阅读说明：本技术 形状导出装置及卸货装置 (Shape deriving device and unloading device ) 是由 久保谅太郎 坂野肇 阿久根圭 水崎纪彦 于 2020-03-30 设计创作，主要内容包括：一种形状导出装置,具备：区域生成部,生成作业区域,该作业区域由三维展开的多个小区域所构成；量测资料取得部,随时取得通过测距感测器量测到的物体的量测点的量测资料；资料储存部,根据量测点的量测资料,对于与量测资料对应的小区域,储存量测点的统计资料；及形状导出部,根据统计资料而导出物体的形状；其中,资料储存部根据统计资料导出比较方向；形状导出部比较沿比较方向排列的多个小区域间的统计资料,而具体指定出与物体的表面相当的小区域。(A shape deriving device is provided with: an area generation unit that generates a work area composed of a plurality of small areas that are three-dimensionally expanded; a measurement data acquisition unit for acquiring measurement data of a measurement point of the object measured by the distance measuring sensor at any time; a data storage part for storing statistical data of the measuring points for the small areas corresponding to the measuring data according to the measuring data of the measuring points; and a shape deriving part for deriving the shape of the object based on the statistical data; wherein the data storage part derives the comparison direction according to the statistical data; the shape deriving section compares statistics between a plurality of small regions arranged in the comparison direction to specify a small region corresponding to the surface of the object.)

1. A shape deriving device is provided with:

an area generation unit that generates a work area composed of a plurality of small areas that are three-dimensionally expanded;

a measurement data acquisition unit for acquiring measurement data of a measurement point of the object measured by the distance measuring sensor at any time;

a data storage part for storing statistical data of the measuring points for small areas corresponding to the measuring data according to the measuring data of the measuring points; and

a shape deriving unit for deriving the shape of the object based on the statistical data; wherein

The data storage part derives the comparison direction according to the statistical data;

the shape deriving part compares the statistical data among a plurality of the small regions arranged along the comparison direction to specify the small region corresponding to the surface of the object.

2. The shape deriving device according to claim 1,

the data storage part at least derives the comparison direction between the measuring point and the distance measuring sensor, which has the minimum distance to the distance measuring sensor when the measuring point is measured, as the statistical data;

the shape deriving section derives the shape of the object by using, as a small region to be compared, a small region located in a direction corresponding to the comparison direction among small regions arranged in the vicinity of one small region, and comparing the statistical data of the one small region and the small region to be compared.

3. The shape deriving device according to claim 1 or 2,

the data storage part further stores the number of the measuring points contained in the small area as the statistical data;

the shape deriving unit compares the number of the measuring points of one small region with the number of the measuring points of a small region to be compared, and derives the shape of the object based on the number.

4. The shape deriving device according to any one of claims 1 to 3,

the data storage part stores the measuring time of the measuring point contained in the small area as the statistical data;

the shape deriving unit compares the measurement timing of one small region with that of a small region to be compared, and derives the shape of the object based on the comparison.

5. An unloading device is provided with:

an area generating unit that generates a work area including a plurality of small areas that are three-dimensionally expanded, based on a specific position of the ship;

a measurement data acquisition unit for acquiring measurement data of a measurement point of the cabin measured by the distance measurement sensor at any time;

a data storage unit for storing statistical data of the measurement points for a small area including the measurement points based on the measurement data of the measurement points; and

a shape deriving unit for deriving the shape of the cabin based on the statistical data.

6. Discharge device according to claim 5,

the area generating unit generates an upper work area and a lower work area;

the data storage part stores the statistical data for the upper operation area based on the measurement data of the measurement points relatively classified into the upper measurement points among the measurement points measured by the range sensor;

and the data storage part stores the statistical data for the lower operation area based on the measurement data relatively classified into lower measurement points among the measurement points measured by the range sensor;

the shape deriving unit derives the shape of the side portion of the hold based on the statistical data of the upper working area, and derives the shape of the bottom portion of the hold based on the statistical data of the lower working area.

7. Discharge device according to claim 5 or 6,

the data storage part derives the comparison direction according to the statistical data; and is

The shape deriving section compares the statistical data between a plurality of the small regions arranged in the comparison direction to specify the small region corresponding to the shape of the hold.

8. Discharge device according to claim 7, wherein,

the data storage part at least extracts the comparison direction between the measuring point and the distance measuring sensor, which has the minimum distance to the distance measuring sensor when the measuring point is measured, as the statistical data;

the shape deriving unit derives the shape of the hold by comparing the statistical data of the small region and the small region to be compared, with the small region in the direction corresponding to the comparison direction, among the small regions arranged in the vicinity of the small region.

