Cargo compartment detection device, cargo compartment detection method, cargo compartment detection program, and unloading device

Abstract

To provide a shipyard detection device which can efficiently detect a position of a shipyard.SOLUTION: A shipyard detection device 300, which can detect a position of a shipyard of a ship, comprises: a motion model holding part 303 for holding a motion model of the shipyard; a position estimation part 306 which estimates a position of the shipyard on the basis of the motion model; a position measuring part 307 which measures a position of a part of the shipyard; and a position renewal part 309 which renews the position of the shipyard on the basis of the position estimated by the position estimation part 306 and the position measured by the position measuring part 307.SELECTED DRAWING: Figure 6

Description

[Technical Field]

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

[0002] Unloading equipment that unloads cargo from a ship onto land is known as unloading equipment for unloading cargo from a ship. Among such unloading equipment, those that handle bulk cargo or bulk materials such as coal or iron ore are also called unloaders. They are also sometimes called continuous unloaders or continuous ship unloaders, meaning that they continuously unload bulk materials loaded on a ship. In this specification, the abbreviation CSU may be used. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-131394 Summary of the Invention [Problem to be solved by the invention]

[0004] Patent Document 1 discloses a technology for deriving the relative position between an unloader device and a ship based on the edge detection results of the upper part of a cargo hold in a ship's hold. In this technology, in order to improve the accuracy of deriving the relative position, it is necessary to increase the number of distance measurement sensors that detect edges and the number of times the distance measurement sensors detect edges.

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

[0006] In order to solve the above problem, one aspect of the present invention provides a cargo bay detection device that detects the position of a cargo bay of a ship, and includes a motion model holding unit that holds a motion model of the cargo bay, a position estimation unit that estimates the position of the cargo bay based on the motion model, a position measurement unit that measures the position of a part of the cargo bay, and a position update unit that updates the position of the cargo bay based on the position estimated by the position estimation unit and the position measured by the position measurement unit.

[0007] In this embodiment, the position of the cargo hold can be detected efficiently by utilizing the position estimation result based on the cargo hold motion model.

[0008] Another aspect of the present invention is a cargo hold detection method for detecting the position of a cargo hold of a ship, the method comprising: a position estimation step of estimating the position of the cargo hold based on a stored motion model of the cargo hold; a position measurement step of measuring the position of a part of the cargo hold; and a position update step of updating the position of the cargo hold based on the position estimated in the position estimation step and the position measured in the position measurement step.

[0009] Yet another aspect of the present invention is an unloading device for unloading cargo from a cargo hold of a ship, the device comprising: a motion model holding unit that holds a motion model of the cargo hold, a position estimation unit that estimates the position of the cargo hold based on the motion model, a position measurement unit that measures the position of a part of the cargo hold, and a position update unit that updates the position of the cargo hold based on the position estimated by the position estimation unit and the position measured by the position measurement unit.

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

[0011] According to the present invention, the position of the cargo hold can be detected efficiently. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 2 is a front view showing the overall configuration of the lifting device. [Figure 2] FIG. 2 is a perspective view showing the overall configuration of the lifting device. [Figure 3] FIG. 2 is a diagram showing the detailed configuration of the loading section. [Figure 4] FIG. 2 is a diagram illustrating the appearance of a distance measuring sensor. [Figure 5] FIG. 10 is a top view showing an example of the arrangement of distance measurement sensors. [Figure 6] FIG. 2 is a functional block diagram of the shipyard detection device. [Figure 7] FIG. 2 is a diagram schematically illustrating a model of a shipyard estimated by a position estimation unit. [Figure 8] FIG. 2 is a diagram schematically illustrating each coordinate system set for the lifting device. [Figure 9] 10 is a flowchart showing an example of a shipyard detection process performed by the shipyard detection device. DETAILED DESCRIPTION OF THE INVENTION

[0013] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the description and drawings, identical or equivalent components, parts, and processes are designated by the same reference numerals, and redundant explanations will be omitted as appropriate. The scale and shape of each part shown in the drawings are set for convenience to facilitate explanation, and should not be interpreted as limiting unless otherwise specified. The embodiments are merely examples and do not limit the scope of the present invention in any way. All features and combinations thereof described in the embodiments are not necessarily essential to the invention.

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

[0015] The wharf 102 where the ship 200 docks constitutes land where bulk cargo M is unloaded and is made of high-strength materials such as reinforced concrete. As shown in the perspective view of FIG. 2, the wharf 102 is provided with a pair of parallel rails 3 as tracks that run along the longitudinal direction (perpendicular to the plane of FIG. 1) of the ship 200 docked and anchored at the quay 101. The rails 3 form a track along which the traveling unit 2, which serves as the mobile unit of the CSU 1, can move or run. The rails 3 enable the CSU 1 to move relative to the anchored ship 200. As shown in FIG. 2, the installation direction of the rails 3 is preferably aligned with the longitudinal direction of the anchored ship 200 or the quay 101, but may be any other direction. The rails 3 may also include curved or bent portions. When unloading cargo from the ship 200, the CSU 1 moves on the rails 3 and stops near the opening 21 of the ship shed 201 from which the cargo is to be unloaded. Thereafter, the revolving frame 5 (revolving unit) and the unloading unit 9 (carrying-out unit) described later are driven to unload the bulk goods M from the warehouse 201.

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

[0017] The CSU 1 comprises a traveling section 2 as a moving section that can move relative to the ship 200, a swivel frame 5 that constitutes a rotating section that can rotate relative to the traveling section 2, and a lifting section 9 that is provided at the tip of the swivel frame 5 and serves as a discharge section that discharges bulk cargo M. The swivel frame 5 is supported on the traveling section 2 so that it can rotate around a vertical rotation axis (the up and down direction in Figure 1). The swivel frame 5 is provided with a boom 7 that extends laterally and intersects with the rotation axis, and a bucket elevator that constitutes the main part of the lifting section 9 is supported at the tip of the boom 7.

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

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

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

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

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

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

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

[0025] Each bucket 27 of the chain bucket 29 rises within the elevator body 14 with its opening facing upward. When each bucket 27 passes over the drive roller 31a at the top 9a of the bucket elevator, its direction of movement changes from upward to downward, and the opening of each bucket 27 also rotates from upward to downward. A discharge chute (not shown) is provided below the opening of each bucket 27 that has rotated downward in this manner, and the bulk goods M scraped by each bucket 27 are discharged from the discharge chute. The discharge chute discharges the bulk goods M onto a rotary feeder 37 (FIG. 1) provided on the outer periphery of the upper part of the unloading section 9.

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

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

[0028] The operator of the CSU 1 operates the CSU 1 from the main operation room 16. First, the running unit 2 travels on the rail 3 and stops near the opening 21 of the shed 201, the cargo to be unloaded. Next, the swivel frame 5 is rotated around a vertical pivot point that overlaps the running unit 2 in a top view (as viewed from above in FIG. 1 ), and the lifting unit 9 at the tip of the boom 7 is moved above the opening 21 of the shed 201, the cargo to be unloaded. Here, to prevent the lifting unit 9 from colliding with the wharf 102 or the ship 200, it is preferable to raise and lower the boom 7 in the forward direction (clockwise in FIG. 1 ), and perform the travel and swing operations with the lifting unit 9 raised. Next, the boom 7 is raised and lowered in the reverse direction (counterclockwise in FIG. 1 ), and the scraping unit 11 at the tip of the lifting unit 9 is inserted into the shed 201 through the opening 21. The movement of the traveling section 2, the rotation of the rotating frame 5, and the raising and lowering of the boom 7 may be performed simultaneously.

