Unloading machine and unloading machine estimation method

Abstract

An unloading machine 1 for unloading cargo at an unloading site comprises: a traveling part 2 that can move with respect to the unloading site; a turning frame 5 that can turn with respect to the traveling part 2; an unloading part 9 which is provided in a turning part and unloads the cargo at the unloading site; a self-measurement part 500 which is provided in at least one among the traveling part 2, the turning frame 5, and the unloading part 9 and measures at least one among the position, orientation, and motion of the self-measurement part 500; and an unloading part estimation part for estimating at least one among the position, orientation, and motion of the unloading part 9 on the basis of the result of a measurement by the self-measurement part 500.

Description

Material handling machinery, method for estimating material handling machinery

[0001] This disclosure relates to material handling machinery, etc.

[0002] Cargo handling machines are known for handling cargo or loads on ships and other vessels. Cargo handling machines are broadly classified into loading machines, which load cargo into the ship's hold, and unloading machines, which unload cargo from the ship's hold onto land. Among loading machines, those that load bulk cargo or bulk loads such as coal or iron ore are also called ship loaders, and among unloading machines, those that unload bulk loads are also called ship unloaders. This disclosure is applicable to any cargo handling machine, but mainly describes unloading machines or ship unloaders in an illustrative and representative manner. Some ship unloaders continuously unload bulk loads from the ship's hold and are called continuous unloaders or ship continuous unloaders. In this disclosure, the abbreviation CSU is used.

[0003] Patent Document 1 discloses a method for calibrating a distance measuring sensor by measuring its distance to a reference object such as a rail on a pier. With a calibrated distance measuring sensor, the position and orientation of the loading or unloading section for unloading cargo can be measured with high precision.

[0004] Japanese Patent Publication No. 2022-158930

[0005] In Patent Document 1, a distance measuring sensor is installed in the unloading section. However, as the unloading operation progresses and the unloading section moves deeper into the ship's hold, the ground reference object may move out of the measurement range of the distance measuring sensor. In other words, the distance measuring sensor may become unable to measure the ground reference object. In this state, the distance measuring sensor cannot be calibrated, which may lead to a deterioration in the accuracy of measuring the position and attitude of the unloading section or scraping section.

[0006] This disclosure is made in view of these circumstances and aims to provide a cargo handling machine, etc., that can reliably estimate at least one of the position, orientation, or movement of the cargo handling section.

[0007] To solve the above problems, a cargo handling machine according to one aspect of the present disclosure is a cargo handling machine for handling cargo at a loading / unloading area, comprising: a movable part that is movable relative to the loading / unloading area; a pivoting part that is pivotable relative to the movable part; a cargo handling part provided on the pivoting part for handling cargo at the loading / unloading area; a self-measuring unit provided on at least one of the movable part, pivoting part, and cargo handling part for measuring at least one of its own position, posture, and motion; and a cargo handling unit estimation unit that estimates at least one of the position, posture, and motion of the cargo handling unit based on the measurement results from the self-measuring unit.

[0008] In this embodiment, a self-measuring unit is used to measure at least one of the position, orientation, or motion of the cargo handling unit when estimating at least one of these. Since the self-measuring unit measures itself, it does not lose sight of the measurement target (reference object) like the distance measuring unit in Patent Document 1.

[0009] Another aspect of the present disclosure is a method for estimating the position, posture, and motion of a material handling machine, comprising a movable part that is movable relative to a material handling place, a pivoting part that is pivotable relative to the movable part, and a material handling part provided on the pivoting part for handling cargo at a material handling place, the method for estimating the position, posture, and motion of a material handling machine, comprising: measuring its own position, posture, and motion using a self-measuring unit provided on at least one of the movable part, pivoting part, and material handling part; and estimating the position, posture, and motion of the material handling part based on the measurement results from the self-measuring unit.

[0010] Furthermore, any combination of the above components, as well as any representations thereof converted into methods, apparatus, systems, recording media, computer programs, etc., are also included in this disclosure.

[0011] According to this disclosure, the position, orientation, and movement of the cargo handling unit can be reliably estimated.

[0012] This is a front view showing the overall configuration of the lifting machine. This is a perspective view showing the overall configuration of the lifting machine. This shows the detailed configuration of the lifting section. This shows the appearance of the distance measuring sensor. This is a top view showing an example of the arrangement of the distance measuring sensor. This is a schematic functional block diagram of the calibration device. This schematically shows various coordinate systems that can be set with respect to the CSU. This shows an example of the computer operation screen. This is a flowchart showing an example of calibration of the distance measuring sensor by the calibration device. This schematically shows an example of the installation of the self-measuring section. This schematically shows the functional block related to the execution of the cargo handling machine estimation method. This schematically shows a pair of distance measuring sensor and object to be measured used in estimation by the cargo handling section estimation section. This schematically shows a vertical screw type unloader. This schematic shows the first embodiment. This schematic shows the first embodiment. This schematic shows the first embodiment. This schematic shows the first embodiment. This schematic shows the second embodiment. This schematic shows the second embodiment. This schematic shows the second embodiment. This schematic shows the second embodiment.

[0013] The following describes in detail the forms for implementing this disclosure (hereinafter also referred to as embodiments) with reference to the drawings. In the description and / or drawings, identical or equivalent components, members, processes, etc., are denoted by the same reference numerals, and redundant descriptions are omitted. The scale and shape of the illustrated parts are set for convenience to simplify the description and are not to be interpreted restrictively unless otherwise specified. The embodiments are illustrative and do not limit the scope of this disclosure in any way. Not all features or combinations thereof presented in the embodiments are necessarily essential to this disclosure. For convenience, embodiments are presented by breaking them down into components for each function and / or group of functions that realize them. However, one component in an embodiment may actually be realized by a combination of multiple components as separate entities, and multiple components in an embodiment may actually be realized by a single component as a whole. Furthermore, multiple embodiments and modifications may be disclosed in parallel, and any components of each embodiment and / or modification may be combined in any manner as long as they do not interfere with each other's functions.

[0014] Figure 1 shows the overall configuration of the unloading machine 1 as a cargo handling machine according to the embodiment of this disclosure. The unloading machine 1 is a continuous unloader or ship-mounted continuous unloader that unloads bulk cargo M loaded on a ship 200 or as cargo onto land. Hereinafter, the unloading machine 1 will also be referred to as CSU 1. The CSU 1 continuously transports bulk cargo M stored in the cargo hold 201 of a ship 200 docked at a quay 101 of a pier 102 in a port or the like to land. Examples of typical bulk cargo M include coal, coke, ore, etc. The ship 200 or cargo hold 201 is the storage place for the bulk cargo M, and is also the cargo handling place or unloading place where the CSU 1 handles or unloads the bulk cargo M.

[0015] The CSU 1 is operated by an operator in the main control room 16 located in its main body. The control room for operating the CSU 1 may be located elsewhere within the CSU 1, or it may be located anywhere on land outside the CSU 1.

[0016] The pier 102 where the ship 200 docks constitutes the land area where the bulk cargo M is unloaded, and is constructed of high-strength materials such as reinforced concrete. As shown in the perspective view of Figure 2, the pier 102 is provided with a pair of parallel rails 3 as a track along the longitudinal direction (the direction perpendicular to the plane of the paper in Figure 1) of the ship 200 that is docked and anchored at the quay 101. The rails 3 constitute a track on which the running section 2, which is the movable part of the CSU 1, can move or travel. These rails 3 allow the CSU 1 to move relative to the anchored ship 200. As shown in Figure 2, the direction in which the rails 3 are installed preferably coincides with the longitudinal direction of the anchored ship 200 or the quay 101, but it may be any other direction. The rails 3 may also include curved sections and bends. When unloading cargo from the ship 200, the CSU 1 moves along the rails 3 and approaches the hatch 21, which is the upper opening of the cargo hold 201 to be unloaded. Subsequently, the running section 2, the slewing frame 5, the unloading section 9, etc., are driven, and the bulk cargo M is unloaded from the cargo hold 201.

[0017] At the pier 102, a belt conveyor 45 is provided between a pair of rails 3 to transport the unloaded bulk cargo M in a constant direction. As shown in Figure 2, it is preferable that the installation direction of the belt conveyor 45, i.e., the transport direction, coincides with the installation direction of the rails 3, but it may be any other direction. The belt conveyor 45 may also include curved sections and bends. The belt conveyor 45 needs to be provided between the pair of rails 3 where it receives the bulk cargo M unloaded from the CSU 1, but it may be provided outside the pair of rails 3 at other locations.

[0018] The CSU 1 comprises a traveling section 2 as a mobile section that can move relative to the ship 200, a slewing frame 5 as a slewing section that can rotate relative to the traveling section 2, and a lifting section 9 provided at the tip of the slewing frame 5 as a cargo handling section for unloading bulk cargo M. The slewing frame 5 is supported on the traveling section 2 so as to be able to rotate around a slewing axis in the vertical direction (up and down direction in Figure 1). The slewing frame 5 is provided with a boom 7 that extends laterally and intersects the slewing axis, and a bucket elevator, which constitutes the main part of the lifting section 9 as a conveying section, is supported at its tip.

[0019] The lifting section 9 maintains a vertical position regardless of the luffing angle of the boom 7 (the angle of rotation around the luffing axis perpendicular to the plane of the paper in Figure 1) through a parallel link mechanism formed between the slewing frame 5, the boom 7, and the parallel link 8. A counterweight 13 is provided at the rear end of the slewing frame 5 opposite to the tip of the boom 7. The counterweight 13 is connected to the tip of the boom 7 via a balancing lever 12. Due to the action of this counterweight 13, the lifting section 9 becomes virtually unloaded, achieving a stable load balance. The main components of the slewing section, such as the slewing frame 5, boom 7, balancing lever 12, and counterweight 13, will collectively be referred to as the main body below.

[0020] A cylinder 15 is provided to adjust the luffing angle of the boom 7. When the cylinder 15 is at its standard length, the luffing angle is 0 degrees, meaning the boom 7 is parallel or horizontal to the ground (left-right direction in Figure 1). Extending the cylinder 15 beyond its standard length causes the tip of the boom 7 to rise, resulting in a positive luffing angle. Reducing the cylinder 15 beyond its standard length causes the tip of the boom 7 to lower, resulting in a negative luffing angle. The lifting section 9, supported at the tip of the boom 7, rises while maintaining a vertical position when the luffing angle of the boom 7 increases, and lowers while maintaining a vertical position when the luffing angle of the boom 7 decreases. In this way, the lifting section 9, as a cargo handling or lifting device, moves up and down integrally with the luffing of the boom 7.

[0021] The main control room 16 for operating the CSU 1 is located in the CSU 1 or the main body of the slewing section. In the example shown in Figure 1, the main control room 16 is located on the lifting section 9 side of the slewing frame 5. The operator in the main control room 16 can safely operate the CSU 1 while visually monitoring the lifting section 9. Alternatively, the operator in the main control room 16 may operate the CSU 1 while viewing images or videos of the cargo hold 201, captured by a camera or other imaging device, on a monitor. In response to the operation of the CSU 1 through the main control room 16, parameters related to the position, posture, and operation of the CSU 1 (hereinafter collectively referred to as the CSU state), such as the position of the traveling section 2, the slewing angle of the slewing frame 5, and the elevation angle of the boom 7, are controlled. Furthermore, the loading operation of bulk cargo M by the lifting section 9 can also be operated through the main control room 16.

[0022] The unloading section 9 includes a scraping section 11 at its lower end that scrapes bulk cargo M from within the cargo hold 201, and a bucket elevator as a transport section that transports the bulk cargo M scraped by the scraping section 11 upward or toward the upper end to the outside of the cargo hold 201. The scraping section 11 is located at the lower part of the unloading section 9. A number of buckets 27 (see Figure 3) are provided along the outer circumference of the scraping section 11 so as to be movable in one direction (W in Figure 1), and the bulk cargo M from within the cargo hold 201 is continuously excavated and scraped off. The bulk cargo M scraped off by the scraping section 11 is transported upward together with the buckets 27 by the bucket elevator.

[0023] Figure 3 shows the detailed configuration of the lifting section 9. The bucket elevator comprises a cylindrical elevator body 14 extending vertically and a chain bucket 29 that rotates along the outer circumference of the elevator body 14 and the scraping section 11. The chain bucket 29 comprises a pair of roller chains 25, each composed of 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 mounted so as to be suspended between the pair of roller chains 25.

[0024] The bucket elevator includes a drive roller 31a that rotationally drives a stretched roller chain 25, driven rollers 31b and 31c, and a turning roller 33. The drive roller 31a is located at the top 9a of the bucket elevator and is rotationally driven by a motor (not shown) or the like, causing the chain bucket 29 to rotate. The driven roller 31b is located in front of the scraping section 11 (to the left in Figure 3(B)), and the driven roller 31c is located behind the scraping section 11 (to the right in Figure 3(B)), each guiding the rotating chain bucket 29. The turning roller 33 is a driven roller located below the drive roller 31a, which guides the rotating chain bucket 29 and changes its direction of motion. An extendable cylinder 35 is provided between the driven roller 31b and the driven roller 31c. When the cylinder 35 extends or retracts, the distance between the axes of the two driven rollers 31b and 31c changes, altering the trajectory of the chain bucket 29's orbital motion. The extension and retraction of the cylinder 35 may be controlled by operation through the main control room 16, or it may be controlled automatically by a computer built into the CSU 1 according to a program. In addition, corresponding to the provision of two roller chains 25, two drive rollers 31a, two driven rollers 31b and 31c, and two turning rollers 33 are each provided and arranged side by side in a direction perpendicular to the plane of the paper in Figure 3(B).

[0025] Driven by rotation through the drive roller 31a, the chain bucket 29 revolves along the outer circumference of the elevator body 14 and the scraping section 11. For example, the chain bucket 29 revolves counterclockwise along the arrow W shown in Figure 3(B). During this movement, the chain bucket 29 reciprocates between the scraping section 11 located at the bottom of the bucket elevator and the drive roller 31a located at the top 9a of the bucket elevator.