9. Discharge device according to any one of claims 6 to 8,

the shape deriving unit extracts a lowest small area in which the statistical data is stored, from among a plurality of small areas arranged in an up-down direction with respect to a lower working area, and derives the shape of the bottom surface of the hold based on the extracted small area.

10. Discharge device according to any one of claims 5 to 9,

the area generating unit generates the work area with reference to an opening of the ship.

Technical Field

The invention relates to a shape leading-out device and a discharging device. The application claims the benefits of priority according to Japanese patent application laid-open No. 2019-074026 and Japanese patent application laid-open No. 2019-074030, which are proposed on 9/4/2019, and the contents of the benefits are applied to the application.

Background

Conventionally, there has been proposed a technique of measuring a distance to an object, weighting the distance with a larger weighting coefficient as the measured distance becomes shorter, and determining that there is an object when the total number of points obtained after weighting is equal to or more than a predetermined value (for example, patent document 1).

[ Prior art documents ]

[ patent document ]

(patent document 1) Japanese patent laid-open No. 2017-32329.

Disclosure of Invention

(problems to be solved by the invention)

However, in the technique described in reference 1, although the presence or absence of an object can be determined, it is not possible to derive the shape of the object.

The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a shape deriving device and a discharging device capable of accurately deriving the shape of an object.

(means for solving the problems)

In order to solve the above-described problems, a shape deriving device according to an embodiment of the present invention includes: an area generation unit that generates a work area composed of a plurality of small areas that are three-dimensionally expanded; a measurement data acquisition unit for acquiring measurement data of a measurement point of the object measured by the distance measuring sensor at any time; a data storage part for storing statistical data of the measuring points for the small areas corresponding to the measuring data according to the measuring data of the measuring points; and a shape deriving part for deriving the shape of the object based on the statistical data; wherein the data storage part derives the comparison direction according to the statistical data; the shape deriving section compares the statistical data among a plurality of small regions arranged in the comparison direction, and specifies (determines, recognizes) a small region corresponding to the surface of the object.

The data storage part can at least derive the comparison direction between the measuring point and the distance measuring sensor, the distance between which is the minimum and the distance measuring sensor when the measuring point is measured, as statistical data; the shape deriving unit may derive the shape of the object by comparing statistics of one small region and a small region to be compared, the small region being located in a direction corresponding to the comparison direction among the small regions arranged in the vicinity of the one small region.

The data storage part can further store the number of the measuring points contained in the small area as statistical data; the shape deriving unit may compare the number of the measurement points of one small region with the number of the measurement points of the small region to be compared, and derive the shape of the object based on the comparison.

The data storage part can store the measuring time of the measuring point contained in the small area as statistical data; the shape deriving unit may compare the measurement timing of one small region with the measurement timing of the small region to be compared, and derive the shape of the object based on the comparison result.

In order to solve the above-described problems, an unloading device according to an embodiment of the present invention includes: an area generating unit that generates a work area including a plurality of small areas that are three-dimensionally expanded, based on a specific position of the ship; a measurement data acquisition unit for acquiring measurement data of a measurement point of the cabin measured by the distance measurement sensor at any time; a data storage part for storing the statistical data of the measuring points for the small area containing the measuring points according to the measuring data of the measuring points; and a shape deriving part for deriving the shape of the cabin based on the statistical data.

An area generating section for generating an upper working area and a lower working area; the data storage part can store statistical data for the upper operation area according to the measurement data of the measurement point relatively classified to the upper measurement point in the measurement points measured by the distance measuring sensor; and the data storage part can store the statistical data for the lower operation area based on the measurement data of the measurement point relatively classified to the lower measurement point among the measurement points measured by the distance measuring sensor; the shape deriving unit derives the shape of the side portion of the cabin based on the statistical data of the working area for the upper portion, and derives the shape of the bottom portion of the cabin based on the statistical data of the working area for the lower portion.

The data storage part can derive the comparison direction according to the statistical data; the shape deriving part compares the statistical data among the plurality of small regions arranged along the comparison direction, and specifies the small region corresponding to the shape of the cabin.

The data storage part can at least extract the comparison direction between the measuring point and the distance measuring sensor, the distance between the measuring point and the distance measuring sensor is the minimum when the measuring point is measured, and the comparison direction is used as statistical data; the shape deriving unit may derive the shape of the hold by comparing statistical data of one small region and a small region to be compared, the small region being located in a direction corresponding to the comparison direction among the small regions arranged in the vicinity of the one small region, as the small region to be compared.