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

[0030] The scraping unit 11 changes its three-dimensional position within the shed 201 as needed to efficiently scrape bulk materials M from various locations within the shed 201. For example, if the surface of the bulk materials M becomes lower as the unloading operation progresses, the boom 7 is raised and lowered in the negative direction to lower the scraping unit 11. To scrape bulk materials M near the walls of the shed 201, the horizontal position of the scraping unit 11 may be changed by operating the traveling unit 2 and / or the swivel frame 5. The scraping unit 11 can change not only its three-dimensional position but also its posture and shape. For example, the scraping unit 11 can rotate around a rotation axis in the extension direction of the elevator body 14, i.e., the vertical direction, and its orientation can be changed as desired. Furthermore, as shown by the dashed line in Figure 3(B), the scraping unit 11 can assume an inclined or horizontally elongated shape, contracting vertically and extending horizontally. As a result, even in the case of a shipyard 201 in which the horizontal distance from the opening 21 to the wall is large, the scraping part 11 can be brought close to the wall and the bulk goods M can be scraped off efficiently.

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

[0032] The bucket 27 that has scraped the bulk goods M from the warehouse 201 rises inside the elevator body 14 and turns from an upward direction to a downward direction as it passes over the drive roller 31a at its top 9a. The bulk goods M that fall as the bucket 27 turns enter a discharge chute and are discharged onto the rotary feeder 37. Thereafter, the bulk goods M are transferred via the boom conveyor 39 and the internal conveyor 43 to a belt conveyor 45 provided on the wharf 102 serving as land. By repeatedly performing the above-described carrying-out operation using multiple buckets 27, the bulk goods M in the warehouse 201 are continuously unloaded.

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

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

[0035] The scraping unit 11 below the unloading unit 9 is provided with multiple distance measuring sensors 18 for measuring the distance to measurement targets above, to the sides, and below. During unloading as shown in the figure, the measurement targets of the distance measuring sensors 18 include the edge of the opening 21, the ceiling / walls / bottom of the warehouse 201, bulk goods M and other objects, people / structures inside the warehouse 201, and other parts of the CSU 1 such as the boom 7. The distance measuring sensors 18 are provided at the front (left side of FIG. 1 ) and rear (right side of FIG. 1 ) of the scraping unit 11. To avoid deterioration of measurement accuracy due to dust from the bulk goods M scraped by the bucket 27 of the scraping unit 11, the multiple distance measuring sensors 18 are preferably provided at a location (upper part of the scraping unit 11) away from the location where the bucket 27 excavates the bulk goods M (lower part of the scraping unit 11). The number of distance measuring sensors 18 is arbitrary. For example, any number of distance measuring sensors 18 that measure distances centered on the sides of the scraping unit 11 and any number of distance measuring sensors 18 that measure distances centered on the bottom of the scraping unit 11 may be provided.

[0036] 4 shows the appearance of distance measuring sensors 18, 19. Distance measuring sensors 18, 19 are laser sensors capable of measuring distances, and include a laser emitting unit (not shown) as a wave transmitting unit that transmits laser light to a measurement object including shipyard 201, and a laser receiving unit (not shown) as a wave receiving unit that receives the laser light reflected by the measurement object, thereby constituting a distance measuring unit that measures the distance to the measurement object. A light-transmitting portion 171 that allows laser light to pass through is formed in an endless band shape around the entire periphery of the side surface of cylindrical housing 17 of distance measuring sensors 18, 19.

[0037] Multiple laser emitters are provided in positions facing the light-transmitting portion 171 inside the housing 17, and emit linear laser light to the outside of the housing 17 through the light-transmitting portion 171. The laser emitters are arranged at predetermined intervals along the direction of the axis A of the housing 17 (the vertical direction in FIG. 4), but FIG. 4 shows the laser light emitted from a single point for simplicity. As shown in the schematic diagram, the emission angles of the laser emitters differ from each other by approximately 0.1° to 3°. With this configuration, the distance measuring sensors 18 and 19 can irradiate laser light within a predetermined angular range above and below the reference plane S, which is a plane perpendicular to the axis A of the housing 17. While θ- and θ+ can be arbitrarily designed, in the following description, it is assumed that -θ- = θ+ = 15°. In this case, the distance measuring sensors 18 and 19 irradiate laser light within a ±15° range centered on the reference plane S. Furthermore, these multiple laser light emitting units are integrally provided so as to be rotatable 360° around the axis A of the housing 17. With this configuration, the distance measuring sensors 18 and 19 can irradiate laser light to all measurement targets around (to the sides of) the housing 17. It is preferable to use laser light of an invisible wavelength such as near-infrared light so as not to interfere with people inside or around the CSU 1 or ship 200.

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

[0039] Although laser sensors have been used above as examples of distance measuring sensors 18 and 19, distance measuring sensors 18 and 19 may also use other types of electromagnetic waves. For example, millimeter-wave sensors using so-called millimeter waves with wavelengths of approximately 1 mm to 10 mm may be used as distance measuring sensors 18 and 19. Millimeter waves have a high frequency of approximately 30 GHz to 300 GHz, making them highly directional and treatable similarly to lasers. A millimeter-wave sensor can be configured similarly to the laser sensor shown in FIG. 4, except that the laser emitter is replaced by a millimeter-wave transmitter that transmits millimeter waves to the object, and the laser receiver is replaced by a millimeter-wave receiver that receives millimeter waves reflected from the object. Furthermore, optical sensors using light other than laser light, such as Time of Flight (ToF) image sensors, may also be used as distance measuring sensors 18 and 19. Furthermore, distance measuring sensors 18 and 19 may not necessarily include a transmitter that transmits electromagnetic waves to the object. For example, a stereo camera or the like that can measure distance by simultaneously capturing images of the object from different directions may also be used as distance measuring sensors 18 and 19.

[0040] Furthermore, instead of / in addition to the distance measuring sensors 18, 19, one or more cameras serving as a photographing unit for photographing the object to be photographed may be provided at any position in any posture on the unloading unit 9. A camera that can measure the position of the object to be photographed, including the warehouse 201, based on the captured image constitutes a position measuring unit similar to the distance measuring sensors 18, 19, and can prevent the unloading unit 9 from colliding with other objects during unloading, thereby enabling the bulk cargo M to be unloaded efficiently.

[0041] Distance measuring sensors 18 and 19 in FIG. 4 are attached to CSU 1 in FIG. 1 in any orientation depending on the purpose of measurement. For example, distance measuring sensor 18 of scraping unit 11 is attached so that axis A in FIG. 4 is vertical and reference plane S is horizontal. In this case, distance measuring sensor 18 can measure distances within warehouse 201, centered on the side of scraping unit 11. Distance measuring sensor 18 may also be attached so that axis A in FIG. 4 is horizontal and reference plane S is vertical. In this case, distance measuring sensor 18 can measure distances to opening 21 above scraping unit 11 and bulk load M below scraping unit 11. Note that the orientation of axis A of distance measuring sensor 18 is not limited to vertical or horizontal and may be any orientation.