[0026] Each bucket 27 of the chain bucket 29 rises along the elevator body 14 while maintaining an orientation with its opening facing upward. As each bucket 27 passes the drive roller 31a at the top 9a of the bucket elevator, its direction of motion changes from upward to downward, and the opening of each bucket 27 also rotates from upward to downward. Below the openings of each bucket 27 that have rotated downward in this way, there is a discharge chute (not shown) to which the bulk load M scooped up by each bucket 27 is discharged. The discharge chute discharges the bulk load M onto a rotating feeder 37 (Figure 1) provided on the outer circumference of the upper part of the lifting section 9.

[0027] The rotary feeder 37 rotates around the rotation axis in the extension direction, i.e., the vertical direction, of the elevator body 14, and transfers the bulk load M discharged from the discharge chute to the boom conveyor 39 on the boom 7. The boom conveyor 39 transports the bulk load M along the boom 7 to the vicinity of the rotation axis of the slewing frame 5, and supplies it to a hopper (not shown) located there. An internal conveyor 43 for receiving the bulk load M is provided in the running section 2 below the discharge opening of this hopper. The internal conveyor 43 transfers the bulk load M to the aforementioned belt conveyor 45 located on the pier 102, which is land.

[0028] Next, the basic unloading operation of the CSU1 having the above configuration will be explained. In this unloading operation, the unloading unit 9 and / or CSU1 transport the bulk cargo M (ship cargo) from the ship's hold 201 to the outside of the ship's hold 201.

[0029] The operator of the CSU1 operates the CSU1 from the main control room 16. First, the running section 2 is moved along the rails 3 to a position close to the hatch 21 of the cargo hold 201 to be unloaded. Next, the slewing frame 5 is rotated around a vertical slewing axis located in a position overlapping with the running section 2 in the top view in Figure 1, moving the lifting section 9, located at the tip of the boom 7, above the hatch 21 of the cargo hold 201 to be unloaded. Here, it is preferable that the boom 7 is raised and lowered in the positive direction (clockwise in Figure 1) so as not to collide with the pier 102 or the ship 200, and that the running and slewing operations are performed when the lifting section 9 is sufficiently raised. Next, the boom 7 is raised and lowered in the negative direction (counterclockwise in Figure 1), and the scraping section 11, located at the tip of the lifting section 9, is inserted into the cargo hold 201 through the hatch 21. Furthermore, the movement of the travel unit 2, the rotation of the slewing frame 5, and the raising and lowering of the boom 7 may be performed simultaneously if there are no safety issues.

[0030] After the scraping section 11 is inserted into the cargo hold 201, the roller chain 25 begins to rotate along the arrow W. The multiple buckets 27 attached to the roller chain 25 excavate and scrape up the bulk cargo M stored in the cargo hold 201 as they rotate together with the roller chain 25. The bulk cargo M scraped up by each bucket 27 is transported upward along the elevator body 14 as the roller chain 25 rotates.

[0031] The scraping unit 11 may change its three-dimensional position within the cargo hold 201 as appropriate in order to efficiently scrape bulk cargo M from various locations within the cargo hold 201. For example, if the surface position of the bulk cargo M becomes lower as the unloading operation progresses, the boom 7 is raised and lowered in the negative direction, causing the scraping unit 11 to descend. Also, in order to scrape bulk cargo M near the walls of the cargo hold 201, the position of the scraping unit 11 in the horizontal plane may be changed to be closer to the wall through the operation of the traveling unit 2 and / or the slewing frame 5. The scraping unit 11 may change not only its three-dimensional position but also its posture and shape. For example, the scraping unit 11 is rotatable around the axis of rotation in the extension direction, i.e., the vertical direction, of the elevator body 14, and its orientation can be changed arbitrarily. Also, as shown by the dashed line in Figure 3(B), the scraping unit 11 can take on an inclined shape or a horizontally elongated shape that contracts vertically and extends horizontally. This allows the scraping section 11 to be brought closer to the wall, even in a cargo hold 201 with a large horizontal distance from the hatch 21 to the wall, enabling efficient scraping of bulk cargo M.

[0032] The control of the CSU state, such as the position, posture, operation, and shape of the scraping section 11 or the unloading section 9 within the cargo hold 201, in relation to the unloading operation of the CSU 1, may be performed autonomously by the CSU 1 using a camera or other imaging device or a distance measuring sensor described later (i.e., the unloading section 9 and / or the CSU 1 may be operated automatically), or it may be performed manually by an operator in the main control room 16 while communicating with workers in the cargo hold 201.

[0033] As described above, the bucket 27 that has scooped up the bulk cargo M from the cargo hold 201 rises along the elevator body 14, and as it passes the drive roller 31a at its uppermost point 9a, it rotates from upward to downward. The bulk cargo M that falls due to the rotation of the bucket 27 enters the discharge chute and is discharged onto the rotating feeder 37. Thereafter, the bulk cargo M is transported via the boom conveyor 39 and the in-machine conveyor 43 to the belt conveyor 45 located at the pier 102, which serves as land. This unloading operation is repeated by multiple buckets 27, thereby continuously unloading the bulk cargo M from the cargo hold 201.

[0034] Next, we will describe the distance measuring sensor installed in the CSU1 to improve the safety and efficiency of cargo unloading. The distance measuring sensor constitutes a cargo hold detection unit or position measuring unit that detects the position of a part of the cargo hold 201, for example, the edge of the opening 21, the upper / side surface facing the edge, the ceiling / walls / bottom of the cargo hold 201, structures inside the cargo hold 201, etc.

[0035] As shown in Figure 1, multiple distance measuring sensors 19 are provided on the upper part of the loading section 9 to measure the distance to objects located below and to the side. In the illustrated example, any object that can be measured by the distance measuring sensors 19 is any object such as the edge of the opening 21, the ceiling / walls / bottom of the cargo hold 201, bulk cargo M and other objects, people / structures inside the cargo hold 201, a bulldozer for bottom dredging, the scraping section 11, the ship 200, other parts of the CSU1 such as the boom 7 / slewing frame 5 / traveling section 2 / main control room 16, the quay 101, the dock 102, the rails 3, the belt conveyor 45, etc. Multiple distance measuring sensors 19 may be arranged, for example, on the upper part of a cylindrical elevator body 14, surrounding the outer circumference of the elevator body 14. Alternatively, multiple distance measuring sensors 19 may be provided on a flange section 91 that rotatably supports the upper part of the elevator body 14, surrounding the outer circumference of the elevator body 14. It is preferable that the multiple distance measuring sensors 19 be positioned below the connection point between the lifting section 9 and the boom 7 so that the boom 7 does not fall within the measurement range below and to the side of the multiple distance measuring sensors 19. On the other hand, if the multiple distance measuring sensors 19 are positioned above the connection point between the lifting section 9 and the boom 7, it is sufficient that each distance measuring sensor 19 is positioned so as not to overlap with the boom 7 when viewed from above (as seen from above in Figure 1). An example of the arrangement of the multiple distance measuring sensors 19 in a top view 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 section 9 and any number of distance measuring sensors 19 that measure distance mainly to the side of the lifting section 9 may be provided.

[0036] Multiple distance measuring sensors 18 are provided in the scraping section 11 at the bottom of the loading section 9 to measure the distance to objects to be measured above, to the side, and below. In the illustrated example, any object can be measured by the distance measuring sensors 18, such as the edge of the opening 21, the ceiling / walls / bottom of the cargo hold 201, bulk cargo M and other objects, people / structures inside the cargo hold 201, a bulldozer for bottom scraping, and other parts of the CSU1 such as the boom 7. The distance measuring sensors 18 are provided at the front (left side in Figure 1) and rear (right side in Figure 1) of the scraping section 11, respectively. To avoid deterioration of measurement accuracy due to dust from the bulk cargo M scraped by the bucket 27 of the scraping section 11, it is preferable that the multiple distance measuring sensors 18 be provided at a position away from the location where the bucket 27 excavates the bulk cargo M (for example, the lower part of the scraping section 11) (for example, the upper part of the scraping section 11). The number of distance measuring sensors 18 is arbitrary. For example, any number of distance measuring sensors 18 that measure distances mainly to the side of the scraping section 11 and any number of distance measuring sensors 18 that measure distances mainly below the scraping section 11 may be provided.

[0037] Figure 4 shows the external appearance of the distance measuring sensors 18 and 19. The distance measuring sensors 18 and 19 are, for example, distance-measuring laser sensors and constitute a distance measuring unit that measures the distance to an object to be measured. The distance measuring sensors 18 and 19 as laser sensors include a laser light-emitting unit (not shown) that emits laser light toward the object to be measured, including the ship's hold 201, and a laser light-receiving unit (not shown) that receives the laser light reflected by the object to be measured. A light-transmitting portion 171 that can transmit laser light is formed in an endless band shape around the entire circumference of the side surface of the cylindrical housing 17 of the distance measuring sensors 18 and 19.

[0038] Multiple laser emitters are provided in the housing 17, facing the light-transmitting section 171, and emit a linear laser beam to the outside of the housing 17 through the light-transmitting section 171. Each laser emitter is arranged at a predetermined interval along the direction of the central axis A of the housing 17 (the vertical direction in Figure 4), although Figure 4 simply shows the laser beam being emitted from a single point. Also, as schematically illustrated, the emission angles of each laser emitter are provided with a difference of approximately 0.1 to 3 degrees from each other. Such distance measuring sensors 18 and 19 irradiate laser beams within a predetermined angular range above and below the reference plane S (in the illustrated example, within the range of θ- to θ+), with the plane perpendicular to the central axis A of the housing 17 as the reference plane S. θ- and θ+ can be designed arbitrarily, but in the following example, -θ- = θ+ = 15 degrees. In this case, the distance measuring sensors 18 and 19 irradiate laser beams within a range of ±15 degrees centered on the reference plane S. Furthermore, these multiple laser light-emitting units can be integrally rotated 360 degrees around the central axis A of the housing 17. Therefore, the distance measuring sensors 18 and 19 can irradiate laser light onto substantially all objects to be measured around (to the side of) the housing 17. Note that the laser light-emitting units of the distance measuring sensors 18 and 19 may irradiate laser light within any angular range smaller than 360 degrees around the central axis A of the housing 17 (for example, an angular range of 180 degrees or less or an angular range of 120 degrees or less). In addition, it is preferable to use laser light of an invisible wavelength such as near-infrared light so as not to disturb people inside or around the CSU 1 or the ship 200.

[0039] The distance measuring sensors 18 and 19 rotate multiple laser light-emitting units together, emitting pulsed laser light at predetermined rotational angles. The pulsed laser light emitted by each laser light-emitting unit is reflected or scattered by the object to be measured and returns to the distance measuring sensors 18 and 19, where it is received by a laser light-receiving unit provided together with each laser light-emitting unit within the housing 17. The calculation unit (not shown) of the distance measuring sensors 18 and 19 calculates the distance to the object to be measured based on the time from when the laser light-emitting unit emits a pulse of laser light until the laser light-receiving unit receives the pulse of laser light reflected from the object to be measured. This technology is also called LIDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging).

[0040] While laser sensors were given as examples of distance measuring sensors 18 and 19 above, distance measuring sensors 18 and 19 may also use other types of light or electromagnetic waves. For example, a millimeter-wave sensor using so-called millimeter waves with a wavelength of about 1 mm to 10 mm may be used as distance measuring sensors 18 and 19. Millimeter waves have high directivity due to their high frequency of about 30 GHz to 300 GHz, and can be handled in the same way as lasers. A millimeter-wave sensor is configured similarly to the laser sensor in Figure 4, except that a millimeter-wave transmitter (a broad-sense light-emitting unit) that emits millimeter waves toward the object to be measured is provided instead of a laser light-emitting unit, and a millimeter-wave receiver (a broad-sense light-receiving unit) that receives millimeter waves reflected by the object to be measured is provided instead of a laser light-receiving unit. Furthermore, optical sensors that use light other than laser light, such as Time of Flight (ToF) image sensors, may also be used as distance measuring sensors 18 and 19. Moreover, distance measuring sensors 18 and 19 may not have a light-emitting unit that emits light or electromagnetic waves toward the object to be measured. For example, a stereo camera capable of measuring distance by simultaneously photographing the object to be measured from different directions may be used as the distance measuring sensors 18 and 19.

[0041] The distance measuring sensors 18 and 19 shown in Figure 4 can be attached to the CSU shown in Figure 1 at any position and in any orientation depending on the measurement purpose. For example, the distance measuring sensor 18 installed in the scraping section 11 is mounted so that its central axis A in Figure 4 is vertical and its reference plane S is horizontal. This distance measuring sensor 18 can measure the distance inside the cargo hold 201, centering on the side of the scraping section 11. Alternatively, the distance measuring sensor 18 may be mounted so that its central axis A in Figure 4 is horizontal and its reference plane S is vertical. This distance measuring sensor 18 can measure the distance to the opening 21 above the scraping section 11 or the bulk load M below the scraping section 11. Note that the orientation of the central axis A of the distance measuring sensor 18 is not limited to the vertical or horizontal direction and may be any orientation.

[0042] The distance measuring sensor 19, installed on the upper part of the unloading section 9, may be mounted so that its central axis A in Figure 4 is horizontal and its reference plane S is a vertical plane. This distance measuring sensor 19 can measure the distance to the edge of the opening 21 of the cargo hold 201 below, or to bulk cargo M inside the cargo hold 201. Although this distance measuring sensor 19 can also emit laser light upwards, if there is no object to be measured above, the upward measurement may be disabled by covering the upper side of the distance measuring sensor 19 with a light-shielding cover. Alternatively, the distance measuring sensor 19 may be mounted so that its central axis A in Figure 4 is vertical and its reference plane S is parallel to the horizontal plane. This distance measuring sensor 19 can efficiently measure the distance to any object outside the cargo hold 201 located to the side. The orientation of the central axis A of the distance measuring sensor 19 is not limited to the horizontal or vertical direction, but in the following example, it is assumed to be horizontal.