The shape deriving unit may extract a lowest small area in which the statistical data is stored, from among a plurality of small areas arranged in an up-down direction with respect to the lower working area, and derive the shape of the bottom surface of the cabin based on the extracted small area.

The area generating unit can generate the work area with reference to the opening of the ship.

[ efficacy of the invention ]

The shape of the object can be derived with good accuracy.

Drawings

Fig. 1 is a diagram illustrating an outline of an unloader device.

Fig. 2 is a diagram illustrating a configuration of the unloader apparatus.

Fig. 3 is a diagram illustrating a measurement range of the ranging sensor.

Fig. 4 is a diagram illustrating a measurement range of the ranging sensor.

Fig. 5 is a diagram illustrating a measurement range of the ranging sensor.

Fig. 6 is a diagram illustrating a measurement range of the ranging sensor.

Fig. 7 is a diagram illustrating an electrical configuration of the unloader device.

Fig. 8 is a flowchart showing a process flow of deriving a three-dimensional shape of a hold.

Fig. 9 is a diagram illustrating a coordinate system of the unloader apparatus.

Fig. 10 is a diagram illustrating a coordinate system of the unloader apparatus.

Fig. 11 is a diagram illustrating a work area formed by a plurality of small areas.

Fig. 12 is a diagram illustrating a measurement point of the ranging sensor.

Fig. 13 is a diagram showing a case where edge points are detected.

Fig. 14 is a diagram illustrating a case where a measurement point measured by a distance measuring sensor is divided into an upper portion and a lower portion.

Fig. 15 is a diagram illustrating the bottom surface shape deriving process.

Fig. 16 is a diagram illustrating derivation of a small region corresponding to a side wall.

Detailed Description

Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. The dimensions, materials, and other specific numerical values disclosed in the embodiments are merely examples for easy understanding, and are not intended to limit the present invention unless otherwise specified. In the present specification and the drawings, the same reference numerals are given to elements having substantially the same function and configuration, and overlapping description is omitted, and elements not directly related to the present invention are omitted.

Fig. 1 is a diagram illustrating an outline of the unloader apparatus 100. As shown in fig. 1, an unloader device 100, which is an example of a shape leading-out device and an unloading device, can travel on a pair of rails 3 laid along a quay wall 2 in the extending direction of the rails 3. The unloader device 100 carries out the cargo 6 loaded in the hold 5 of the ship 4 moored to the quay wall 2 to the outside. The cargo 6 is, for example, bulk cargo, and includes stone charcoal as an example.

Fig. 2 is a diagram illustrating the configuration of the unloader apparatus 100. In fig. 2, the quay wall 2 and the ship 4 are shown in cross section. As shown in fig. 2, the unloader apparatus 100 includes a traveling body 102, a revolving body 104, a boom 106, a top frame 108, a lifter 110, a scooping unit 112, and a boom conveyor 114.

The traveling body 102 is driven by an actuator, not shown, and can travel on the rail 3. The traveling body 102 is provided with a position sensor 116. The position sensor 116 is, for example, a rotary encoder. The position sensor 116 measures the position of the traveling body 102 on the horizontal plane with respect to the predetermined origin position based on the number of rotations of the wheels of the traveling body 102.

The revolving unit 104 is provided on the upper portion of the traveling unit 102 so as to freely revolve around a vertical axis. The revolving unit 104 is driven by an actuator not shown and can revolve with respect to the traveling unit 102.

The cantilever 106 is provided at a variable inclination angle at an upper portion of the swivel body 104. The cantilever 106 is driven by an actuator not shown in the drawings, and the tilt angle with respect to the turning body 104 can be changed.

The rotator 104 is provided with a rotation angle sensor 118 and a tilt angle sensor 120. The gyration angle sensor 118 and the inclination angle sensor 120 are, for example, rotary encoders. The gyration angle sensor 118 measures the gyration angle of the gyration body 104 relative to the advancement body 102. The tilt angle sensor 120 measures the tilt angle of the cantilever 106 relative to the rotator 104.

A top frame 108 is provided at the front end of the boom 106. The top frame 108 is provided with an actuator for swiveling the elevator 110.

The lifter 110 is formed in a substantially cylindrical shape. The lifter 110 is supported by the top frame 108 so as to be rotatable about a central axis. The top frame 108 is provided with a swivel angle sensor 122. The gyration angle sensor 122 is, for example, a rotary encoder. The swivel angle sensor 122 measures the swivel angle of the elevator 110 relative to the top frame 108.