[0042] The distance measurement sensor 19 on the top of the unloading section 9 is mounted so that its axis A in FIG. 4 is horizontal and its reference plane S is vertical. In this case, the distance measurement sensor 19 can measure the distance to the edge of the opening 21 of the warehouse 201 below, the bulk goods M inside the warehouse 201, and the like. Although the distance measurement sensor 19 can also emit laser light upward, since there are no objects to be measured above, the upward distance measurement can be disabled by covering the top of the distance measurement sensor 19 with a light-blocking cover, for example. The distance measurement sensor 19 may also be mounted so that its axis A in FIG. 4 is vertical and its reference plane S is parallel to the horizontal plane. In this case, the distance measurement sensor 19 can efficiently measure the distance to objects to be measured outside the warehouse 201 to the side. The direction of the axis A of the distance measurement sensor 19 is not limited to the horizontal or vertical direction and may be any direction. However, the case of the horizontal direction will be described in detail below.

[0043] By providing the distance measuring sensors 18, 19 as described above in the loading section 9, it is possible to accurately grasp the positions of various measurement targets such as the edge of the opening 21, the ceiling / wall / bottom of the shed 201, bulk goods M and other objects, people / structures inside the shed 201, and the scraping section 11. Therefore, it is possible to prevent the loading section 9 from colliding with other objects during loading, and the bulk goods M can be loaded efficiently.

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

[0045] The CSU 1 unloads bulk cargo M from the ship shed 201 with the basic position shown in Figure 5 as the basic position for unloading. In this basic position, the running unit 2 is positioned away from the front of the ship shed 201, and the rotating frame 5 and boom 7 are in a rotating position that forms an acute angle with the rail 3 that forms the track of the running unit 2. At this time, the unloading unit 9 is located above the ship shed 201 of the ship 200, and the scraping unit 11 at its bottom is inserted into the ship shed 201 through the opening 21.

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

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

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

[0049] 5 , the basic position of the CSU 1 during unloading may be, for example, a position in which the travel unit 2 is located in front of the shipyard 201 and the swivel frame 5 and boom 7 are perpendicular to the rail 3. In this case, the extension direction of the boom 7 coincides with the direction of the short side of the opening 21, so that the reference plane S1 of the distance measuring sensor 191 is parallel to the extension direction of the boom 7, and the reference planes S2 and S3 of the distance measuring sensors 192 and 193 are perpendicular to the extension direction of the boom 7. If the distance measuring sensors 191, 192, and 193 are rotatable integrally around the axis of the cylindrical elevator body 14, it is possible to easily arrange the distance measuring sensors 191, 192, and 193 appropriately for the elongated opening 21, depending on the change in the basic position of the CSU 1 during unloading.

[0050] The number and arrangement of the distance measuring sensors 19 described above are merely examples, and any number and arrangement can be adopted. The number of distance measuring sensors 19 is preferably at least two in order to efficiently measure the position and shape of the ship shed 201 surrounding the loading section 9 when viewed from above. More preferably, it is three or more. Multiple distance measuring sensors 19 may be arranged at equal intervals along the outer periphery of the flange section 91 or the elevator body 14. In this case, the installation orientation of each distance measuring sensor 19 is arbitrary; for example, each distance measuring sensor 19 is installed so that its reference plane S is in contact with the outer periphery of the flange section 91 or the elevator body 14. Such a symmetrical arrangement allows the position and shape of the ship shed 201 to be measured stably regardless of the orientation of the CSU 1 during loading.

[0051] FIG. 6 is a functional block diagram of a cargo hold detection device 300 that detects the location of the cargo hold 201. The cargo hold detection device 300 includes a user operation reception unit 301, a motion model registration unit 302, a motion model storage unit 303, a reference information acquisition unit 304, a motion model selection unit 305, a position estimation unit 306, a position measurement unit 307, a position comparison unit 308, and a position update unit 309. These functional blocks are implemented by the cooperation of hardware resources, such as the central processing unit (CPU), memory, input devices, output devices, and peripheral devices connected to the computer, of computers inside and outside the CSU 1, and software executed using these resources. Regardless of the type of computer or its location, each of the above functional blocks may be implemented by the hardware resources of a single computer or by combining hardware resources distributed across multiple computers.

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

[0053] Here, the motion model of the ship shed 201 is a model that imitates the expected motion of the ship shed 201 when the ship 200 is moored at the wharf 102. For example, the ship shed 201 sways due to the effect of waves on the ship 200. Also, the ship shed 201 rises due to a decrease in the weight of the ship 200 as the bulk cargo M is unloaded by the unloading section 9. Such a motion model of the ship shed 201 is given by the following equation that describes the time evolution of the motion vector x from discrete time k-1 to k:

number

[0054] The parameters included in the motion vector x of the shipyard 201 are as follows: As shown in Fig. 5, the origin of the xyz coordinate system (corresponding to the ground coordinate system u described later) is set at an arbitrary position on one of the pair of rails 3, rail 3 on the quay wall 101 side, the x-axis is an axis along the rail 3 and coincides with the longitudinal direction of the ship 200 at anchor (the left-right direction in Fig. 5), the y-axis is an axis perpendicular to the x-axis in the horizontal plane and coincides with the transverse direction of the ship 200 at anchor (the up-down direction in Fig. 5), and the z-axis is a vertical axis perpendicular to the x-axis and y-axis.

[0055] p x :x coordinate of the center of warehouse 201 p y : y coordinate of the center of warehouse 201 p z :Z coordinate of the center of warehouse 201 θ x : Rotation angle around the x-axis of the center of the shipyard 201 θ y : Rotation angle around the y-axis of the center of the shipyard 201 θ z : Rotation angle around the z-axis of the center of the shipyard 201 v y : Velocity in the y direction at the center of the shipyard 201 v z :Z-direction velocity of the center of the warehouse 201 a y : Acceleration in the y direction at the center of the shipyard 201 ω x : Angular velocity around the x-axis at the center of the shipyard 201 φ x : Angular acceleration around the x-axis at the center of the shipyard 201

[0056] (p x ,p y ,p z The set of (θ x ,θ y ,θ z ) pair represents the rotation or attitude of the shipyard 201. y ,v z ) represents the velocity of the shipyard 201. The velocity in the y direction, v yis incorporated into the motion model to describe the y-direction rocking of the ship shed 201 due to waves in the y direction (waves crashing against the quay wall 101) against the ship 200. The velocity v in the z direction z is incorporated into the motion model to describe the up and down movement of the ship shed 201 due to waves, and the rise of the ship shed 201 due to the weight loss caused by the unloading of bulk cargo M. The velocity v in the x direction x However, since the boat shed 201 is unlikely to sway due to the influence of waves in the x direction parallel to the quay wall 101, this is omitted in this embodiment.

[0057] The acceleration of the boat shed 201 is expressed as the y-direction acceleration a y Only the acceleration in the z direction a z However, it is assumed that the rise of the warehouse 201 due to the weight reduction caused by the unloading of the bulk cargo M is at a substantially constant speed, and the acceleration a in the z direction is z However, in order to describe the vertical movement of the boathouse 201 due to waves, the acceleration a in the z direction is z The angular velocity and angular acceleration of the boat shed 201 are preferably incorporated into the motion model. The angular velocity and angular acceleration of the boat shed 201 are expressed as an x-direction angular velocity ω x , angular acceleration φ x Only the angular velocity around the y-axis ω is incorporated into the motion model. y , angular acceleration φ y , angular velocity around the z-axis ω z , angular acceleration φ z may be incorporated into the motion model, but pitching around the y-axis and yawing around the z-axis are unlikely to occur in the ship 200 docked at the quay 101 in the x-axis direction, so this is omitted in this embodiment.