[0043] By installing the distance measuring sensors 18 and 19 described above in the unloading section 9, the position of any object to be measured can be accurately determined, such as the edge of the opening 21, the ceiling / walls / bottom of the cargo hold 201, bulk cargo M and other objects, people / structures inside the cargo hold 201, the bulldozer for bottom dredging, and the scraping section 11. Therefore, collisions between the unloading section 9 and other objects during unloading can be prevented, and bulk cargo M can be unloaded efficiently.

[0044] Figure 5 shows an example of the arrangement of the distance measuring sensors 19 in a top view. Three distance measuring sensors 191, 192, and 193 are arranged to surround the outer circumference of the flange portion 91 or the elevator body 14. Distance measuring sensor 191 is positioned so that its central axis A in Figure 4 is in the left-right direction in Figure 5, and its reference surface S1, which corresponds to the reference surface S in Figure 4, is in the up-down direction in Figure 5. Distance measuring sensor 191 measures distance by irradiating laser light within a range of ±15 degrees centered on the reference surface S1. Distance measuring sensors 192 and 193 are positioned so that their central axis A in Figure 4 is in the up-down direction in Figure 5, and their reference surfaces S2 and S3, which correspond to the reference surface S in Figure 4, are in the left-right direction in Figure 5. Distance measuring sensors 192 and 193 measure distance by irradiating laser light within a range of ±15 degrees centered on the reference surfaces S2 and S3. The reference planes S2 and S3 of the distance measuring sensors 192 and 193 are different planes that are parallel to each other and are perpendicular to the reference plane S1 of the distance measuring sensor 191.

[0045] The CSU 1 unloads bulk cargo M from the cargo hold 201 using the posture shown in Figure 5 as its basic posture during unloading. In this basic posture, the running section 2 is positioned offset from the front of the cargo hold 201, and the slewing frame 5 and boom 7 are in a slewing position that forms an acute angle with respect to the rails 3 that constitute the track of the running section 2. In this case, the unloading section 9 is located above the cargo hold 201 of the ship 200, and its lower scraping section 11 is inserted into the cargo hold 201 through the opening 21.

[0046] The opening 21 of the cargo hold 201 is often a long rectangle in the direction of the ship 200's movement (left-right direction in Figure 5). In this case, the upper edge E11 and lower edge E12 of the opening 21 can be detected by the distance measuring sensor 191, which irradiates laser light parallel to the short side of the opening 21 (the vertical side in Figure 5). The points shown at the center of edges E11 and E12 represent the positions where the laser light on the reference plane S1 of the distance measuring sensor 191 strikes the edge of the opening 21, and the small rectangle surrounding it schematically represents the range in which the laser light irradiated within a ±15 degree range centered on the reference plane S1 strikes the edge of the opening 21. The same notation is used for distance measuring sensors 192 and 193.

[0047] Similarly, distance measuring sensors 192 and 193, which irradiate laser light parallel to the long side of the opening 21 (the left-right side in Figure 5), can detect the left edge E21, E31 and the right edge E22, E32 of the opening 21. By using two distance measuring sensors 192 and 193, high-precision distance measurement becomes possible even in the long direction, where distance measurement is more difficult than in the short direction. Thus, the arrangement of distance measuring sensors 191, 192, and 193 in Figure 5 is suitable for detecting the edges of an opening 21 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, as long as the lifting section 9 is inside the opening 21 when viewed from above, the three distance sensors 191, 192, and 193 can acquire six distance measurement 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] Furthermore, the basic position of the CSU 1 during unloading is not limited to that shown in Figure 5. For example, the traveling section 2 may be in front of the cargo hold 201, and the slewing frame 5 and boom 7 may be perpendicular to the rail 3. In this case, since the extension direction of the boom 7 coincides with the short side direction of the opening 21, the reference plane S1 of the distance measuring sensor 191 becomes parallel to the extension direction of the boom 7, and the reference planes S2 and S3 of the distance measuring sensors 192 and 193 become perpendicular to the extension direction of the boom 7. If the distance measuring sensors 191, 192, and 193 are made rotatable integrally around the axis of the cylindrical elevator body 14, then it is easy to arrange the distance measuring sensors 191, 192, and 193 in a manner suitable for the elongated opening 21 as described above, in accordance with changes in the basic position of the CSU 1 during unloading.

[0050] The number and / or arrangement of the distance measuring sensors 19 described above is merely an example, and any number and / or arrangement of distance measuring sensors 19 may be used. The number of distance measuring sensors 19 is preferably at least two, and more preferably three or more, in order to efficiently measure the position, orientation, shape, and other conditions of the cargo hold 201 surrounding the unloading section 9 in a top view. Multiple distance measuring sensors 19 may be arranged at equal intervals along the outer circumference of the flange portion 91 or the elevator body 14. In this case, the installation orientation of each distance measuring sensor 19 is arbitrary, but for example, each distance measuring sensor 19 may be installed so that its reference surface S is in contact with the outer circumference of the flange portion 91 or the elevator body 14. With such a symmetrical arrangement, the position, orientation, shape, and other conditions of the cargo hold 201 can be measured stably regardless of the orientation of the CSU 1 during unloading.

[0051] In accordance with the distance measured by the distance measuring sensors 18 and 19 to the cargo hold 201 itself or to objects to be measured inside or outside the cargo hold 201, each movable part of the CSU1, namely the movable traveling part 2, the swivelable swivel frame 5, the luffing boom 7, the rotatable and deformable scraping part 11, etc., is controlled to prevent the unloading part 9 from colliding with the cargo hold 201 itself or other objects (objects to be measured) inside or outside the cargo hold 201 during unloading, and the bulk cargo M is unloaded efficiently. In addition to or instead of the distance measuring sensors 18 and 19, an optical sensor such as an image sensor or camera that photographs objects to be measured may function as a distance measuring part and detect the cargo hold 201 itself or objects inside or outside the cargo hold 201.

[0052] Figure 6 is a schematic functional block diagram of the calibration device 300 according to this embodiment, which performs calibration of distance measuring sensors 18 and 19 installed on the CSU 1 as a cargo handling machine. The calibration device 300 includes a distance measuring point cloud acquisition unit 310, a CSU state acquisition unit 320, a coordinate transformation unit 330, a processing target area setting unit 340, a shape type specification unit 350, a shape feature detection unit 360, an error calculation unit 370, and an installation data correction unit 380. Some of these functional blocks may be omitted as long as the calibration device 300 can achieve at least some of the operations and / or effects described below. These functional blocks may be realized by the cooperation of hardware resources such as the central processing unit, memory, input devices, output devices, and peripheral devices connected to the computer, and software that runs using them. Regardless of the type or location of the computer, each of the above functional blocks may be realized with the hardware resources of a single computer, or with a combination of hardware resources distributed across multiple computers.

[0053] The calibration device 300 corrects or calibrates the installation data α of one or more distance measuring sensors 18, 19 installed on the CSU 1. Here, the installation data α of each distance measuring sensor 18, 19 represents the position and / or orientation of each distance measuring sensor 18, 19 installed on the CSU 1. Specifically, the installation data α of each distance measuring sensor 18, 19 may represent the three-dimensional position of each distance measuring sensor 18, 19 on the CSU 1, as shown in Figures 1 and 5. Alternatively, the installation data α of each distance measuring sensor 18, 19 may represent the three-dimensional orientation of each distance measuring sensor 18, 19 relative to the CSU 1 (for example, the direction of the central axis A shown in Figure 4), as shown in Figures 4 and 5.

[0054] The installation data α for each of the distance measuring sensors 18 and 19 is stored in advance as design data for each of the distance measuring sensors 18 and 19, or as recorded data when each of the distance measuring sensors 18 and 19 is actually installed in the CSU1. However, since the pre-stored installation data α may deviate from the actual three-dimensional position and / or three-dimensional orientation of each of the distance measuring sensors 18 and 19, calibration by the calibration device 300, i.e., correction of the installation data α for each of the distance measuring sensors 18 and 19, is necessary.

[0055] For the calibration of each distance measuring sensor 18, 19, the calibration device 300 causes each distance measuring sensor 18, 19 to measure an object to be measured. Here, the object to be measured may be an object whose position, orientation, shape, etc. are known (for example, the rail 3 shown in Figures 1, 2, 5, etc.), but the calibration device 300 according to this embodiment can also use an object whose shape, etc. is unknown as long as its position and orientation are substantially constant. In the following example, a belt conveyor 45 whose position, orientation, shape, etc. are unknown is used as the object to be measured for the calibration of each distance measuring sensor 18, 19. However, the object to be measured in this embodiment is arbitrary and may be, for example, a quay 101, a wharf 102, a rail 3, etc.

[0056] Before describing each functional block of the calibration device 300, the underlying coordinate system will be explained. Figure 7 schematically shows various coordinate systems that can be set with respect to the CSU 1. Figure 7(A) is a schematic diagram of the CSU 1 in a vertical plane, including the traveling section 2, the slewing frame 5, the boom 7, and the lifting section 9, and Figure 7(B) is a schematic diagram of the CSU 1 in a top view or plan view. Figure 7(A) is a cross-sectional view taken from a plane including the boom 7 that extends diagonally downward and to the left from the slewing frame 5 in Figure 7(B).

[0057] The coordinate system u is a ground coordinate system (or a mobile unit coordinate system based on the ground on which the running unit 2 travels) and is the x-axis in the xyz Cartesian coordinate system. ｘ The axis and u as the y-axis ｙ The axis and u as the z-axis ｚIt is defined by an axis. For example, the origin of the ground coordinate system u is provided on the orbit of the traveling unit 2 configured by the rail 3, and u ｘ The direction of the axis coincides with the laying direction of the rail 3, which is the moving direction of the traveling unit 2, and u ｙ The direction of the axis is within the horizontal plane and perpendicular to the u ｘ axis, and the direction of the u ｚ axis is the vertical direction.

[0058] Here, "the coordinate system u is a ground coordinate system based on the ground" means that the coordinate system u has an arbitrary point on the ground as the origin. For example, the ground coordinate system u may be a coordinate system with an arbitrary position on the quay 102 as the land where the traveling unit 2 is installed as the origin, or a coordinate system with the traveling unit 2 itself traveling on the ground as the origin (a moving unit coordinate system based on the traveling unit 2). In the illustrated example, in the ground coordinate system u, the traveling unit 2 moves only in the u ｘ axis direction, so its u ｙ coordinates and u ｚ coordinates do not change (hereinafter, for simplicity of explanation, it is assumed that the u ｙ coordinates and u ｚ coordinates of the traveling unit 2 are 0). The u ｘ coordinates of the traveling unit 2 can be accurately tracked by a position sensor or the like that measures the position x ｔｌ on the rail 3 of the traveling unit 2. Thus, the three-dimensional coordinates of the traveling unit 2 in the ground coordinate system u are (u ｘ , u ｙ , u ｚ ) = (x ｔｌ , 0, 0). Note that in the illustrated example, for simplicity of explanation, the direction of the u ｘ axis coincides with the laying direction of the rail 3, but the direction of each axis of the ground coordinate system u can be set arbitrarily.

[0059] The coordinate system r is a turning unit coordinate system based on the turning frame 5, and is defined by the r ｘ axis as the x-axis in the xyz orthogonal coordinate system, the r ｙ axis as the y-axis, and the r ｚ axis as the z-axis. The origin of the turning unit coordinate system r is the turning center O ｒ of the turning frame 5 in the top view of Fig. 7(B).This coincides with the pivot center O in the cross-sectional view in Figure 7(A). ｒ It coincides with a point on the land directly below. ｘ The axis direction is u ｘ Rotation angle θ with respect to the direction of the axis ２ It is only turning, r ｙ The direction of the axis is r in the horizontal plane. ｘ The direction is perpendicular to the axis (the extension direction of boom 7 in Figure 7(B) in the top view), r ｚ The axis is oriented vertically.

[0060] In the illustrated example, the pivot center O is visible from above. ｒ Since that coincides with the origin of coordinate system r, ｘ Coordinates and r ｙ The coordinate is 0. Also, the pivot center is O. ｒ r ｚ The coordinates are the height h from the land. ｒ It is constant. Also, the rotation angle θ represents the attitude of the rotation frame 5. ２ This can be measured by an angle sensor or the like. Thus, the pivot center O of the pivot frame 5 in the pivot coordinate system r ｒ The three-dimensional coordinates are (r ｘ ,r ｙ ,r ｚ ) = (0, 0, h ｒ ) is expressed as. Note that the slewing section coordinate system r may be a coordinate system whose origin is any position on the main control room 16 which can rotate integrally with the slewing section, such as the slewing frame 5, boom 7, counterweight 13 that constitute the slewing section. Also, in the illustrated example, for the sake of simplicity of explanation, r ｙ Although the axis direction coincides with the extension direction of the boom 7 when viewed from above, the direction of each axis in the slewing coordinate system r can be set arbitrarily.

[0061] Coordinate system b is a luffing coordinate system based on the boom 7 and the lifting section 9, and b is the x-axis in the xyz Cartesian coordinate system. ｘ The axis and b as the y-axis ｙ The axis and b as the z-axis ｚ It is determined by the axis. The origin of the luffing coordinate system b is, for example, located at the connection point between the boom 7 and the lifting section 9. Also, b ｙThe axis direction is horizontal and coincides with the extension direction of boom 7 in Figure 7(B) in a top view, b ｘ The direction of the axis is b in the horizontal plane. ｙ The direction is perpendicular to the axis, b ｚ The axis is oriented vertically.

