.

[0050] [Variation 6] The installation position of the LiDAR device 7 is not limited to the top of the wheelhouse, but may be any position that overlooks the entire hold 6, such as a predetermined position of the boom 3. In addition, the installation position is not necessarily limited to the LiDAR device 7, as long as it can measure the overall shape of the stone materials in the hold 6. The installation positions of the GNSS device 8 and the camera 9 are also not limited to those exemplified in the embodiment.

[0051] The present invention is a method for transporting a moving bucket by a moving machine, comprising the steps of: calculating an amount of an object transported by a bucket; and specifying a time-series position of the moving bucket while the object is being transported. and specifying a time-series position of the bucket based on a position measured by a GNSS (Global Navigation Satellite System) device provided at the tip of a boom from which the bucket is suspended, and a distance between a position directly below the tip of the boom calculated using an image taken by a camera provided at the tip of the boom and the measured position of the bucket. and , special The present invention can also be implemented as an object throwing management method comprising the steps of: specifying the amount of the object thrown into water from the bucket at each time-series position of the bucket; and calculating the water bottom position, which is the position of the object on the water bottom, and the accumulated deposition height based on the specified amount of the object thrown into water at each time-series position of the bucket. The present invention may also be implemented as a program for operating the object throwing management device (computer 11) described in the embodiment. [Explanation of symbols]

[0052] 1: Crane vessel, 2: Swing device, 3: Boom, 4: Wire, 5: Bucket, 6: Hold, 7: LiDAR device, 8: GNSS device, 9: Camera, 10: Object injection management system, 11: Computer, 1101: Processor, 1102: Memory, 1103: Storage, 1104: Communication device, 1105: Input device, 1106: Output device, 111: Discharge amount calculation unit, 112: Bucket position identification unit, 113: Injection amount identification unit, 114: Water bottom position calculation unit, 115: Display unit g: Position directly below the tip of the boom

Claims

1. a carry-out amount calculation unit that calculates the amount of the object carried out by the bucket; a bucket position specifying unit that specifies a time-series position of the bucket that is moving while carrying out the object, the bucket position specifying unit specifying a time-series position of the bucket based on a position measured by a Global Navigation Satellite System (GNSS) device provided at the tip of a boom from which the bucket is suspended, and a distance between the position directly below the tip of the boom calculated using an image taken by a camera provided at the tip of the boom and the measured position of the bucket; an input amount specifying unit that specifies an input amount of the object input from the bucket at each time-series position of the bucket; a water bottom position calculation unit that calculates a water bottom position, which is the position of the object on the water bottom, based on the amount of the object thrown into the bucket at each time-series position that has been identified; An object input management device comprising:

2. The input amount specifying unit Each opening degree of the bucket is associated with the size or shape of the bucket as viewed from the camera, and the information is stored; The planar size or shape of the bucket is image-recognized in the image captured by the camera, and the opening degree of the bucket is identified and stored in association with the image-recognized size or shape of the bucket; Identifying the amount of the object put in at each time-series position based on the amount of the object carried out by the bucket and the opening degree of the bucket at each time-series position of the bucket. The object input management device according to claim 1.

3. The water bottom position calculation unit The bottom position is calculated using an algorithm that has undergone a predetermined simulation to determine the movement speed of the bucket calculated from each time-series position of the bucket, the distance between the bucket and the water surface, the depth to the bottom of the water at the water surface, the speed of the water current in the water identified by a tidal current meter installed in the sea area where the object is to be thrown, and how far the object that has landed on the water will move under the influence of the water current or tidal current until it reaches the bottom of the water. The object input management device according to claim 1.

4. The water bottom position calculation unit calculates the distribution and deposition height of the object at the water bottom position each time the object is thrown from the bucket multiple times. The object input management device according to claim 1.

5. A display unit is provided to display the calculated distribution and sedimentation height of the target object at the bottom of the water. The object input management device according to claim 4.

6. The display unit displays the calculated distribution and cumulative deposition height of the object at the bottom of the water, and the history of the movement trajectory of the bucket. The object input management device according to claim 5.

7. The display unit displays the difference between the calculated distribution of the water bottom positions of the objects and the accumulated sedimentation height, and the range of the water bottom positions of the objects and the planned amount of input that were specified in the design stage. The object input management device according to claim 5 .

8. The display unit displays the moving speed, trajectory, and opening degree of the bucket for newly dumping the objects based on the distribution of the positions of the objects on the water bottom and the accumulated height of the objects. The object input management device according to claim 5 .

9. Calculating the amount of the object carried out by the bucket; a step of specifying a time-series position of the bucket that is moving with the object carried out, the step of specifying the time-series position of the bucket based on a position measured by a Global Navigation Satellite System (GNSS) device provided at the tip of a boom from which the bucket is suspended, and a distance between a position directly below the tip of the boom calculated using an image taken by a camera provided at the tip of the boom and the measured position of the bucket; Identifying the amount of the object thrown into water from the bucket at each time-series position of the identified bucket; calculating a water bottom distribution position, which is the position of the object on the water bottom, and a cumulative deposition height based on the amount of the object thrown into the bucket at each time-series position identified; An object input management method comprising:

10. A program for operating the object input management device according to any one of claims 1 to 8.

Images