[0058] The motion model describing the time evolution of the motion vector x of the boat shed 201 including the above parameters is given by the following equation.

number

[0059] The prediction error ε k follows a normal distribution with covariance matrix Q as shown in the following equation.

number

[0060] The square matrix A is the main part of the motion model of the boat shed 201, and is the motion vector x of the boat shed 201 at time k-1. k-1 The motion vector x of the warehouse 201 at time k k Below are some concrete examples of square matrix A.

[0061] In the following example, the square matrix A is the identity matrix. In this motion model, the position (p x ,p y ,p z ) and the attitude of the shipyard 201 (θ x ,θ y ,θ z ) does not change at all. This motion model well represents the motion of the shipyard 201 when the effect of waves on the ship 200 is small or when the weight loss due to unloading can be ignored because the bulk cargo M is light.

number

[0062] In the following example, a square matrix A is z k It includes a velocity element T for the time between discrete times k-1 and k, and the z velocity v at the previous time k-1. z k-1 This is multiplied by p z k =p z k-1 +v z k-1 T is the time when the shipyard 201 moves at a uniform velocity in the z direction (v z k =v z k-1 This motion model well represents the motion of the ship shed 201 when the ship 200 is little affected by waves and the ship 200 rises at a constant speed due to a decrease in weight caused by the unloading of bulk cargo M at a constant speed.

number

[0063] In the following example, a square matrix A is y k For velocity element T and acceleration element T 2 / 2, and z-position p z k It includes the velocity element T and the x angle θ x k For velocity element T and acceleration element T 2 / 2, and the y velocity v y k It includes an acceleration element T and an x ​​angular velocity ω x k Includes an acceleration element T for

number

[0064] These are written out in detail as follows: Formula 1:p y k =p y k-1 +v y k-1T+a y k-1 T 2 / 2 Formula 2:p z k =p z k-1 +v z k-1 T Equation 3: θ x k =θ x k-1 +ω x k-1 T+φ x k-1 T 2 / 2 Formula 4:v y k =v y k-1 +a y k-1 T Equation 5: ω x k =ω x k-1 +φ x k-1 T

[0065] Equation 1 is the y position p y k is the velocity v y k-1 , acceleration a y k-1 In this context, Equation 4 shows that the velocity v y k is the acceleration a y k-1 This shows that the velocity in the y direction, v y and acceleration a y represents the y-direction rocking of the ship shed 201 due to waves crashing against the quay wall 101. As in the second example above, Equation 2 represents the constant speed rise of the ship shed 201 due to the weight reduction caused by the unloading of bulk cargo M at a constant speed. Equation 3 represents the x-angle θ x k is the angular velocity ω x k-1 , angular acceleration φ x k-1 In this context, Equation 5 shows that the angular velocity ω xk is the angular acceleration φ x k-1 It is shown that the angular velocity around the x-axis ω x and angular acceleration φ x represents the rolling of the ship shed 201 around the x-axis due to waves crashing against the quay wall 101. Therefore, this motion model well represents the motion of the ship shed 201 when the ship 200 rises at a constant speed (Equation 2) due to a decrease in weight caused by the unloading of bulk cargo M at a constant speed, in a situation where waves in the y direction relative to the ship 200 are causing rocking in the y-direction (Equations 1 and 4) and rolling around the x-axis (Equations 3 and 5).

[0066] As described above, the motion model of the boat shed 201 in this embodiment is a model of the boat shed 201 with a velocity v y , v z , ω x and the acceleration a of the shipyard 201. y , φ x The motion model of the ship shed 201 in this embodiment includes parameters related to the effect of waves on the ship 200, and parameters related to the rise of the ship 200 due to the weight reduction associated with the unloading of bulk cargo M. The motion model storage unit 303 stores a plurality of different motion models of the ship shed 201 as described above.

[0067] The reference information acquisition unit 304 acquires various reference information that can be referenced when the subsequent motion model selection unit 305 selects a motion model. For example, as reference information indicating the strength of wind and waves that cause the up and down movement, rocking, rolling, etc. of the ship 200, information on the weather, weather, waves, etc. around the wharf 102 is acquired from an information communication network such as the Internet. In addition, as reference information indicating the ascending speed of the ship 200 accompanying the unloading of the bulk cargo M, information on the type, mass, volume, etc. of the bulk cargo M loaded on the ship 200 scheduled to call at port, and information on the unloading speed of the bulk cargo M set in the CSU1 are acquired from the management system of the ship 200 or the CSU1.

[0068] The exercise model selection unit 305 selects at least one exercise model from the multiple exercise models stored in the exercise model storage unit 303. The exercise model selection unit 305 may select an exercise model in response to a user operation received by the user operation reception unit 301, or may autonomously select an exercise model by referring to reference information acquired by the reference information acquisition unit 304. Furthermore, the selection by the exercise model selection unit 305 may be omitted, and subsequent processing may be performed in parallel for each of the multiple exercise models stored in the exercise model storage unit 303.

[0069] The position estimation unit 306 estimates the position of the boathouse 201 based on at least one motion model selected by the motion model selection unit 305. Specifically, the motion vector x of the boathouse 201 at the previous time k-1 is k-1 Based on the above, the function f (square matrix A) and the prediction error ε k From the above, the motion vector x of the shipyard 201 at the current time k k Estimate the motion vector x k is the location of the warehouse 201 (p x ,p y ,p z ), the attitude of the shipyard 201 (θ x ,θ y ,θ z ), the speed of the warehouse 201 (v y ,v z ), acceleration of shipyard 201 (a y ), the angular velocity of the shipyard 201 (ω x ), the angular acceleration of the shipyard 201 (φ x ), the position, attitude, and motion state of the boathouse 201 at time k can be precisely estimated.

[0070] FIG. 7 shows the motion vector x k The figure shows a model of the ship shed 201 from which the value of the height of the ship shed 201 is estimated. In this figure, the ship shed 201 is simply shown as a rectangular parallelepiped cavity. The x direction is the long dimension direction of the ship shed 201, the y direction is the short dimension direction of the ship shed 201, and the z direction is the height direction of the ship shed 201. O is the center of the ship shed 201 (cavity), and its coordinates are (p x ,p y ,p z) The motion vector x k Each parameter included in is related to the center O of the shipyard 201, but since the size and shape of the shipyard 201 are known, the position estimation unit 306 can estimate a three-dimensional model of the shipyard 201 as shown in FIG.

[0071] The position estimation unit 306 extracts geometric features of the dock 201 from the three-dimensional model to be used in the position comparison process of the position comparison unit 308 at a later stage. Examples of the geometric features of the dock 201 include the linear edges E1-E4 on the top surface of the dock 201, the top surfaces U1-U4 facing the edges E1-E4, and the side wall surfaces W1-W4 facing the edges E1-E4 (W1 and W4 are hidden in FIG. 7). The edges E1-E4 may be extracted as the coordinates of at least two arbitrary points on each edge, and the top surfaces U1-U4 and the side wall surfaces W1-W4 may be extracted as their normal vectors. Note that the geometric features of the dock 201 are not limited to the above, and may also be the shapes of structures such as the ceiling surface, side wall surface, and bottom surface of the dock 201, or ladders inside the dock 201.