[0062] In the illustrated example, the boom 7 is at the base end of the luffing center O. ｂ Around the relief angle θ １ Only the area is undulating. As shown in Figure 7(A), the origin of coordinate system b and the center of the undulation O ｂ The distance L ｂ１ Therefore, the relief center O in coordinate system b ｂ coordinates (b ｘ , b ｙ , b ｚ ) is (0, -L ｂ１ cosθ １ ,-L ｂ１ sinθ １ This is expressed as follows: Here, the elevation angle θ represents the attitude of the undulating part. １ This can be measured by an angle sensor or the like. The origin of the luffing coordinate system b can be any point on the boom 7 that constitutes the luffing section, for example, the luffing center O ｂ The origin of the coordinate system b of the undulating section may also be the origin of the coordinate system b. In this case, the direction of each axis is as shown in the figure, and the coordinates of the connection between the boom 7 and the scraping section 9 are (b ｘ , b ｙ , b ｚ ) is (0, L ｂ１ cosθ １ , L ｂ１ sinθ １ ) is expressed as. Also, in the example shown in the diagram, for the sake of simplicity of explanation, b ｙ Although the axis direction coincides with the extension direction of the boom 7 when viewed from above, the direction of each axis in the luffing coordinate system b can be set arbitrarily.

[0063] The coordinate system l is a distance measuring unit coordinate system based on each distance measuring sensor 19, and l is the x-axis in the xyz Cartesian coordinate system. ｘ The axis and l as the y-axis ｙ The axis and l as the z-axis ｚIt is defined by an axis. The origin of the ranging unit coordinate system l is provided, for example, at the mounting position of each ranging sensor 19 to the CSU1 or the lifting unit 9. Also, l ｙ The direction of the axis is a horizontal direction and coincides with the extension direction of the boom 7 in the top view of FIG. 7(B), and l ｘ The direction of the axis is within the horizontal plane and is perpendicular to the l ｙ axis, and l ｚ The direction of the axis is the vertical direction. When a plurality of ranging sensors 19 are provided as in the ranging sensors 191 to 193 in FIG. 5, the ranging unit coordinate system l may be individually set for each ranging sensor 19.

[0064] In an example where the installation position of each ranging sensor 19 coincides with the origin of the ranging unit coordinate system l, the three-dimensional coordinates (l ｘ , l ｙ , l ｚ ) of each of the ranging sensors 19 are always (0, 0, 0). Also, the orientation of the ranging unit coordinate system l (the directions of the l ｘ axis, the l ｙ axis, and the l ｚ axis) represents the orientation of each ranging sensor 19. Note that the ranging unit coordinate system l may have an arbitrary position in the lifting unit 9 to which each ranging sensor 19 is attached as the origin. Also, in the illustrated example, for simplicity of explanation, the direction of the l ｙ axis coincides with the extension direction of the boom 7 in the top view, but the directions of each axis of the ranging unit coordinate system l can be arbitrarily set.

[0065] The coordinate system d is a ranging unit coordinate system based on each ranging sensor 18, and is defined by the d ｘ axis as the x-axis in the xyz orthogonal coordinate system, the d ｙ axis as the y-axis, and the d ｚ axis as the z-axis. The origin of the ranging unit coordinate system d is provided, for example, at the connection part between the elevator main body 14 and the scraping part 11. Also, the direction of the d ｙ axis is a horizontal direction and coincides with the extension direction of the scraping part 11 (not shown) in the top view of FIG. 7(B), the direction of the d ｘ axis is a direction perpendicular to the d ｙ axis within the horizontal plane, and the direction of the d ｚ axis is the vertical direction. As shown in FIG. 7(B), d ｙThe direction of the axis is b ｙ axis and r ｙ axis direction, that is, the rotation angle θ with respect to the extension direction of the boom 7 in the top view ４ is only offset by. This means that the scraping part 11 rotates by θ around the axis of the elevator main body 14 ４ only. When a plurality of distance measuring sensors 18 are provided, the coordinate system d of the distance measuring part may be common to the plurality of distance measuring sensors 18, or the coordinate system d of the distance measuring part may be individually set for each distance measuring sensor 18.

[0066] The origin of the coordinate system d of the distance measuring part may be provided at the mounting position of each distance measuring sensor 18 to the CSU1 or the hoisting part 9. In this case, the three-dimensional coordinates (d ｘ , d ｙ , d ｚ ) are always (0, 0, 0). Also, the attitude (d ｘ axis, d ｙ axis, d ｚ axis direction) of the coordinate system d of the distance measuring part represents the attitude of each distance measuring sensor 18. In the illustrated example, for the sake of simplicity of explanation, the direction of the d ｚ axis coincides with the vertical direction, but the direction of each axis of the coordinate system d of the distance measuring part can be set arbitrarily.

[0067] In Fig. 7(A), the scraping part 11 is schematically shown as a rectangle extending in a direction orthogonal to the axial direction of the elevator main body 14, but as schematically shown in Fig. 7(C), the scraping part 11 may be composed of a main part 11A for scraping the bulk cargo M and a bending part 11B that can be bent with respect to the elevator main body 14. Even in such a case, the origin of the coordinate system d of the distance measuring part can be set at an arbitrary position on the scraping part 11, that is, on the main part 11A or the bending part 11B. In the coordinate transformation by the coordinate transformation part 330 described later, the bending angle θ ５ of the bending part 11B is also considered.

[0068] The coordinate transformation unit 330, described later, transforms the distance measurement point group in the distance measurement unit coordinate system d acquired by the distance measurement sensor 18 and / or the distance measurement point group in the distance measurement unit coordinate system l acquired by the distance measurement sensor 19 into coordinates in a reference coordinate system relating to the CSU 1. In the following description, "distance measurement unit coordinate system" refers to at least one of the distance measurement unit coordinate system d and the distance measurement unit coordinate system l unless otherwise specified. The reference coordinate system relating to the CSU 1 may be any of the aforementioned ground coordinate system u, rotation unit coordinate system r, or elevation unit coordinate system b, or any coordinate system set from the viewpoint of the CSU 1, in other words, any coordinate system in which the CSU 1 recognizes or tracks the position and orientation (direction of each axis) of the origin. Typically, the CSU 1 can handle distance measurement point groups acquired in different distance measurement unit coordinate systems d and l by multiple distance measurement sensors 18 and 19 in a unified manner in such a reference coordinate system (regardless of the position or orientation of each distance measurement sensor 18 and 19).

[0069] Next, we will explain each functional block of the calibration device 300 shown in Figure 6.

[0070] The distance measurement point cloud acquisition unit 310 acquires distance measurement point clouds on an arbitrary or unknown object to be measured, such as a belt conveyor 45, using distance measurement sensors 18 and 19 installed on the CSU 1 as a cargo handling machine, in distance measurement unit coordinate systems d and l based on the distance measurement sensors 18 and 19. In this embodiment, for calibration by the calibration device 300, the distance measurement point cloud acquisition unit 310 acquires distance measurement point clouds on the surface of the object to be measured, such as the belt conveyor 45.

[0071] The distance measurement point cloud acquisition unit 310 acquires distance measurement point clouds on the object to be measured (belt conveyor 45, etc.) by changing at least one of the position and orientation of the distance measurement sensors 18 and 19 with respect to the object to be measured (belt conveyor 45, etc.) using the CSU 1. Specifically, the CSU 1 changes parameters (CSU state) related to the position, orientation, and operation of movable parts such as the traveling unit 2, slewing frame 5, boom 7, and lifting unit 9, thereby changing the relative position and / or relative orientation of the distance measurement sensors 18 and 19 or the lifting unit 9 with respect to the object to be measured, and the distance measurement point cloud acquisition unit 310 acquires distance measurement point clouds on the object to be measured.

[0072] The CSU state when the distance measurement point group acquisition unit 310 acquires each distance measurement point group is acquired by the CSU state acquisition unit 320. The distance measurement point group acquired by the distance measurement point group acquisition unit 310 and the CSU state acquired by the CSU state acquisition unit 320 are associated with each other based on common time information, etc. The CSU state acquired by the CSU state acquisition unit 320 is the position x of the running unit 2 on the rail 3, as described above with respect to Figure 7. ｔｌ , the rotation angle θ of the rotating frame 5 ２ , Boom 7's elevation angle θ １ , the rotation angle θ of the lifting section 9 or the scraping section 11 ４ , the bending angle θ of the bent portion 11B ５ Examples are given.

[0073] The coordinate transformation unit 330 transforms the distance measurement point cloud acquired from one or more distance measurement sensors 18, 19 by the distance measurement point cloud acquisition unit 310 into coordinates in a reference coordinate system (e.g., ground coordinate system u) relating to the CSU 1. Such coordinate transformation between the distance measurement coordinate system and the reference coordinate system can be performed based on the aforementioned installation data α representing the three-dimensional position and / or three-dimensional orientation of each distance measurement sensor 18, 19 relative to the CSU 1 or the load lifting unit 9, and the CSU state at each time obtained by the CSU state acquisition unit 320. For example, if different distance measurement coordinate systems are set for multiple distance measurement sensors 18, 19, the distance measurement point clouds acquired by the distance measurement point cloud acquisition unit 310 will be represented in different distance measurement coordinate systems, but through coordinate transformation by the coordinate transformation unit 330, the distance measurement point clouds acquired by different distance measurement sensors 18, 19 and / or different distance measurement coordinate systems will be uniformly represented in a reference coordinate system common to the CSU 1.

[0074] The distance measurement point group converted to the reference coordinate system by the coordinate transformation unit 330 may be displayed on the operation screen of a computer CP used by a user such as the administrator of the CSU1 and / or calibration device 300. Figure 8 shows an example of such a computer CP operation screen 400.

[0075] The distance measurement point cloud display area 410 displays the distance measurement point cloud 331, which has been transformed into a reference coordinate system (the XYZ coordinate system in Figure 8) by the coordinate transformation unit 330, in three dimensions. Each distance measurement point (not identifiable in Figure 8) that makes up the distance measurement point cloud 331 is a point in the XYZ coordinate system, which is the reference coordinate system. In the illustrated example, the distance measurement point cloud 331 is distributed on the ground B of the pier 102 where the belt conveyor 45, which is the object to be measured, is installed, on the side wall surface W or vertical surface of the belt conveyor 45, the edge E, and the upper surface U or horizontal surface of the belt conveyor 45. These distance measurement point clouds 331 are typically acquired from multiple distance measurement sensors 18, 19, but may also be acquired from a single distance measurement sensor 18, 19.

[0076] The data import area 420 displays a distance measurement point cloud import button 421 (labeled "LiDAR") for importing the distance measurement point cloud acquired by the distance measurement point cloud acquisition unit 310, and a CSU status import button 422 (labeled "CSU status") for importing the CSU status acquired by the CSU status acquisition unit 320, in response to a press or selection operation by the computer CP user. The distance measurement point cloud 331 displayed in the distance measurement point cloud display area 410 is obtained by converting the distance measurement point cloud imported by the distance measurement point cloud import button 421 into a reference coordinate system (XYZ coordinate system) by the coordinate transformation unit 330, based on the CSU status imported by the CSU status import button 422 and installation data α which is not explicitly displayed on the operation screen 400.

[0077] In Figure 6, the processing target area setting unit 340 sets the processing target area in the distance measurement point group 331 that has been coordinate-transformed by the coordinate transformation unit 330. The processing target area is a three-dimensional region (space) in the reference coordinate system (XYZ coordinate system in Figure 8) that is subject to processing by all or part of the shape type specification unit 350, shape feature detection unit 360, error calculation unit 370, and installation data correction unit 380, which are performed after the processing target area setting unit 340. Preferably all of the shape type specification unit 350, shape feature detection unit 360, error calculation unit 370, and installation data correction unit 380 perform their respective processes on the distance measurement point group (part of the distance measurement point group 331) included in the processing target area set by the processing target area setting unit 340.

[0078] Figure 8 illustrates three processing areas: a first processing area R1 targeting the edge E of the belt conveyor 45 as the object to be measured; a second processing area R2 targeting the side wall W of the belt conveyor 45; and a third processing area R3 targeting the top surface U of the belt conveyor 45. The first processing area R1 is a rectangular parallelepiped region surrounding a three-dimensional space that is highly likely to correspond to the edge E of the belt conveyor 45 in the three-dimensional distribution of the distance measurement point cloud 331 displayed in the distance measurement point cloud display area 410. The second processing area R2 is a rectangular parallelepiped region surrounding a three-dimensional space that is highly likely to correspond to the side wall W of the belt conveyor 45 in the three-dimensional distribution of the distance measurement point cloud 331 displayed in the distance measurement point cloud display area 410. The third processing area R3 is a rectangular parallelepiped region surrounding a three-dimensional space that is highly likely to correspond to the top surface U of the belt conveyor 45 in the three-dimensional distribution of the distance measurement point cloud 331 displayed in the distance measurement point cloud display area 410.

[0079] Thus, the processing target area setting unit 340 sets a three-dimensional space that is highly likely to include the shape features of the belt conveyor 45, such as the edge E, side wall W, and top surface U, as the processing target areas R1 to R3, etc. In the illustrated example, all of the processing target areas R1 to R3 are rectangular parallelepiped regions, but the processing target areas according to this disclosure may be any other shape. Furthermore, in this embodiment, since the belt conveyor 45, as the object to be measured, is unknown to the calibration device 300, it is difficult to accurately detect the shape features of the edge E, side wall W, and top surface U at the processing stage by the processing target area setting unit 340. The detection of these shape features must wait until the subsequent shape feature detection unit 360. Therefore, it is preferable for the processing target area setting unit 340 to set relatively large processing target areas R1 to R3 that include as many distance measurement points as possible around the edge E, side wall W, and top surface U of the belt conveyor 45.

[0080] The processing target area setting unit 340 may set the processing target areas R1 to R3 in response to operations by the computer CP user. In the operation screen 400 of Figure 8, the processing target area setting area 430 displays an add button 431 (labeled "Add") for adding a new processing target area and a delete button 432 (labeled "Delete") for deleting an existing processing target area, in response to a press or selection operation by the computer CP user. The processing target area list area 433 displays a list of processing target areas to be set.