The fishing unit 112 is provided at the lower end of the elevator 110. The scooping unit 112 rotates integrally with the elevator 110 as the elevator 110 rotates. In this way, the scooping unit 112 is rotatably held by the top frame 108 and the elevator 110 functioning as the vertical conveyance mechanism.

The fishing unit 112 is provided with a plurality of buckets 112a and chains 112 b. The plurality of buckets 112a are continuously arranged on the chain 112 b. The chain 112b is wound around the fishing unit 112 and the elevator 110.

The fishing unit 112 is provided with a link mechanism not shown. The link mechanism is movable to change the length of the bottom of the scooping portion 112. Accordingly, the scooping unit 112 can change the number of buckets 112a connected to the cargo 6 in the ship tank 5. The scooping unit 112 scoops the cargo 6 in the hold 5 by rotating the chain 112b and using the bucket 112a at the bottom. The bucket 112a scooped up the loaded cargo 6 moves toward the upper portion of the elevator 110 with the rotation of the chain 112 b.

The boom conveyor 114 is disposed below the boom 106. The boom conveyor 114 carries out the bulk cargo 6 moved to the upper portion of the elevator 110 by the bucket 112 a.

The unloader device 100 having such a configuration is moved by the traveling body 102 in the extending direction of the track 3 to adjust the positional relationship with respect to the longitudinal direction of the ship 4. The unloader apparatus 100 also rotates the boom 106, the top frame 108, the lifter 110, and the scooping portion 112 via the rotating body 104 to adjust the positional relationship with respect to the short-side direction of the ship 4. The unloader apparatus 100 also moves the top frame 108, the lifter 110, and the scooping portion 112 in the vertical direction via the boom 106 to adjust the vertical positional relationship with respect to the vessel 4. The unloader apparatus 100 also rotates the elevator 110 and the scooping portion 112 via the top frame 108. Accordingly, the unloader device 100 can move the scooping portion 112 to an arbitrary position and angle.

The ship 4 is here provided with a plurality of cabins 5. The cabin 5 is provided with a hatch coaming (hatch coaming)7 at an upper portion thereof. The hatch coaming 7 has a wall surface with a predetermined height in the vertical direction. Further, the opening area of the hatch coaming 7 is small compared with the horizontal cross section near the center of the hold 5. That is, the hold 5 is in an open narrowed shape by the hatch coaming 7. Further, a hatch cover 8 for opening and closing the hatch coaming 7 is provided above the hatch coaming 7.

The unloader apparatus 100 is provided with ranging sensors 130 to 136. The range sensors 130 to 136 are, for example, laser sensors capable of measuring range, and may be VLP-16, VLP-32 manufactured by Velodyne, M8 manufactured by Quanergy, and the like. The distance measuring sensors 130 to 136 are provided with sixteen laser irradiation portions spaced in the axial direction on the side surface of the cylindrical body portion, for example. The laser irradiation part is rotatably provided to the main body part in 360 degrees. The laser irradiation units are arranged such that the difference in the laser emission angle in the axial direction between the adjacent laser irradiation units is uniform at intervals of 1 to 2.5 degrees. That is, the ranging sensors 130 to 136 can irradiate the laser light in a range of 360 degrees toward the circumferential direction of the body part. In addition, the distance measuring sensors 130 to 136 can emit laser light in a range of ± 15 degrees with respect to a plane orthogonal to the axial direction of the body portion. In addition, the ranging sensors 130 to 136 are provided with receiving portions for receiving laser light at the body portions.

The ranging sensors 130 to 136 irradiate the laser beam toward each predetermined angle while rotating the laser beam irradiation portion. The distance measuring sensors 130 to 136 irradiate (project) from the plurality of laser irradiation portions and receive the laser light reflected by the object (measuring point) through the receiving portions, respectively. The distance measuring sensors 130 to 136 derive the distance to the object from the time taken until the laser beam is irradiated and received. That is, the distance measuring sensors 130 to 136 measure distances to a plurality of measuring points on one measuring line, respectively, by one laser irradiation portion. In addition, the distance measuring sensors 130 to 136 measure distances to a plurality of measuring points on a plurality of measuring lines, respectively, by a plurality of laser irradiation portions.