[0072] The position measurement unit 307 measures the position of a part of the shipyard 201 using the distance measurement sensors 18 and 19. Specifically, it measures the positions of geometric features of the shipyard 201 as shown in Fig. 7. As described with reference to Fig. 5, the laser light emitted by the distance measurement sensors 191 to 193 is irradiated onto parts of the edges E11 to E32 of the shipyard 201 and the upper and side surfaces facing these, so that it is possible to measure the positions of the edges E1 to E4, upper surfaces U1 to U4, and side wall surfaces W1 to W4, which are geometric features shown in Fig. 7.

[0073] The position comparison unit 308 compares the position of the shiphouse 201 estimated by the position estimation unit 306 with the position of the shiphouse 201 measured by the position measurement unit 307. Here, the former estimated position is obtained in the system coordinate system of the CSU 1, which is based on the land or traveling unit 2 shown in Figure 5, while the latter measured position is obtained in the ranging unit coordinate system, which is based on the ranging sensors 18, 19 attached to the unloading unit 9. Therefore, in order to compare the two positions, they need to be converted into the same coordinate system. The same coordinate system can be any system, but below we will explain an example in which the measured positions obtained by the ranging sensors 18, 19 are converted from the ranging unit coordinate system to the system coordinate system and compared with the estimated positions.

[0074] First, the coordinate systems that are the basis for coordinate transformation will be explained. Fig. 8 shows a schematic diagram of each coordinate system set for the CSU1. Fig. 8(A) is a schematic diagram of the CSU1 in a vertical plane including the traveling unit 2, revolving frame 5, boom 7, and hoisting unit 9, and Fig. 8(B) is a schematic diagram of the CSU1 as viewed from above. Fig. 8(A) is a cross-sectional view taken along a plane including the boom 7 extending diagonally downward and to the left in Fig. 8(B).

[0075] The coordinate system u is a ground coordinate system based on the ground on which the traveling unit 2 travels (or a moving unit coordinate system based on the traveling unit 2), and u is the x-axis in the xyz Cartesian coordinate system. x axis, and u as the y-axis y axis, and u as the z axis z The origin of the coordinate system u is set on the track of the running part 2 formed by the rail 3, and u x The direction of the axis coincides with the laying direction of the rail 3, which is the direction of movement of the running part 2, and u y The axis is oriented in the horizontal plane as u x The direction is perpendicular to the axis, and z The axis is oriented vertically. The ground coordinate system u is the system coordinate system of CSU1 shown in Figures 5 and 7.

[0076] Here, "the coordinate system u is a ground coordinate system based on the ground" means that the coordinate system u has its origin at an arbitrary point on the ground or an object whose position on the ground is known. For example, the ground coordinate system u may be a coordinate system whose origin is an arbitrary position on the pier 102, which is the land on which the running unit 2 is installed, or a coordinate system whose origin is the running unit 2, whose position on the ground is known. Note that the ground coordinate system u is also a mobile unit coordinate system based on the running unit 2. Here, "the coordinate system u is a mobile unit coordinate system based on the running unit 2" means that the position and attitude of the running unit 2, which is its reference, can be accurately tracked in the coordinate system u. In the example shown, the running unit 2 is positioned at a constant attitude in the coordinate system u, and is located at u x Since it moves only along the axis, the u y coordinates and u z The coordinates do not change (in the following, for simplicity, the coordinates of the runner 2 are assumed to be u y coordinates and u z (The coordinate is set to 0.) u of running part 2 x The coordinates are the position x of the running part 2 on the rail 3. tl In this way, the three-dimensional coordinates (u x ,u y ,u z )=(x tl , 0, 0) and the orientation can be accurately tracked, so the coordinate system u is a moving unit coordinate system based on the traveling unit 2. In the illustrated example, for the sake of simplicity, u x The direction of the axes is set to coincide with the direction in which the rails 3 are laid, but the direction of each axis of the ground coordinate system u can be set arbitrarily.

[0077] The coordinate system r is a rotation unit coordinate system based on the rotation frame 5, and r is the x-axis in the xyz Cartesian coordinate system. x axis and r as the y-axis y axis, and r as the z axis z The origin of the coordinate system r is the rotation center O of the rotation frame 5 in the top view of FIG. r The center of rotation O in the cross section of Figure 8(A) r It coincides with the point on land directly below. x The axis direction is u xIt rotates by a rotation angle θ2 relative to the axis direction, and r y The axis is oriented in the horizontal plane along the axis r x r is a direction perpendicular to the axis (the extension direction of the boom 7 in FIG. 8(B) as viewed from above), z The axis is oriented vertically.

[0078] Here, "the coordinate system r is a rotating part coordinate system based on the rotating frame 5" means that the center of rotation O of the rotating frame 5, which is the reference in the coordinate system r, is r This means that the position and orientation of the center of rotation O can be accurately tracked. r coincides with the origin of the coordinate system r, so that r x coordinates and r y The coordinate is 0. Also, the center of rotation O r r z The coordinate is the height h from the land r The rotation angle θ2, which indicates the posture of the rotating frame 5, can be measured by an angle sensor or the like. r The three-dimensional coordinates (r x ,r y ,r z )=(0,0,h r ) and posture can be accurately tracked, the coordinate system r is a rotating unit coordinate system based on the rotating frame 5. The rotating unit coordinate system r may be a coordinate system with the origin at any position on the rotating frame 5, boom 7, counterweight 13 that make up the rotating unit, or on the main operation room 16 that can rotate integrally with the rotating unit. In the illustrated example, for the sake of simplicity, r y The direction of the axis is set to coincide with the extension direction of the boom 7 when viewed from above, but the direction of each axis of the rotation unit coordinate system r can be set arbitrarily.

[0079] The coordinate system b is a coordinate system of the hoisting section based on the boom 7 and the lifting section 9, and b is the x-axis in the xyz Cartesian coordinate system. x axis, and b as the y-axis y axis, and b as the z axis z The origin of the coordinate system b is located at the connection between the boom 7 and the lifting unit 9. b yThe axis direction is horizontal and coincides with the extension direction of the boom 7 when viewed from above in FIG. 8(B), and b x The axis direction is b in the horizontal plane. y The direction is perpendicular to the axis, and b z The axis is oriented vertically.

[0080] Here, "the coordinate system b is a coordinate system of the hoisting part based on the boom 7 and the lifting part 9" means that the hoisting center O b In the illustrated example, the boom 7 is positioned at the base end side of the center of elevation O. b As shown in Figure 8(A), the origin of the coordinate system b and the center of the undulations O b The distance between b1 Then, the center of the undulations in the coordinate system b is O b coordinates (b x ,b y ,b z ) is (0,-L b1 cosθ1,-L b1 sinθ1). The angle θ1, which indicates the posture of the undulating part, can be measured using an angle sensor or the like. b Since the position and posture of the boom 7 and the scraping unit 9 can be accurately tracked, the coordinate system b is a hoisting unit coordinate system based on the boom 7 and the scraping unit 9. The origin of the hoisting unit coordinate system b may be any point on the boom 7 that constitutes the hoisting unit, for example, the hoisting center O b may be set as the origin of the coordinate system b of the undulating part. In this case, the directions of the axes remain as shown in the figure, and the coordinates (b x ,b y ,b z ) is (0,L b1 cosθ1,L b1 sinθ1) In the example shown, for simplicity of explanation, y The direction of the axis is set to coincide with the extension direction of the boom 7 when viewed from above, but the direction of each axis of the undulating part coordinate system b can be set arbitrarily.