[0081] The processing target area details setting area 440 displays detailed information of a processing target area selected by the computer CP user in the processing target area list area 433. This detailed information is editable by the computer CP user. In this embodiment, where processing target areas R1 to R3 are rectangular parallelepiped areas, the size 441 of the processing target area (displayed as "Size," for example, the dimensions in the X-axis, Y-axis, and Z-axis directions), the position 442 of the processing target area (displayed as "Pos.", for example, the XYZ coordinates of the center of gravity or center), and the orientation 443 of the processing target area (for example, the roll angle displayed as "Roll," the pitch angle displayed as "Pitch," and the yaw angle displayed as "Yaw") are displayed as editable detailed information.

[0082] The shape type 444 or attribute (displayed as "Attribute") shown in the processing target area detailed setting area 440 is the type of shape feature of the belt conveyor 45 as a measurement target object to be detected by the shape feature detection unit 360, as specified by the shape type specification unit 350 in Figure 6 for each processing target area. Examples of shape features of the belt conveyor 45 include flat surfaces such as the side wall W and top surface U, and straight edges E on the belt conveyor 45. For example, for processing target areas R2 and R3, which target flat surfaces such as the side wall W and top surface U, the shape type 444 of Plane is specified by the shape type specification unit 350. Also, for processing target area R1, which targets a straight edge E, the shape type 444 of Line is specified by the shape type specification unit 350.

[0083] The processing performed by the processing target area setting unit 340 and / or shape type specification unit 350 as described above may be performed in response to manual operation by a computer CP user, but all or part of it may be performed automatically by a computer CP or a processor (not shown) of the calibration device 300. In the latter case, the processor of the calibration device 300 analyzes the distribution of distance measurement point cloud 331 in the reference coordinate system and automatically sets a processing target area (three-dimensional space) in which the shape features of the belt conveyor 45, such as the edge E, side wall W, and top surface U, can be effectively detected. The processing target area thus automatically set may be displayed on the operation screen 400 in Figure 8, and the detailed information displayed in the processing target area detailed setting area 440 may be edited by the computer CP user as needed.

[0084] The preview area 450 displays a selection display button 451 (labeled "Display") which, in response to a press or selection operation by the computer CP user, selectively displays only the distance measurement point clouds included in one of the processing target areas (rectangular areas) selected in the processing target area list area 433 in the distance measurement point cloud display area 410, and a cancel button 452 (labeled "Cancel") which cancels the selection display (preview).

[0085] The shape feature detection unit 360 detects the shape features of the belt conveyor 45 as the object to be measured based on the distance measurement point cloud 331 in the reference coordinate system after coordinate transformation by the coordinate transformation unit 330. The shape feature detection unit 360 may detect one or more shape features of the belt conveyor 45 based on all of the distance measurement point cloud 331 as schematically shown in Figure 8. However, in order to improve the detection accuracy of each shape feature of the belt conveyor 45, it is preferable that the shape feature detection unit 360 detects each shape feature of each shape type (for example, a plane or a straight line) specified by the shape type specification unit 350 based on each distance measurement point cloud included in each processing target area R1 to R3 set by the processing target area setting unit 340.

[0086] Specifically, the shape feature detection unit 360 detects edges E, which are shape features of the "straight line" shape type specified by the shape type specification unit 350, based on the distance measurement point group included in the processing target area R1 set by the processing target area setting unit 340. The shape feature detection unit 360 also detects side wall surfaces W, which are shape features of the "plane" shape type specified by the shape type specification unit 350, based on the distance measurement point group included in the processing target area R2 set by the processing target area setting unit 340. Furthermore, the shape feature detection unit 360 detects top surfaces U, which are shape features of the "plane" shape type specified by the shape type specification unit 350, based on the distance measurement point group included in the processing target area R3 set by the processing target area setting unit 340.

[0087] The shape feature detection unit 360 can detect straight lines such as edges E based on the distance measurement point cloud within the processing target area R1 using a known straight line detection algorithm. Furthermore, the shape feature detection unit 360 can detect planes such as side walls W and top surfaces U based on the distance measurement point clouds within the processing target areas R2 and R3 using a known plane detection algorithm. The shape feature detection unit 360 outputs parameters that represent the detected straight lines such as edges E and / or planes such as side walls W and top surfaces U in a three-dimensional reference coordinate system (XYZ coordinate system). These parameters specifying each shape feature, or each shape feature itself, are collectively referred to below as shape feature parameters β or shape features β.

[0088] The error calculation unit 370 calculates the error or distance between each shape feature β detected by the shape feature detection unit 360 and each distance measurement point included in the distance measurement point group used for the detection, and performs statistical processing such as averaging as necessary. Specifically, the error calculation unit 370 calculates the error or distance between each distance measurement point included in the processing target area R1 and the line representing the edge E. The error calculation unit 370 also calculates the error or distance between each distance measurement point included in the processing target area R2 and the plane representing the side wall surface W. Furthermore, the error calculation unit 370 calculates the error or distance between each distance measurement point included in the processing target area R3 and the plane representing the top surface U.

[0089] The installation data correction unit 380 corrects the installation data α of one or more distance measuring sensors 18, 19 so that the error between the shape feature β calculated by the error calculation unit 370 and the distance measuring point cloud 331 is reduced. Here, it is preferable that the installation data correction unit 380 also corrects one or more shape feature parameters β obtained by the shape feature detection unit 360 in conjunction with the installation data α of one or more distance measuring sensors 18, 19. In this case, the installation data correction unit 380 outputs the optimal set of installation data α and shape feature parameters β that minimizes the error calculated by the error calculation unit 370 while changing the installation data α and shape feature parameters β.

[0090] As described above, the installation data correction unit 380 uses the error calculated by the error calculation unit 370 (error or discrepancy between the shape feature β and the distance measurement point cloud) as a cost function and optimizes the set of installation data α and shape feature parameter β to minimize this cost. As a method for such optimization, the known Levenberg-Marquardt algorithm may be used.

[0091] The processing performed by the shape feature detection unit 360, the error calculation unit 370, and the installation data correction unit 380 described above may be executed collectively by the user of the computer CP pressing or selecting the execution button 461 (labeled "Execute") displayed in the calibration area 460 on the operation screen 400 in Figure 8.

[0092] The Cancel button 462 (labeled "Cancel") in the calibration area 460 is used to cancel the calibration performed by the Execute button 461. The Save button 463 (labeled "Save") in the calibration area 460 is used to save the calibration results performed by the Execute button 461. The Discard button 464 (labeled "Abandon") in the calibration area 460 is used to discard the calibration results performed by the Execute button 461.

[0093] The calibration results performed by the execution button 461 (for example, information on the installation data α of the optimized multiple distance measuring sensors 18, 19 and information on multiple shape feature parameters β) may be displayed in the message area 470.

[0094] According to this embodiment, the installation data α of one or more distance measuring sensors 18, 19 can be effectively corrected or calibrated by utilizing the shape features β detected based on the distance measuring point cloud 331 on the object to be measured, such as a belt conveyor 45, whose shape is unknown.

[0095] Figure 9 is a flowchart showing an example of calibration of one or more distance measuring sensors 18, 19 using the calibration device 300 according to this embodiment. In the flowchart description, "S" means a step or process.

[0096] In S1, the distance measurement point cloud acquisition unit 310 acquires a distance measurement point cloud on an arbitrary or unknown object to be measured, such as a belt conveyor 45, using distance measurement sensors 18 and 19 installed on the CSU 1 as a work machine or cargo handling machine, in distance measurement unit coordinate systems d and l based on the distance measurement sensors 18 and 19. In S2, the CSU state acquisition unit 320 acquires the CSU state at the time the distance measurement point cloud was acquired in S1. As described above, the processes in S1 and S2 may be repeated while changing at least one of the position and orientation of the distance measurement sensors 18 and 19 relative to the object to be measured (belt conveyor 45, etc.) of the CSU 1.

[0097] In S3, the coordinate transformation unit 330 transforms the distance measurement point cloud in the distance measurement unit coordinate system acquired in S1 from one or more distance measurement sensors 18, 19 into coordinates in the reference coordinate system for the CSU 1, based on the installation data α of each distance measurement sensor 18, 19 and the CSU state acquired in S2. As will be described later, S3 may be repeated for different installation data α, but in the first S3, it is preferable that the design data of each distance measurement sensor 18, 19 that has been stored in advance, or recorded data such as when each distance measurement sensor 18, 19 was actually installed in the CSU 1, is used as the installation data α for coordinate transformation.

[0098] In S4, the processing target area setting unit 340 preferably sets multiple processing target areas in the distance measurement point group 331 whose coordinates were transformed in S3. In S5, the shape type specifying unit 350 specifies the type of shape characteristic of the belt conveyor 45 as a measurement target object to be detected in the subsequent S7 for each processing target area set in S4. In S6, it is determined whether the setting of all processing target areas has been completed. If "No" is determined in S6, the process returns to S4 and new processing target areas are set. If "Yes" is determined in S6, the process proceeds to S7.

[0099] In S7, the shape feature detection unit 360 detects shape features of each shape type specified in S5 based on the distance measurement point groups included in each processing target area set in S4. Note that the processing from S7 onward may be performed on distance measurement point groups 331 of multiple frames acquired at different times or time zones. Here, since the number of distance measurement points included in each processing target area can vary greatly depending on the time or time zone, the accuracy and robustness of the calibration can be improved by making only frames or processing target areas containing a predetermined number or more distance measurement points the target of processing from S7 onward.

[0100] In S8, the error calculation unit 370 calculates the error or distance between each shape feature β detected in each frame and / or each processing area in S7 and each distance measurement point included in the distance measurement point group used for the detection. In S9, it is determined whether processing has been completed for all processing areas or frames. If "No" is determined in S9, the process returns to S7, and shape features are detected in the unprocessed processing areas or frames. If "Yes" is determined in S9, the process proceeds to S10.

[0101] In S10, the installation data correction unit 380 optimizes or corrects the installation data α of one or more distance measuring sensors 18, 19 and one or more shape feature parameters β obtained in S7 so that the error between the shape feature β calculated in S8 and the distance measuring point cloud 331 is reduced. The optimization of the shape feature parameters β here may include performing a shape feature detection process similar to that in S7 based on different parameters or algorithms.

[0102] In S11, it is determined whether the error (calculated in S8) for the shape feature parameter β optimized in S10 is within an acceptable range. If "No" is determined in S11, the process returns to S3, and the coordinate transformation of the distance measurement point cloud in the distance measurement unit coordinate system acquired in S1 is redone using the installation data α of one or more distance measurement sensors 18, 19 optimized in S10. Because the updated or optimized installation data α is used, the distance measurement point cloud 331 obtained in the second and subsequent S3s will be more accurate than the distance measurement point cloud 331 obtained in previous S3s. In this way, by repeating S3 to S11 (however, S4 to S6, which do not change significantly each time, may be omitted or simplified), preferably the installation data α of multiple distance measurement sensors 18, 19 is gradually optimized or calibrated. If "Yes" is determined in S11, the calibration by the calibration device 300 is completed.

[0103] Next, the material handling machine estimation method according to this embodiment will be described. The material handling machine estimation method according to this embodiment estimates with high accuracy the position, orientation, and motion of at least one of each part of the CSU1 as a material handling machine (any part of the CSU1 is fine, but in particular the scraping part 11) based on the measurement results from the self-measurement unit described later.

[0104] Figure 10 schematically shows an example of the installation of the self-measuring unit 500 according to this embodiment. The self-measuring unit 500 can be installed in any manner at any position on the CSU 1, such as the traveling unit 2, the slewing frame 5, the boom 7, and the lifting unit 9. The number of self-measuring units 500 is also arbitrary, as is the type (e.g., measurement principle) of each self-measuring unit 500. The self-measuring unit 500 does not measure something other than itself, like the distance measuring sensor or optical sensor mentioned above, but measures at least one of its absolute position, attitude, or motion relative to the Earth or the like, using itself as the object of measurement.

[0105] The self-measuring unit 500 may be configured as a gyroscope. The self-measuring unit 500, as a gyroscope or gyro sensor, measures its own angle (i.e., attitude), angular velocity, angular acceleration, etc. with respect to the Earth or the like. For example, in an XYZ Cartesian coordinate system where the XY plane is the horizontal plane and the Z axis is the vertical direction, the self-measuring unit 500, as a gyroscope or gyro sensor, measures the angle, angular velocity, angular acceleration, etc. around each of the orthogonal axes, the X, Y, and Z axes. In other words, the self-measuring unit 500 may be configured as a so-called three-axis gyroscope.

[0106] The self-measuring unit 500 may be composed of an acceleration sensor. The self-measuring unit 500 as an acceleration sensor measures its own translational acceleration relative to the Earth or the like. For example, in an XYZ orthogonal coordinate system where the XY plane is the horizontal plane and the Z axis is the vertical direction, the self-measuring unit 500 as an acceleration sensor measures the translational acceleration along each of the orthogonal axes, the X axis, the Y axis, and the Z axis. That is, the self-measuring unit 500 may be composed of a so-called three-axis acceleration sensor. Note that if the acceleration measured by the acceleration sensor is integrated with respect to time, velocity can be obtained, and if the velocity is integrated with respect to time, displacement (position) can be obtained. Therefore, the self-measuring unit 500 as an acceleration sensor can be interpreted as measuring its own acceleration, velocity, displacement, etc., relative to the Earth or the like.

[0107] As described above, the gyroscope and acceleration sensor that can constitute the self-measuring unit 500 are also collectively referred to as inertial sensors or inertial measurement units (IMUs). Therefore, the self-measuring unit 500 according to this embodiment may be composed of inertial sensors or IMUs.

[0108] The self-measuring unit 500 may be composed of a positioning sensor. The self-measuring unit 500 as a positioning sensor measures its own absolute position relative to the Earth, etc. For example, in an XYZ Cartesian coordinate system where the XY plane is the horizontal plane and the Z axis is the vertical direction, the self-measuring unit 500 as a positioning sensor measures its own XYZ coordinates (three-dimensional position). Note that the velocity can be obtained by differentiating the position measured by the positioning sensor with respect to time, and the acceleration can be obtained by differentiating the velocity with respect to time. Therefore, the self-measuring unit 500 as a positioning sensor can be interpreted as measuring its own position, velocity, acceleration, etc., relative to the Earth, etc. The positioning sensor may be composed of, for example, a satellite positioning sensor that measures its own absolute position based on communication with positioning satellites that constitute a satellite positioning system such as GPS (Global Positioning System) or GNSS (Global Navigation Satellite System).