[0081] The coordinate system l is a distance measurement unit coordinate system based on the distance measurement sensor 19, and l is the x-axis in the xyz Cartesian coordinate system.x axis and l as the y-axis y axis, and l as the z axis z The origin of the coordinate system l is set at the mounting position of the distance measuring sensor 19. y The direction of the axis is horizontal and coincides with the extension direction of the boom 7 when viewed from above in FIG. 8(B). x The axis direction is in the horizontal plane. y The direction is perpendicular to the axis, and z The axis direction is the vertical direction. When multiple distance measurement sensors are provided, such as distance measurement sensors 191 to 193 in Figure 5, the coordinate system l may be common to the multiple distance measurement sensors, or a coordinate system l may be set for each distance measurement sensor.

[0082] Here, "the coordinate system l is a distance measurement unit coordinate system with the distance measurement sensor 19 as the reference" means that the position and orientation of the distance measurement sensor 19, which is the reference in the coordinate system l, can be accurately tracked. In the above example, the three-dimensional coordinates (l x ,l y ,l z ) is always (0,0,0) and its orientation is also constant. The distance measurement unit coordinate system l may have an origin at any position on the top of the loading unit 9 where the distance measurement sensors 19 are attached. In this case, if the attachment position and orientation of each distance measurement sensor 19 on the top of the loading unit 9 are recorded, the position and orientation of each distance measurement sensor 19 relative to the origin of the distance measurement unit coordinate system l can be calculated. In addition, in the illustrated example, l is used for simplicity of explanation. y The direction of the axis is set to coincide with the extension direction of the boom 7 when viewed from above, but the direction of each axis of the distance measuring unit coordinate system l can be set arbitrarily.

[0083] The coordinate system d is a distance measurement unit coordinate system based on the distance measurement sensor 18, and d is the x-axis in the xyz orthogonal coordinate system. x axis, and d as the y-axis y axis, and d as the z axis z The origin of the coordinate system d is located at the connection between the elevator body 14 and the scraping part 11. yThe direction of the axis is horizontal and coincides with the extension direction of the scraping part 11 (not shown) when viewed from above in FIG. 8(B), and d x The axis direction is d in the horizontal plane. y The direction is perpendicular to the axis, and d z The axis is in the vertical direction. As shown in Figure 8(B), d y The axis direction is b y axis and r y The direction of the shaft, i.e., the extension direction of the boom 7 in a top view, is shifted by a rotation angle θ4. This indicates that the scraping part 11 rotates around the axis of the elevator body 14 by an angle θ4.

[0084] Here, "the coordinate system d is a distance measurement unit coordinate system based on the distance measurement sensor 18" means that the position and orientation of the distance measurement sensor 18, which is the reference, can be accurately tracked in the coordinate system d. In FIG. 1, the mounting positions and orientations of the multiple distance measurement sensors 18 on the scraping unit 11 are known, so the three-dimensional coordinates and orientation of each distance measurement sensor 18 relative to the origin of the distance measurement unit coordinate system d at the connecting portion between the elevator body 14 and the scraping unit 11 can be calculated. The origin of the distance measurement unit coordinate system d may be any position on the scraping unit 11; for example, the mounting position of the distance measurement sensor 18 may be the origin of the distance measurement unit coordinate system d. Here, when multiple distance measurement sensors 18 are provided as in FIG. 1, the coordinate system d may be common to the multiple distance measurement sensors, or a coordinate system d may be set for each distance measurement sensor. In addition, in the illustrated example, for simplicity of explanation, the coordinate system d is set to d. z Although the axis direction is set to the vertical direction, the direction of each axis of the distance measuring unit coordinate system d can be set arbitrarily.

[0085] In addition, in Figure 8(A), the scraping unit 11 is shown as a rectangle extending in a direction perpendicular to the axial direction of the elevator body 14, but as shown schematically in Figure 8(C), the scraping unit 11 may be configured with a main part 11A that scrapes off bulk goods M and a bending part 11B that can be bent relative to the elevator body 14. In this case, too, the origin of the distance measurement unit coordinate system d can be set at any position on the scraping unit 11, i.e., on the main part 11A and the bending part 11B. In the coordinate transformation described below, the bending angle θ5 of the bending part 11B is also taken into consideration.

[0086] Next, a method for converting the measured position of the shipyard 201 in the distance measurement unit coordinate systems d and l obtained by the distance measurement sensors 18 and 19 (position measurement unit 307) into the ground coordinate system u as a system coordinate system will be described. First, an example of converting the measured position by the distance measurement sensor 19 from the distance measurement unit coordinate system l to the ground coordinate system u will be described.

[0087] The coordinates of the distance measurement point of the ship shed 201 measured by the distance measurement sensor 19 in the distance measurement unit coordinate system l are expressed as p l =(l x ,l y ,l z ) is expressed as a three-dimensional vector. l In order to convert from the distance measurement unit coordinate system l to the ground coordinate system u, the position comparison unit 308 converts the coordinate p l From the coordinate p of the relief coordinate system b b =(b x ,b y ,b z ) to the coordinate p of the relief coordinate system b b From the coordinate p of the rotating part coordinate system r r =(r x ,r y ,r z ) to the coordinate p of the rotating part coordinate system r r From the coordinate p in the ground coordinate system u u =(u x ,u y ,u z ) and then convert it to the coordinate system. Each coordinate conversion is expressed by the following equation.

number

[0088] The first equation is the coordinate p of the distance measurement unit coordinate system l. l coordinate p in the relief coordinate system b b This is the formula for converting t lb is the three-dimensional translation vector connecting the origin of the distance measurement unit coordinate system l and the origin of the relief unit coordinate system b, and R lb is a 3x3 matrix that represents the difference in attitude between the distance measurement unit coordinate system l and the undulation unit coordinate system b, i.e., the rotation. lb and Rlb is determined depending on the position and posture of the distance measuring sensor 19 at the unloading unit 9. In the example of FIG. 8, there is no rotation between the distance measuring unit coordinate system l and the undulating unit coordinate system b, in which the directions of the axes are the same, so R lb is a 3x3 identity matrix.

[0089] The second equation is the coordinate p in the relief coordinate system b b The coordinate p of the rotation unit coordinate system r r This is the formula to convert R x (±θ1) passes through the origin of the undulating coordinate system b x It is a 3x3 rotation matrix that rotates the three-dimensional coordinates in the positive or negative direction by the undulation angle θ1 around the axis. First, R x (-θ1) to p b By applying this to the y-coordinate, the y-coordinate is converted into a value along the extension direction of the boom 7 during hoisting at the hoisting angle θ1. Then, the hoisting center O along this direction b Distance to L b1 is added. Then R x By applying (+θ1), the coordinates are returned to the coordinates along the original undulating part coordinate system b (which is also the same as the rotation part coordinate system r of the transformation target). b and the distance L in the y direction from the origin of the rotating part coordinate system r b3 is subtracted, and the distance in the z direction L p is added. In this way, the second equation is b The coordinate transformation from the undulating coordinate system b to the rotating coordinate system r is given via the following equation. Also, the parameters θ1 and L b1 , L b3 , L p is determined according to the relative position and posture of the revolving frame 5 with respect to the unloading unit 9.