[0109] In the example shown in Figure 10, three self-measuring units 510, 520, and 530, each composed of inertial sensors, and one self-measuring unit 540, each composed of a satellite positioning sensor, are provided in various parts of the CSU1. As mentioned above, other self-measuring units 500, not shown, may be installed in any location on the CSU1 different from the example in Figure 10.

[0110] In the example shown in Figure 10, the self-measuring unit 510 is located near the connection point between the running unit 2 and the slewing frame 5. This self-measuring unit 510 may be installed on the running unit 2 side or on the slewing frame 5 side. Because the slewing frame 5 rotates relative to the running unit 2 (i.e., rotates relative to it), deformations such as deflection or twisting may occur in the running unit 2 and / or the slewing frame 5 at the connection point (or nearby) where the self-measuring unit 510 is installed. Furthermore, at the connection point, heat generated due to the relative movement of the running unit 2 and the slewing frame 5 may cause deformations such as expansion or contraction in the running unit 2 and / or the slewing frame 5. The self-measuring unit 510 can measure such deformations of the running unit 2 and / or the slewing frame 5 as at least one of its own position, orientation, or motion.

[0111] In the example shown in Figure 10, the self-measuring unit 520 is located near the connection point between the slewing frame 5 and the boom 7. This self-measuring unit 520 may be installed on the slewing frame 5 side or on the boom 7 side. Because the boom 7 undulates (i.e., rotates relative to) the slewing frame 5, deformations such as deflection or twisting may occur in the slewing frame 5 and / or boom 7 at the connection point (or nearby) where the self-measuring unit 520 is installed. In addition, at the connection point, heat generated due to the relative movement of the slewing frame 5 and boom 7 may cause deformations such as expansion or contraction in the slewing frame 5 and / or boom 7. The self-measuring unit 520 can measure such deformations of the slewing frame 5 and / or boom 7 as at least one of its own position, posture, or motion.

[0112] In the example shown in Figure 10, the self-measuring unit 530 is provided near the connection point between the boom 7 (tip) and the lifting unit 9. This self-measuring unit 530 may be installed on the boom 7 side or on the lifting unit 9 side. Because the boom 7 undulates (i.e., rotates relative to) the lifting unit 9, deformation such as bending or twisting may occur in the boom 7 and / or the lifting unit 9 at the connection point (or nearby) where the self-measuring unit 530 is installed. Furthermore, at the connection point, deformation such as expansion or contraction may occur in the boom 7 and / or the lifting unit 9 due to the heat generated by the relative movement of the boom 7 and the lifting unit 9. Moreover, at the connection point, deformation such as bending or twisting may occur in the boom 7 and / or the lifting unit 9 due to the weight of the bulk load M lifted by the lifting unit 9 (bucket elevator) and / or the scraping unit 11. The self-measuring unit 530 can measure such deformation of the boom 7 and / or lifting unit 9 as at least one of its own position, posture, or motion.

[0113] In the example shown in Figure 10, the self-measuring unit 530 is located on the upper part (the upper portion when the lifting unit 9 and / or bucket elevator is divided into two vertical sections) or upper end of the lifting unit 9 and / or bucket elevator (conveying unit), and measures at least one of the position, orientation, or movement of the upper part or upper end. Specifically, in the example shown in Figure 10, the self-measuring unit 530 is located on the lifting unit 9 side of the connection between the boom 7 and the lifting unit 9. This part is also called the "L-frame".

[0114] The self-measuring units 510, 520, and 530, which are composed of inertial sensors in the above example, are installed in locations where deformation is likely to occur due to the operation of the CSU 1 or the weight of the bulk load M during unloading. Since the self-measuring units 510, 520, and 530 can measure such deformation of the CSU 1 as at least one of its position, orientation, or motion, they are useful for accurately understanding the state of the CSU 1 (especially the scraping unit 11), as will be described later.

[0115] In the example shown in Figure 10, the self-measuring unit 540, which is composed of satellite positioning sensors, is installed, for example, at the top or upper part of the lifting unit 9. Specifically, the self-measuring unit 540, which is composed of satellite positioning sensors, may be installed at the upper end of the bucket elevator (transporting unit). In this location, there are no structures that interfere with communication with positioning satellites, so the self-measuring unit 540 can stably measure its own position. Also, since a walkway is often provided in this location, workers can easily install the self-measuring unit 540. Depending on the weight of the lifting unit 9 itself and the weight of the bulk load M lifted by the bucket elevator and / or scraping unit 11, the lifting unit 9 and the boom 7 deform, so the position and orientation of the self-measuring unit 540 attached to the lifting unit 9 changes. The self-measuring unit 540 can measure the changes in its own position (displacement) and orientation due to such deformation of the lifting unit 9 and / or the boom 7.

[0116] Figure 11 schematically shows a functional block relating to the execution of the cargo handling machine estimation method according to this embodiment. The cargo handling unit estimation unit 600 estimates at least one of the position, orientation, and motion of the lifting unit 9 (particularly the scraping unit 11) as a cargo handling unit, based on the measurement results from one or more self-measuring units 500 as illustrated in Figure 10. As explained with respect to Figure 10, each self-measuring unit 500 measures at least one of the absolute position, orientation, and motion of its installation site on the CSU 1. The cargo handling unit estimation unit 600 can estimate the position, orientation, motion, etc. of the scraping unit 11 located at the foremost part of the CSU 1 by comprehensively integrating the information such as the position, orientation, and motion of each part of the CSU 1 (the installation site of each self-measuring unit 500) collected by the self-measuring units 500 in this way.

[0117] In this embodiment, the installation position of the self-measurement unit 500 in the lifting unit 9 and the position of the scraping unit 11 in the lifting unit 9, where the cargo handling unit estimation unit 600 estimates at least one of the position, posture, or motion, are separated. However, the installation position of the self-measurement unit 500 in the lifting unit 9 and the position of the part in the lifting unit 9 where the cargo handling unit estimation unit 600 estimates at least one of the position, posture, or motion may coincide (i.e., the cargo handling unit estimation unit 600 may estimate at least one of the position, posture, or motion of the self-measurement unit 500).

[0118] Since the self-measuring unit 500, which is composed of an inertial sensor or the like, may be affected by temperature, the temperature measuring unit 610 may be used to measure the temperature at the installation location of each self-measuring unit 500. For example, each self-measuring unit 500 may have a temperature measuring unit 610 installed alongside it. The self-measuring result correction unit 620 may correct the measurement result of the self-measuring unit 500 based on the temperature of the self-measuring unit 500 measured by the temperature measuring unit 610.

[0119] In addition to the self-measurement results by the self-measurement unit 500 as described above, the cargo handling unit estimation unit 600 may estimate at least one of the position, orientation, or motion of the scraping unit 11 based on the distance measurement results of the scraping unit 11 by the distance measuring sensors 18, 19, etc. As previously described with respect to Figure 6, the distance measuring sensors 18, 19 are calibrated by the calibration device 300 using a measurement target such as the cargo hold 201, so the scraping unit 11 can be measured with high accuracy.

[0120] Furthermore, the cargo handling unit estimation unit 600 may estimate at least one of the position, posture, and motion of the scraping unit 11 based on various operating parameters of the CSU 1. For example, the amount of movement by the traveling unit 2 measured by the movement amount measuring unit 2E, which is composed of an encoder or the like; the amount of rotation by the slewing frame 5 measured by the slewing amount measuring unit 5E, which is composed of an encoder or the like; the amount of elevation by the boom 7 measured by the elevation amount measuring unit 7E, which is composed of an encoder or the like; and the amount of bulk load M lifted by the lifting unit 9, which is measured by the lifting amount measuring unit 9E, may be provided to the cargo handling unit estimation unit 600. By applying these various operating parameters to the design data of the CSU 1 that is held in advance, the cargo handling unit estimation unit 600 can reproduce or estimate the actual state of the CSU 1. Therefore, the cargo handling unit estimation unit 600 can estimate the position, posture, motion, etc. of the scraping unit 11 located at the very front of the CSU 1.

[0121] A deformation estimation unit 630 may be provided to estimate the deformation of each part of the CSU 1 based on measurement data from the movement measurement unit 2E, the rotation measurement unit 5E, the elevation measurement unit 7E, and the lifting amount measurement unit 9E. The deformation estimation unit 630 may include a deformation estimation model that estimates the amount of deformation of each part of the CSU 1 by taking the various operation parameters described above as input. Theoretically, if the design data of the CSU 1 and CSU state data obtained from the movement measurement unit 2E, the rotation measurement unit 5E, the elevation measurement unit 7E, the lifting amount measurement unit 9E, etc. are available, the position, posture, motion, etc. of the scraping unit 11 can be accurately estimated. However, since the encoders constituting the movement measurement unit 2E, the rotation measurement unit 5E, the elevation measurement unit 7E, etc. may contain error elements such as backlash, it is not desirable to rely on them completely. Therefore, in this embodiment, one or more self-measuring units 500 are used to complement these and improve the estimation accuracy by the cargo handling unit estimation unit 600.

[0122] In addition, in the estimation by the cargo handling unit estimation unit 600, a set of distance measuring sensor 550 and object to be measured 560 as shown in Figure 12 may be used. This distance measuring sensor 550 is installed on the upper part or upper end (for example, L-frame) of the unloading unit 9 and measures the distance to the object to be measured 560, such as a reflector, which is attached to the so-called girder portion of the traveling unit 2. With such a relative arrangement of the distance measuring sensor 550 and object to be measured 560, even if the unloading unit 9 enters deeper into the cargo hold 201 as the unloading operation progresses, there is a high probability that the distance measuring sensor 550 can measure the object to be measured 560 (or, the position and orientation of the distance measuring sensor 550 and / or object to be measured 560 may be adaptively adjusted so that the distance measuring sensor 550 can continue to measure the object to be measured 560). Here, the appearance of the object to be measured 560 from the distance measuring sensor 550 reflects the relative position and orientation of the distance measuring sensor 550 with respect to the girder portion such as the L-frame on which the distance measuring sensor 550 is installed. Thus, the measurement results of the object 560 measured by the distance measuring sensor 550 represent the position, orientation, and movement of the L-frame, etc., and are therefore useful for estimating the scraping section 11, etc., by the cargo handling section estimation unit 600.

[0123] Next, two further embodiments (the first and second embodiments) will be described in which the self-measurement unit 500 is configured with positioning sensors such as satellite positioning sensors. In the following, the first and second embodiments will be described separately, but the elements of both embodiments may be combined in any manner as long as they do not contradict each other. Similarly, the elements of each embodiment described below may be combined in any manner as long as they do not contradict each other.

[0124] In each of the following embodiments, at least one of the one or more positioning sensors 500 (self-measuring units) is configured to measure at least its own absolute XY coordinates, with the XY plane being the horizontal plane. In other words, at least one of the following positioning sensors 500 can measure at least its own latitude and longitude as its self-measured position. For convenience, in the following, the X coordinate is assumed to be latitude and the Y coordinate to be longitude. In this case, the Z coordinate is altitude. At least one of the following positioning sensors 500 may be configured to measure its own absolute Z coordinate (altitude) as its self-measured position, in addition to or instead of its own absolute XY coordinates (latitude and longitude).

[0125] The positioning sensor 500 measures its own absolute position (e.g., XY coordinates or XYZ coordinates) based on positioning signals received from an external source. If the positioning sensor 500 is composed of satellite positioning sensors, the satellite positioning sensor 500 recognizes the distance to each positioning satellite based on satellite positioning signals (radio waves) received from a plurality of positioning satellites (at least two or more, preferably three or more, more preferably four or more), and calculates or identifies its own absolute position on Earth based on these signals.

[0126] In the first embodiment schematically illustrated in Figures 14 and 15, as will be described later, the positioning sensor 500 is installed in the loading / unloading section 9 (cargo handling section) in a substantially fixed manner relative to the distance measuring unit, such as the distance measuring sensor 19 or an optical sensor (not shown). Figure 14 schematically shows the loading / unloading section 9 in the vertical plane ZX, and Figure 15 schematically shows the loading / unloading section 9 in the horizontal plane XY.

[0127] In the examples shown in Figures 14 and 15, four distance measuring sensors 19A to 19D (hereinafter collectively referred to as distance measuring sensors 19) are installed so as to surround the outer perimeter of the elevator body 14. In this example, the four distance measuring sensors 19A to 19D are installed at equal intervals on the outer perimeter of the elevator body 14, but they may be installed at different intervals in the circumferential direction. Also, in this example, the four distance measuring sensors 19A to 19D are installed at substantially the same height (Z position), but they may be installed at different heights. Furthermore, the number of distance measuring sensors 19 is arbitrary; there may be three as in the example in Figure 5, or there may be five or more, and the arrangement of each in the XYZ coordinate system (XYZ coordinates) is also arbitrary. In Figures 14 and 15, the measurement range of each distance measuring sensor 19 is schematically illustrated with dotted lines.

[0128] In this embodiment, the distance measuring sensor 19, which serves as the distance measuring unit, is installed in the unloading unit 9, which serves as the cargo handling unit, to measure the distance to the object to be measured. As mentioned above, the object to be measured by the distance measuring sensor 19, etc., can be arbitrary, but in this embodiment, the main objects to be measured are structures inside the ship 200 such as the opening 21 and the cargo hold 201, and arbitrary structures outside the ship 200 such as the quay 101, the dock 102, the rails 3, and the belt conveyor 45. In particular, the objects to be measured outside the ship 200 such as the quay 101, the dock 102, the rails 3, and the belt conveyor 45 are reference objects whose position (at least the XY position, preferably the XYZ position) is known.

[0129] As previously stated with respect to Figure 11, and / or as described in Patent Document 1, which is incorporated herein by reference, the calibration device 300 can calibrate the distance measuring sensor 19 by measuring the distance to a reference object such as a rail 3 on the pier 102 with the distance measuring sensor 19. Then, with the distance measuring sensor 19 thus calibrated, the relative position and orientation of the CSU 1 (particularly the unloading section 9 and the scraping section 11) with respect to the opening 21 and the cargo hold 201 can be detected with high accuracy during unloading.

[0130] Thus, when a group of distance measuring sensors 19 can simultaneously measure reference objects outside the ship 200 and cargo handling locations inside the ship 200, real-time calibration of the distance measuring sensors 19 and real-time detection of cargo handling locations can be performed simultaneously. However, as the unloading operation progresses and the unloading section 9 moves deeper into the ship's hold 201, the reference objects on the ground may move out of the measurement range of the distance measuring sensors 19. In other words, the distance measuring sensors 19 may become unable to measure the reference objects on the ground. In this state, the distance measuring sensors 19 cannot be calibrated, which may lead to a deterioration in the measurement accuracy of the position and attitude of the unloading section 9 or the scraping section 11.

[0131] In this embodiment, in order to suppress the deterioration of measurement accuracy when the distance measuring sensor 19 cannot measure a reference object outside the ship 200 (i.e., when real-time calibration of the distance measuring sensor 19 is not possible), one or more positioning sensors 500 fixedly installed relative to the distance measuring sensor 19 are used (this is schematically shown in Figure 11 by dotted arrows pointing from the self-measuring unit 500 to the calibration device 300 and / or the cargo handling unit estimation unit 600).

[0132] In other words, each positioning sensor 500 is installed on the CSU 1 (particularly the loading unit 9) with its relative position and orientation fixed to at least one distance measuring sensor 19. The known position and orientation of each positioning sensor 500 relative to each distance measuring sensor 19 is recorded in a manner that can be recognized or acquired by the CSU 1 or the loading unit estimation unit 600 (Figure 11) during operation. When the distance measuring sensor 19 and the positioning sensor 500 are configured integrally, as will be described later, the CSU 1 or the loading unit estimation unit 600 can also treat the known position and orientation of the distance measuring sensor 19 as the position and orientation of the positioning sensor 500.

[0133] When the relative positions and orientations of the distance measuring sensor 19 and the positioning sensor 500 on the unloading section 9 are fixed in this manner, the absolute position (e.g., X latitude, Y longitude, Z altitude) and orientation of the distance measuring sensor 19 can be identified or determined based on the absolute self-measured position (e.g., X latitude, Y longitude, Z altitude) of the positioning sensor 500. On the other hand, the absolute positions (e.g., X latitude, Y longitude, Z altitude) of reference objects outside the ship 200 that cannot always be measured by the distance measuring sensor 19 are recorded in a manner that can be recognized or acquired by the CSU 1 or the cargo handling section estimation unit 600 while it is operating.

[0134] As described above, with the available positional information and positional relationships, even if the distance measuring sensor 19 cannot measure a reference object outside the ship 200, the relative position and orientation of the distance measuring sensor 19 and the reference object can be identified or determined, allowing the real-time calibration of the distance measuring sensor 19 based on the reference object to continue without interruption. That is, the CSU 1 or calibration device 300 (Figure 11) derives the absolute position of the distance measuring sensor 19 (e.g., X latitude, Y longitude, Z altitude) from the self-measured position by the positioning sensor 500 as described above, and compares it with the recorded absolute position of the reference object (e.g., X latitude, Y longitude, Z altitude) to recognize the relative positional relationship between the distance measuring sensor 19 and the reference object and can continue the calibration of the distance measuring sensor 19. Therefore, deterioration of the estimation accuracy of the position and orientation of the unloading unit 9 or scraping unit 11 by the cargo handling unit estimation unit 600 can be prevented.

[0135] Furthermore, if the distance measuring sensor 19 can measure a reference object outside the ship 200, the distance measuring sensor 19 can be calibrated in the same manner as in Figure 11 and / or Patent Document 1. However, by also using the self-measured position (i.e., the absolute position of the distance measuring sensor 19) measured by the positioning sensor 500, the calibration accuracy of the distance measuring sensor 19 by the calibration device 300 can be improved, and consequently, the measurement accuracy of the position and attitude of the unloading section 9 or scraping section 11 by the cargo handling section estimation section 600, or the detection accuracy of the opening 21 or the cargo hold 201 can be improved.

[0136] As described above, a simple method for permanently installing the positioning sensor 500 relative to the distance measuring sensor 19 is to integrate the positioning sensor 500 with the distance measuring sensor 19, as schematically illustrated in Figures 14 and 15. For example, each positioning sensor 500 may be built into or permanently attached to each distance measuring sensor 19, or each distance measuring sensor 19 may be built into or permanently attached to each positioning sensor 500. In the example shown in Figures 14 and 15, four positioning sensors 500A to 500D are built into each of the four distance measuring sensors 19A to 19D.

[0137] However, the number of positioning sensors 500 does not have to be the same as the number of distance measuring sensors 19, and positioning sensors 500 may be attached to some of the distance measuring sensors 19. For example, a positioning sensor 500 may be attached to one distance measuring sensor 19 (e.g., 19A), two distance measuring sensors 19 (preferably 19A and 19C, or 19B and 19D, which are far apart or diagonally opposite each other), or three distance measuring sensors 19 (e.g., 19A to 19C). Also, there may be more positioning sensors 500 than distance measuring sensors 19. In this case, at least one positioning sensor 500 is installed at an arbitrary fixed position on the lifting section 9 outside the distance measuring sensors 19, as shown in the example in Figure 16 described later.

[0138] As described above, the number and arrangement of the positioning sensors 500 are arbitrary, but in order to achieve the desired calibration accuracy of the distance measuring sensor 19, it is preferable that multiple positioning sensors 500 (i.e., at least two) be provided at different locations (preferably at a distance from each other) on the loading section 9. As schematically shown in the modified example of Figure 16, at least one positioning sensor 500A to 500D may be fixedly installed at a position on the loading section 9 different from any of the distance measuring sensors 19A to 19D. Although not shown in the figure, at least one positioning sensor 500 may be installed at a different height (Z position) from the distance measuring sensor 19.

[0139] As will be described later with respect to Figure 22, the lifting section 9 is divided into multiple blocks (essentially rigid bodies) that deform and / or displace relatively. However, by installing the positioning sensor 500 and the distance measuring sensor 19 at arbitrary positions on the same block that does not deform or displace itself, the above-mentioned fixed positional relationship can be achieved.

[0140] According to this embodiment, the cargo handling unit estimation unit 600 can estimate the relative positional relationship between the distance measuring sensor 19 and the reference object, at least when the distance measuring sensor 19 cannot measure the reference object, based on a comparison of the known position of the reference object that can be measured at least temporarily by the distance measuring sensor 19 and the self-measured position by the position measuring sensor 500.

[0141] Furthermore, as described above, the position sensors 500 fixedly installed on the lifting section 9 can detect the position, orientation (e.g., tilt), deformation, etc., of the lifting section 9 with high accuracy, even without using the distance measuring sensor 19 in combination.

[0142] Figure 17 schematically illustrates a method for detecting the attitude or tilt of a lifting unit 9 (not shown) using four positioning sensors 500A to 500D as shown in Figures 14 to 16. In this example, positioning sensors 500A to 500D can measure altitude (Z coordinate) in addition to latitude (X coordinate) and longitude (Y coordinate). As schematically illustrated in Figure 17, the four positioning sensors 500A to 500D output their respective three-dimensional positions as self-measured positions, so they can directly detect the tilt or deformation of the lifting unit 9 to which the four positioning sensors 500A to 500D are fixedly attached. Although four positioning sensors 500A to 500D are provided in the example of Figure 17, at least two positioning sensors 500 (for example, 500A and 500C) are sufficient to detect changes in the attitude of the lifting unit 9.

[0143] Figure 18 also schematically illustrates a manner in which the attitude or tilt of the lifting unit 9 (not shown) is detected by four positioning sensors 500A to 500D as shown in Figures 14 to 16. In this example, the positioning sensors 500A to 500D can measure latitude (X coordinate) and longitude (Y coordinate), but cannot measure altitude (Z coordinate). Therefore, what can be directly determined from the positioning sensors 500A to 500D are the four points on the XY plane indicated by the blacked-out dots in Figure 18. In this case, under the constraint condition or physical model that the lifting unit 9 is substantially a rigid body, the positional relationship of the positioning sensors 500A to 500D, i.e., the tilt of the lifting unit 9, is represented by either the first rectangle 500A' to 500D' or the second rectangle 500A'' to 500D'' schematically illustrated in Figure 18.

[0144] Whether the actual inclination of the loading section 9 is within the first quadrilateral 500A' to 500D' or the second quadrilateral 500A'' to 500D'' can be determined or confirmed based on various auxiliary information available in the CSU1.

[0145] For example, the position x of the running section 2 on the rail 3 as illustrated in Figure 7 ｔｌ , the rotation angle θ of the rotating frame 5 ２ , Boom 7's elevation angle θ １ , the rotation angle θ of the lifting section 9 or the scraping section 11 ４ , the bending angle θ of the bent portion 11B ５ The CSU states, such as those mentioned above, can be used as auxiliary information. These CSU states can be directly measured by encoders in each part (such as the movement measurement unit 2E, rotation measurement unit 5E, elevation measurement unit 7E, and lifting amount measurement unit 9E, as described above in relation to Figure 11), and directly or indirectly suggest the position, orientation, operation, and shape of the CSU 1 and the lifting unit 9. By taking these CSU states into consideration, the cargo handling unit estimation unit 600 (Figure 11) can accurately select the more probable or realistic of the two possibilities schematically illustrated in Figure 18 (the first rectangle 500A' to 500D' or the second rectangle 500A'' to 500D''). In addition to or instead of the CSU states, the operation measurement results of the CSU 1 by the aforementioned inertial sensors or IMU may be used as auxiliary information for determining the actual inclination of the lifting unit 9.

[0146] Furthermore, the cargo handling unit estimation unit 600 may use the state of the cargo detected by distance measuring sensors 18, 19 and cameras, as well as measurement data from force sensors and load sensors that may be provided on the cargo handling unit 9 and scraping unit 11, as auxiliary information for determining the actual inclination of the unloading unit 9. Since this auxiliary information indicates the force and load that the unloading unit 9 receives from the cargo, the direction in which the unloading unit 9 inclins or deforms can be uniquely determined from the two possibilities described above. As described above, according to the cargo handling unit estimation unit 600 of this embodiment, the posture of the unloading unit 9 can be directly or indirectly estimated based on multiple self-measured positions by multiple positioning sensors 500.

[0147] Next, a second embodiment will be described. This embodiment relates to so-called mask processing of the positioning sensor 500 (processing to control or limit the reception range of positioning signals, as will be described later). As schematically illustrated in Figure 19, the positioning sensor 500, such as a satellite positioning sensor, comprises one or more antennas 570, 580 and a receiver 590. Each antenna 570, 580 receives satellite positioning signals (radio waves) from one or more (preferably more) positioning satellites. Based on the satellite positioning signals received by each antenna 570, 580, the receiver 590 recognizes the distance between itself (more precisely, each antenna 570, 580) and each positioning satellite, and calculates or identifies its absolute position on Earth based on these distances.

[0148] As shown in the example in Figure 19, the positioning sensor 500 may be equipped with multiple antennas 570 and 580, each receiving the positioning signal individually. Receiving the positioning signal with multiple antennas 570 and 580 in this way can improve the positioning accuracy of the positioning sensor 500. However, such multi-antenna type positioning sensors 500 are typically large and are not suitable for applications where they are built into or integrated with the distance measuring sensor 19, as shown in the examples in Figures 14 and 15. Therefore, it is preferable that such multi-antenna type positioning sensors 500 are mounted separately from the distance measuring sensors 18 and 19 at predetermined positions on the CSU 1, as shown in the examples in Figures 16 and 10. Furthermore, it is preferable that the multiple antennas 570 and 580 are installed at a distance of about 1 m to 2 m from each other.

[0149] On the other hand, the masking process according to this embodiment can also be applied to a small positioning sensor 500 that can be built into and / or integrated with the distance measuring sensor 19, as shown in the examples in Figures 14 and 15. Although not shown, such a positioning sensor 500 typically has one antenna.

[0150] The masking process in this embodiment is a process that controls or limits the reception range of positioning signals by each antenna 570, 580 of the positioning sensor 500. As schematically illustrated by the dotted lines in Figure 19, each antenna 570, 580 has a certain receivable range. This receivable range is typically the maximum reception range in which each antenna 570, 580 can receive positioning signals.

[0151] As schematically illustrated in Figure 20, the masking process is a process that masks and disables a portion of the receivable range of each antenna 570, 580. Each antenna 570, 580 that has undergone such masking can receive positioning signals using the unmasked portion of its receivable range as its receivable range. On the other hand, each antenna 570, 580 cannot receive positioning signals in the masked non-receivable range of its receivable range, or if it does receive them, it discards or ignores them. Such masking is preferably implemented in software, but it may also be implemented in hardware (for example, by providing a movable shield that can physically shield the masked area).

[0152] As shown in the example in Figure 19, when the positioning sensor 500 is equipped with multiple antennas 570 and 580, the same range of masking may be applied uniformly to all of the antennas 570 and 580, or different ranges of masking may be applied individually to each of the antennas 570 and 580. The former is suitable when the distance between the multiple antennas 570 and 580 is small, while the latter is suitable when the distance between the multiple antennas 570 and 580 is large. Furthermore, as shown in the examples in Figures 10 and 14-16, when multiple positioning sensors 500 are installed in various parts of the CSU1, it is preferable that the masking is performed individually for each positioning sensor 500 (i.e., different mask ranges may be applied to each positioning sensor 500).