[0090] The third equation is the coordinate p of the rotating part coordinate system r. r The coordinate p of the ground coordinate system u u This is the formula to convert R z (θ2) is the r that passes through the origin of the rotation unit coordinate system r z It is a 3x3 rotation matrix that rotates the three-dimensional coordinates by the rotation angle θ2 around the axis, and acts to align the rotation unit coordinate system r with the attitude of the ground coordinate system u. Also, as the x coordinate, xtl The x-direction vector with the following formula is a translation vector connecting the origin of the rotating unit coordinate system r and the origin of the ground coordinate system u. In this way, the third formula gives the coordinate transformation from the rotating unit coordinate system r to the ground coordinate system u, with the first term converting the rotational component and the second term converting the translational component. Also, the parameter θ2 in this formula is determined based on the relative attitude of the running unit 2 with respect to the rotating frame 5, and x tl is measured by a position sensor or the like that measures the position of the traveling part 2 on the rail 3.

[0091] From the above equations 1 to 3, the coordinates p of the distance measurement point of the shipyard 201 measured by the distance measurement sensor 19 in the distance measurement unit coordinate system l are calculated. l =(l x ,l y ,l z ) is calculated by the coordinate system b of the undulating part and the coordinate system r of the rotating part, and the coordinates of the measuring point p in the ground coordinate system u. u =(u x ,u y ,u z Similarly, the coordinates p of the distance measurement point of the shipyard 201 measured by the distance measurement sensor 18 in the distance measurement unit coordinate system d are converted into d =(d x ,d y ,d z ) also passes through the undulating coordinate system b and the rotating coordinate system r to the ground coordinate system u, where p is the coordinate of the measuring point. u =(u x ,u y ,u z In this case, the first equation above can be converted into the coordinate p of the distance measurement unit coordinate system d. d coordinate p in the relief coordinate system b b Since the position and orientation of the distance measuring sensor 18 also change depending on the rotation angle θ4 and bending angle θ5 of the scraping part 11 shown in FIGS. 8(B) and 8(C), these parameters are included in the conversion equation.

[0092] The position comparison unit 308 compares the measured position of the shiphouse 201, converted into the ground coordinate system u as the system coordinate system of the CSU1, with the estimated position of the shiphouse 201 obtained by the position estimation unit 306. This position comparison process is performed for each geometric feature of the shiphouse 201. For example, the line segment formed by the measurement point cloud of edge E12 measured in FIG. 5 is compared with the line segment formed by the corresponding edge E2 in FIG. 7. Specifically, the deviation between the two line segments is detected based on the difference in the slope of the two line segments and the distance between the points on each line segment. Similarly, the plane formed by the measurement point cloud of the top surface or side wall surface facing edge E12 measured in FIG. 5 is compared with the plane formed by the corresponding top surface U2 or side wall surface W2 in FIG. 7. Specifically, the deviation between the two planes is detected based on the difference in the direction of the normal vectors of the two planes and the distance between the points on each plane.

[0093] Here, if the motion model selection unit 305 selects multiple motion models or if selection by the motion model selection unit 305 is omitted, the position estimation unit 306 and the position comparison unit 308 perform processing for multiple motion models in parallel. In this case, the position comparison unit 308 evaluates each motion model by comparing the measured position of the shiphouse 201 obtained by the position measurement unit 307 with each estimated position of the shiphouse 201 based on each motion model. The position comparison unit 308 then selects the motion model that provides the estimated position with the smallest deviation from the measured position as the most reliable. In this way, the shiphouse detection device 300 of this embodiment can estimate the position of the shiphouse 201 using multiple motion models in parallel and select an appropriate motion model with the smallest deviation from the measured position of the shiphouse 201 in real time.

[0094] The position update unit 309 updates the position of the shipyard 201 based on the result of the position comparison unit 308 comparing the position estimated by the position estimation unit 306 with the position measured by the position measurement unit 307. Specifically, the position update unit 309 updates the position of the shipyard 201 based on the result of the comparison between the position estimated by the position estimation unit 306 and the position measured by the position measurement unit 307. Specifically, the position update unit 309 updates the position of the shipyard 201 based on the result of the comparison between the estimated position detected by the position comparison unit 308 and the measured position. k7 accurately represents the position, posture, and motion state of the actual shipyard 201, and this three-dimensional model can be used to accurately predict the subsequent motion of the shipyard 201. Furthermore, by having the position measurement unit 307 continue to measure the shipyard 201 using the distance measurement sensors 18 and 19, it is possible to detect and quickly correct any deviation of the three-dimensional model from the actual shipyard 201.

[0095] 9 is a flowchart showing an example of a warehouse detection process performed by the warehouse detection device 300. "S" in the flowchart represents a step.

[0096] In S1, the position measurement unit 307 measures the position of a portion of the shipyard 201 using the distance measurement sensors 18 and 19. In S2, the position comparison unit 308 converts the measured position obtained in S1 from the distance measurement unit coordinate system d and l to the ground coordinate system u, which serves as a system coordinate system. In S3, the shipyard detection device 300 determines whether a motion model has been selected by the motion model selection unit 305. Since a motion model has not been selected in the initial processing, the process proceeds to S4, where the position measurement unit 307 extracts shape features of the shipyard 201 from the range point cloud obtained in S1. As mentioned above, examples of shape features of the shipyard 201 include line-shaped edges such as E12 in Figure 5, and flat top and side wall surfaces facing the edges. Note that, to improve the detection accuracy of the shipyard 201 by the shipyard detection device 300, it is preferable to process as many shape features as possible; however, in situations where the amount of calculation is limited, only some shape features may be processed.

[0097] In S5, the position estimation unit 306 estimates the position of the boathouse 201 based on at least one motion model stored in the motion model storage unit 303. Specifically, as described above, the motion vector x k Based on this, a three-dimensional model (FIG. 7) of the shipyard 201 is estimated. As in S4, the position estimation unit 306 extracts the shape characteristics of the shipyard 201 from the three-dimensional model of the shipyard 201. In the first processing, the motion vector x k-1Since the position of the boat shed 201 cannot be estimated by using a known estimation algorithm such as RANSAC (Random Sample Consensus), the position of the boat shed 201 is estimated in S6. In S6, the position comparison unit 308 compares the shape features based on the measured position extracted in S4 with the shape features based on the estimated position extracted in S5, and detects the deviation between the two positions. In S7, the position update unit 309 updates the motion vector x of the boat shed 201 so as to reduce the deviation between the measured position detected in S6 and the estimated position. k and updates the three-dimensional model. If the discrepancy between the measured position and the estimated position cannot be reduced sufficiently in S7, the process returns to S5 and the position of the shipyard 201 is re-estimated based on another motion model. In S8, the motion model selection unit 305 selects the motion model used in the processing of S7 for the next processing.