[0153] Figure 21 schematically shows a functional block relating to the execution of mask processing according to the second embodiment. Components similar to those in Figure 11 are denoted by the same reference numerals, and redundant explanations are omitted. In addition, some components of Figure 11 are omitted in Figure 21 for the sake of simplification of the illustration, but it goes without saying that all or some of these may be combined in the second embodiment.

[0154] The reception range control unit 700 according to this embodiment performs mask processing to adaptively control the reception range or non-reception range (masked range) of the positioning signal from the positioning sensor 500 according to the state of the CSU1. Mask processing is unnecessary when satellite positioning signals can be received well over the entire receivable range (Figure 19) of the antennas 570 and 580 of the positioning sensor 500, and it is preferable to use the entire receivable range of antennas 570 and 580 as the reception range. On the other hand, if satellite positioning signals cannot be received normally in a part of the receivable range of antennas 570 and 580, it is preferable to disable that part by mask processing, as it may become a source of noise.

[0155] The first reason why satellite positioning signals cannot be received properly in part of the receivable range of antennas 570 and 580 is shielding by the CSU 1 itself. For example, as schematically shown in Figure 22, the lifting section 9 is divided into several blocks that rotate, displace, and / or deform relative to each other. In the simplified example in Figure 22, the lifting section 9 is divided into a rotating section (block with hatching) that rotates around a rotation axis in the Z-axis direction or vertical direction, and a non-rotating section 92 (block without hatching) that does not rotate.

[0156] In this case, if the positioning sensor 500 is attached to the upper part of the rotating section, depending on the relative rotation state between the rotating section and the non-rotating section 92, the positioning sensor 500 may be shielded by the non-rotating section 92, as schematically illustrated in Figure 22, and satellite positioning signals may not be received properly in at least a portion of its receivable range.

[0157] Therefore, the shielding detection unit 640 provided in Figure 21 detects, in accordance with the operation of the CSU 1, that a part of the CSU 1 (the non-rotating part 92 and boom 7 shown in Figure 22) shields the positioning sensor 500 from positioning signals. Specifically, the shielding detection unit 640 detects the shielding range of the receivable range for each positioning sensor 500 by the non-rotating part 92 and boom 7 of the CSU 1, based on the known position and orientation of each positioning sensor 500 in the CSU 1 and the CSU state obtained from the movement amount measurement unit 2E, the rotation amount measurement unit 5E, the elevation amount measurement unit 7E, the lifting amount measurement unit 9E, etc.

[0158] The reception range control unit 700 then adaptively excludes at least a portion of the receivable range shielded by the CSU1 from the reception range of the antennas 570 and 580. In other words, the reception range control unit 700 sets the range that is at least temporarily shielded from satellite positioning signals by the CSU1 (for example, the non-rotating portion 92) as a mask range as schematically shown in Figure 20, and disables the reception or measurement of satellite positioning signals in the mask range while it is shielded.

[0159] Furthermore, if the shielding range changes due to further operation of the CSU 1 (for example, further rotation of the rotating and non-rotating parts 92 shown in Figure 22), the receiving range control unit 700 may adaptively change or increase or decrease the receiving range or masking range in accordance with the change. Moreover, if the shielding is removed due to further operation of the CSU 1, the receiving range control unit 700 may stop the masking process for the positioning sensor 500 (as a result, the entire receivable range becomes the receiving range).

[0160] A second reason why satellite positioning signals may not be received properly in part of the receivable range of antennas 570 and 580 is a change in the attitude of the CSU 1 (especially the lifting section 9), such as tilting or deformation of the lifting section 9. For example, the positioning sensor 500, as a satellite positioning sensor, is preferably installed with antennas 570 and 580 facing vertically upward in order to receive satellite positioning signals from above. However, if the orientation of antennas 570 and 580 is tilted relative to the vertical upward due to tilting or deformation of the lifting section 9, satellite positioning signals may not be received properly in part of their receivable range (especially the lower part that is tilted vertically downward).

[0161] Therefore, the attitude detection unit 650 provided in Figure 21 detects the attitude of the CSU 1 (particularly the lifting unit 9) in accordance with the operation of the CSU 1 and / or based on the self-measured position by the positioning sensor 500.

[0162] As previously described with respect to the first embodiment (Figures 17 and 18), preferably the self-measured position (e.g., latitude, longitude, altitude) by a plurality of positioning sensors 500; the position x of the running unit 2 on the rail 3 as illustrated in Figure 7. ｔｌ , the rotation angle θ of the rotating frame 5 ２ , Boom 7's elevation angle θ １ , the rotation angle θ of the lifting section 9 or the scraping section 11 ４ , the bending angle θ of the bent portion 11B ５Based on one or more of the following: the CSU status; the state of the cargo detected by distance sensors 18, 19 and cameras, etc.; and measurement data from force sensors and load sensors which may be provided in the unloading section 9 and the scraping section 11; the attitude detection unit 650 can detect the tilt and deformation of the unloading section 9, etc. In addition or alternatively, the attitude detection unit 650 may directly or indirectly detect the attitude of each part of the CSU1 using distance sensors 18, 19, inertial sensors, IMU, etc. At least some of the functions of such an attitude detection unit 650 may be realized by the cargo handling section estimation unit 600 and / or deformation estimation unit 630 described above with respect to Figure 11, etc., in view of the commonality of purpose and processing.

[0163] As described above, the attitude detection unit 650 detects an unsuitable reception range in which the received strength of satellite positioning signals weakens within the receivable range of antennas 570 and 580 due to the tilting or deformation of the lifting section 9, etc. The reception range control unit 700 then adaptively excludes at least a portion of the unsuitable reception range detected by the attitude detection unit 650 from the reception range of antennas 570 and 580. In other words, the reception range control unit 700 sets the lower range in which satellite positioning signals cannot be properly received (or the received strength of satellite positioning signals weakens) at least temporarily due to the attitude of the CSU 1 (for example, tilting or deformation of the lifting section 9, etc.) as a mask range as schematically shown in Figure 20, and at least temporarily disables the reception or measurement of satellite positioning signals in the mask range.

[0164] Furthermore, if the unsuitable reception range changes due to further operation of the CSU1, the reception range control unit 700 may adaptively change or increase / decrease the reception range or mask range in accordance with the change. Moreover, if the unsuitable reception range disappears due to further operation of the CSU1, the reception range control unit 700 may stop the masking process for the positioning sensor 500 (as a result, the entire receivable range becomes the reception range).

[0165] The present disclosure has been described above based on embodiments. Various modifications are possible for each component and each combination of processes in the exemplary embodiments, and it will be obvious to those skilled in the art that such modifications are included in the scope of the present disclosure.

[0166] This disclosure is applicable not only to bucket elevator type continuous unloaders described in relation to embodiments, but also to vertical screw type unloaders and pneumatic type unloaders equipped with an air conveying mechanism. In the case of the vertical screw type unloader 1 schematically shown in Figure 13, the rotating intake unit 11 and the screw conveyor 90, which conveys the bulk load M taken in by the rotating intake unit 11 upward to the outside of the cargo hold 201 by the rotation of a screw (not shown), correspond to the cargo handling unit. In the case of a pneumatic type unloader, the suction nozzle corresponds to the cargo handling unit.

[0167] In the embodiment, the CSU1 as a material handling machine was exemplified, but this disclosure is applicable to any other material handling machine. Examples of material handling machines include construction machinery such as excavators and cranes. The material handling section is provided on the slewing section (which can also be called the main body) and can be described as a structure that moves relative to the slewing section to perform material handling work. In the case of excavators and cranes, the lower traveling body corresponds to the moving section, and the upper slewing body corresponds to the slewing section. Also, the boom, arm, attachments, lifting equipment, etc. correspond to the material handling section. The material handling area may also be referred to as the work area.

[0168] The configuration, operation, and function of each device and method described in the embodiments can be realized by hardware resources or software resources, or by the cooperation of hardware resources and software resources. Hardware resources include, for example, processors, ROMs, RAMs, and various integrated circuits. Software resources include, for example, operating systems and application programs.

[0169] This disclosure relates to material handling machinery, etc.

[0170] 1 Cargo lifting machine (CSU), 2 Traveling unit, 2E Movement measurement unit, 5 Swivel frame, 5E Swivel measurement unit, 7 Boom, 7E Wedge measurement unit, 9 Cargo lifting unit, 9E Cargo lifting amount measurement unit, 11 Scraping unit, 201 Cargo hold, 300 Calibration device, 500 Self-measurement unit, 550 Distance sensor, 560 Object to be measured, 570 Antenna, 580 Antenna, 590 Receiver, 600 Cargo handling unit estimation unit, 610 Temperature measurement unit, 620 Self-measurement result correction unit, 630 Deformation estimation unit, 640 Shielding detection unit, 650 Attitude detection unit, 700 Receiving range control unit.

Claims

1. A cargo handling machine for handling cargo at a loading / unloading area, comprising: a movable part that is movable relative to the loading / unloading area; a slewing part that is rotatable relative to the movable part; a cargo handling part provided on the slewing part for handling cargo at the loading / unloading area; a self-measuring unit provided on at least one of the movable part, the slewing part, and the cargo handling part for measuring at least one of its own position, posture, and motion; and a cargo handling unit estimation unit that estimates at least one of the position, posture, and motion of the cargo handling unit based on the measurement results from the self-measuring unit.

2. The cargo handling unit comprises a transport unit that transports the load being handled at its lower end to its upper end, and the self-measuring unit is provided at the upper end and measures at least one of the position, posture, or movement of the upper end, as described in claim 1.

3. The slewing section comprises a slewing frame that can rotate around a slewing axis, and a rakeable boom extending from the slewing frame in a direction intersecting the slewing axis, the cargo handling section is provided at the tip of the boom, and the self-measuring section is provided on the boom and measures at least one of the position, posture, or motion of the boom, the cargo handling machine according to claim 1.

4. The material handling machine according to claim 1, wherein the self-measuring unit is composed of an inertial sensor.

5. The material handling machine according to claim 4, wherein the inertial sensor is comprised of a gyroscope.

6. The material handling machine according to claim 1, wherein the self-measuring unit is composed of a positioning sensor.

7. The cargo handling machine according to claim 6, further comprising a distance measuring unit provided in the cargo handling unit for measuring the distance to an object to be measured, wherein the positioning sensor is installed in the cargo handling unit substantially fixedly with respect to the distance measuring unit.

8. The cargo handling machine according to claim 7, wherein the positioning sensor is integrally configured with the distance measuring unit.

9. The cargo handling machine according to claim 7, wherein the cargo handling unit estimation unit estimates the relative positional relationship between the distance measuring unit and the reference object, at least when the distance measuring unit cannot measure the reference object, based on a comparison of a known position of a reference object that can be measured at least temporarily by the distance measuring unit and a self-measured position by the positioning sensor.

10. The cargo handling machine according to claim 6, wherein a plurality of positioning sensors are installed at different positions in the cargo handling unit, and the cargo handling unit estimation unit estimates the orientation of the cargo handling unit based on a plurality of self-measured positions by the plurality of positioning sensors.

11. The cargo handling machine according to claim 6, wherein the positioning sensor measures its own position based on the received positioning signal and includes a receiving range control unit that adaptively controls the receiving range of the positioning signal by the positioning sensor according to the state of the cargo handling machine.

12. The cargo handling machine according to claim 11, further comprising an obstruction detection unit that detects when a part of the cargo handling machine obstructs the positioning sensor from the positioning signal in accordance with the operation of the cargo handling machine, wherein the receiving range control unit excludes at least a portion of the range obstructed by the part of the cargo handling machine from the receiving range.

13. The cargo handling machine according to claim 11, comprising a posture detection unit that detects the posture of the cargo handling machine in accordance with the operation of the cargo handling machine and / or based on a self-measured position by the positioning sensor, wherein the receiving range control unit excludes from the receiving range at least a portion of the range in which the reception strength of the positioning signal is weakened due to the posture.

14. The cargo handling machine according to any one of claims 6 to 13, wherein the positioning sensor is capable of measuring at least its own latitude and longitude as its own measured position.

15. The cargo handling machine according to claim 14, wherein the positioning sensor is capable of measuring its own altitude as its self-measured position.

16. The cargo handling unit comprises a transport unit for transporting the cargo being handled at its lower end to its upper end, the positioning sensor is composed of a satellite positioning sensor, and the satellite positioning sensor is provided at the upper end, the cargo handling machine according to any one of claims 6 to 13.

17. A cargo handling machine according to any one of claims 1 to 13, comprising: a movement amount measuring unit for measuring the amount of movement by the moving unit; and a rotation amount measuring unit for measuring the amount of rotation by the rotating unit, wherein the cargo handling unit estimation unit estimates at least one of the position, posture, and motion of the cargo handling unit based on the measurement results from the self-measuring unit, the amount of movement, and the amount of rotation.

18. A material handling machine according to any one of claims 1 to 13, comprising: a temperature measuring unit for measuring the temperature at the installation location of the self-measuring unit; and a self-measuring result correction unit for correcting the measurement result of the self-measuring unit based on the temperature measured by the temperature measuring unit.

19. The cargo handling machine according to any one of claims 1 to 13, further comprising: a transport unit for transporting the load being handled at its lower end to its upper end; a distance measuring unit provided at the upper end for measuring the distance to an object to be measured attached to the moving unit; and a cargo handling unit estimation unit for estimating at least one of the position, posture, or motion of the cargo handling unit based on the measurement results from the self-measurement unit and the distance measuring unit.

20. A method for estimating the position, posture, and motion of a cargo handling machine comprising: a movable part that is movable relative to a loading / unloading area; a swivel part that is rotatable relative to the movable part; and a cargo handling part provided on the swivel part for loading and unloading cargo at the loading / unloading area, the method comprising: measuring at least one of its own position, posture, and motion using a self-measuring unit provided on at least one of the movable part, the swivel part, and the cargo handling part; and estimating at least one of the position, posture, and motion of the cargo handling part based on the measurement results from the self-measuring unit.

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