[0098] If the motion model has been selected in S8, the process proceeds from S3 to S9, and the position estimation unit 306 calculates the motion vector x of the shipyard 201 based on the selected motion model in the same manner as in S5. k In S10, similar to S4, the position measurement unit 307 extracts the geometric features of the shipyard 201 from the ranging point cloud obtained in S1. Here, since the processing in S9 has estimated a three-dimensional model of the shipyard 201 as shown in FIG. 7 and extracted its geometric features E1 to E4, U1 to U4, and W1 to W4, the extraction of geometric features from the ranging point cloud in S10 only needs to target ranging points within a predetermined distance from the estimated geometric features E1 to E4, U1 to U4, and W1 to W4. Because the number of ranging points to be processed can be significantly reduced in this way, the geometric features of the shipyard 201 can be extracted from the ranging point cloud in S10 more quickly than in S4.

[0099] In S11, the position comparison unit 308 compares the shape features based on the measured position extracted in S10 with the shape features based on the estimated position extracted in S9, and detects the difference between the two positions. In S12, the position update unit 309 updates the motion vector x of the shipyard 201 so as to reduce the difference between the measured position detected in S11 and the estimated position. kIf the discrepancy between the measured position and the estimated position cannot be reduced sufficiently in S12, the motion model is updated to another one that gives a better estimation result in the following S13. In S14, the motion vector x of the ship shed 201 updated in S7 or S12 is k and a three-dimensional model are output as the estimated result of the position of the shipyard 201. Based on this estimation result, the position, posture, and motion state of the shipyard 201 can be accurately grasped, which improves the safety and efficiency of unloading by the CSU 1. Note that the series of processes shown in Fig. 9 is repeated at predetermined intervals, such as several seconds, while the CSU 1 is unloading, so the state of the shipyard 201 can be accurately grasped at all times.

[0100] The present invention has been described above based on the embodiments. The embodiments are merely examples, and it will be understood by those skilled in the art that various modifications are possible in the combination of the respective components and treatment processes, and that such modifications are also within the scope of the present invention.

[0101] The present invention is not limited to the bucket elevator type continuous unloader described in the embodiment, but can also be applied to a spiral type continuous unloader or a continuous unloader equipped with an air conveying mechanism.

[0102] The functional configuration of each device described in the embodiments can be realized by hardware resources, software resources, or a combination of hardware and software resources. Examples of hardware resources include processors, ROMs, RAMs, and other LSIs. Examples of software resources include operating systems, applications, and other programs. [Explanation of symbols]

[0103] 1 Cargo unloading unit (CSU), 2 Travel unit, 5 Swing frame, 7 Boom, 9 Unloading unit, 11 Scraping unit, 14 Elevator body, 16 Main operation room, 18, 19 Distance measurement sensor, 21 Opening, 101 Quay, 102 Pier, 200 Ship, 201 Warehouse, 300 Warehouse detection device, 301 User operation reception unit, 302 Motion model registration unit, 303 Motion model storage unit, 304 Reference information acquisition unit, 305 Motion model selection unit, 306 Position estimation unit, 307 Position measurement unit, 308 Position comparison unit, 309 Position update unit.

Claims

1. A cargo hold detection device for detecting the position of a cargo hold of a ship, a motion model holding unit that holds a motion model of the cargo hold; a position estimation unit that estimates the position of the cargo hold based on the motion model; a position measurement unit that measures the position of a portion of the cargo hold; a position update unit that updates the position of the cargo hold based on the position estimated by the position estimation unit and the position measured by the position measurement unit; A cargo compartment detection device comprising:

2. 2. The cargo bay detection system of claim 1, wherein the motion model includes a velocity parameter related to the velocity of the cargo bay.

3. 3. The cargo hold detection device according to claim 1, wherein the motion model includes an acceleration parameter relating to the acceleration of the cargo hold.

4. the cargo hold is a ship's hold; The motion model includes parameters relating to the effect of waves on the vessel. A cargo compartment detection device according to any one of claims 1 to 3.

5. the cargo hold is a ship's hold; The motion model includes parameters related to the rise of the ship due to the weight loss caused by the unloading of cargo. A cargo compartment detection device according to any one of claims 1 to 4.

6. the motion model holding unit holds a plurality of different motion models of the cargo hold, further comprising an exercise model selection unit for selecting at least one exercise model from the plurality of exercise models; The position estimation unit estimates the position of the cargo hold based on the motion model selected by the motion model selection unit. A cargo compartment detection device according to any one of claims 1 to 5.

7. the motion model holding unit holds a plurality of different motion models of the cargo hold, the position estimation unit estimates the positions of the cargo holds based on the plurality of motion models, a position comparison unit that compares a plurality of positions based on the plurality of motion models estimated by the position estimation unit with a position measured by the position measurement unit, and selects a motion model with a small deviation; The position of the cargo hold is updated based on the position estimated by the position estimation unit based on the motion model selected by the position comparison unit and the position measured by the position measurement unit. A cargo compartment detection device according to any one of claims 1 to 6.

8. the position estimation unit estimates the position of a geometric feature of the cargo hold; The position measurement unit measures the position of the geometric feature within a predetermined range from the estimated position of the geometric feature. A cargo compartment detection device according to any one of claims 1 to 7.

9. 9. The cargo hold detection system of claim 8, wherein the geometric feature is an edge of the cargo hold.

10. 10. The cargo hold detection device according to claim 8 or 9, wherein the geometric feature is a flat surface facing the edge of the cargo hold.

11. 11. The cargo bay detection device according to claim 1, wherein the position measurement unit is a distance measurement sensor that measures the distance to the cargo bay.

12. An unloading device comprising: a moving section movable relative to the ship; a rotating section rotatable relative to the moving section; and a carrying-out section provided on the rotating section for carrying out cargo from the cargo hold, the position measurement unit measures the cargo compartment using the distance measurement sensor provided in the discharge unit, and acquires distance measurement unit coordinates in a distance measurement unit coordinate system based on the distance measurement sensor; a position comparison unit that converts the coordinates of the distance measurement unit from the distance measurement unit coordinate system to a ground coordinate system based on the ground on which the moving unit moves, based on the relationship of the discharge unit with respect to the distance measurement sensor, the relationship of the swivel unit with respect to the discharge unit, and the relationship of the moving unit with respect to the swivel unit, and compares the converted coordinates with the position estimated by the position estimation unit.

12. A cargo hold detection device according to claim 11.

13. 13. The cargo bay detection device according to claim 1, wherein the position measurement unit is a camera that photographs the cargo bay.

14. A cargo hold detection method for detecting the location of a cargo hold of a ship, comprising: a position estimation step of estimating a position of the cargo hold based on the stored motion model of the cargo hold; a position measuring step of measuring a position of a portion of the cargo hold; a position updating step of updating the position of the cargo hold based on the position estimated in the position estimating step and the position measured in the position measuring step; A cargo hold detection method comprising:

15. A cargo hold detection program for detecting the location of a cargo hold of a ship, a position estimation step of estimating a position of the cargo hold based on the stored motion model of the cargo hold; a position measuring step of measuring a position of a portion of the cargo hold; a position updating step of updating the position of the cargo hold based on the position estimated in the position estimating step and the position measured in the position measuring step; A cargo bay detection program that causes a computer to execute the following.

16. 1. A discharge device for discharging cargo from a cargo hold of a ship, comprising: a motion model holding unit that holds a motion model of the cargo hold; a position estimation unit that estimates the position of the cargo hold based on the motion model; a position measurement unit that measures the position of a portion of the cargo hold; a position update unit that updates the position of the cargo hold based on the position estimated by the position estimation unit and the position measured by the position measurement unit; An unloading device comprising:

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