Fig. 3 and 4 are diagrams illustrating the measurement ranges of the ranging sensors 130 to 132. Fig. 3 is a diagram illustrating the measurement ranges of the ranging sensors 130 to 132 when the unloader device 100 is viewed from above. Fig. 4 is a diagram illustrating the measurement ranges of the ranging sensors 130 to 132 when the unloader apparatus 100 is viewed from the side. In fig. 3 and 4, the measurement ranges of the range sensors 130 to 132 are shown by a chain of dots.

The distance measuring sensors 130 to 132 are mainly used for detecting the hatch coaming 7. As shown in fig. 3 and 4, the ranging sensors 130 to 132 are installed at the side of the top frame 108. Specifically, the distance measuring sensors 130 to 132 are arranged apart from each other by 120 degrees in the circumferential direction with respect to the center axis of the lifter 110. Further, the ranging sensors 130 to 132 are disposed such that the central axis of the body portion is along the radial direction of the lifter 110. The upper half portions of the distance measuring sensors 130 to 132 in the vertical direction are covered with a cover not shown.

Therefore, as shown in fig. 3 and 4, the ranging sensors 130 to 132 can measure distances between objects existing further below the horizontal plane and existing in a range of ± 15 degrees with respect to a tangent line contacting the side surface of the top frame 108 in terms of the measurement direction.

Fig. 5 and 6 are diagrams illustrating the measurement ranges of the ranging sensors 133 to 136. Fig. 5 is a diagram illustrating a measurement range of the ranging sensors 133 to 136 when the fishing unit 112 is viewed from above. In fig. 5, the unloader device 100 only illustrates the scooping unit 112. In fig. 5, a horizontal cross section at the same position in the vertical direction as the fishing unit 112 is shown for the ship 4. Fig. 6 is a diagram illustrating the measurement ranges of the ranging sensors 133 to 136 when the unloader apparatus 100 is viewed from the side. In fig. 5 and 6, the measurement ranges of the range sensors 133 and 134 are shown by a chain line. In addition, in fig. 5 and fig. 6, the measurement ranges of the range sensors 135 and 136 are shown by two-point chain lines.

The distance measuring sensors 133 to 136 are mainly used for detecting the cargo 6 in the hold 5 and the wall surfaces (side walls and bottom surface) of the hold 5. As shown in fig. 5 and 6, the distance measuring sensor 133 is attached to the side surface 112c of the scooping portion 112. The distance measuring sensor 133 is disposed so that the center axis of the body is orthogonal to the side surface 112c of the fishing unit 112. The distance measuring sensor 134 is attached to the side surface 112d of the scooping portion 112. The distance measuring sensor 134 is disposed so that the center axis of the body is orthogonal to the side surface 112d of the scooping unit 112. The distance measuring sensors 133 and 134 are partially covered in the vertical direction by a cover not shown.

Therefore, the distance measuring sensors 133 and 134 can measure the distance between objects existing in a range of ± 15 degrees with respect to the positions parallel to the side surfaces 112c and 112d of the scooping portion 112, and the upper side and the lower side of the side surfaces 112c and 112d of the scooping portion 112 in terms of the measuring direction. The distance measuring sensors 133 and 134 according to the present embodiment are arranged in a plane in which the bottom of the scooping unit 112 is located so as to measure at least a range equal to or larger than the maximum length of the bottom of the scooping unit 112.

The distance measuring sensor 135 is attached to the side surface 112c of the scooping portion 112. The distance measuring sensor 135 is disposed so that the center axis of the body is orthogonal to the bottom surface of the fishing unit 112. The distance measuring sensor 136 is attached to the side surface 112d of the scooping portion 112. The distance measuring sensor 136 is disposed so that the center axis of the body portion is orthogonal to the bottom surface of the fishing unit 112.

Therefore, the distance measuring sensors 135 and 136 can measure the distance between objects existing outside the scooping portion 112 and existing within a range of ± 15 degrees with respect to a horizontal plane (or a plane orthogonal to the central axis of the body portion) orthogonal to the side surface 112c and the side surface 112d of the scooping portion 112 as a reference in the measuring direction.

When the distance sensors 130 to 136 measure the distance to the object, measurement data indicating the distance to the object is transmitted to the unloader control unit 140 (see fig. 7).

Fig. 7 is a diagram illustrating an electrical configuration of the unloader apparatus 100. As shown in fig. 7, the unloader device 100 is provided with an unloader control portion 140, a storage portion 142, and a display portion 144.

The unloader control portion 140 is connected to the position sensor 116, the swivel angle sensor 118, the tilt angle sensor 120, the swivel angle sensor 122, the range sensors 130 to 136, the memory portion 142, and the display portion 144. The unloader control section 140 is formed of a semiconductor integrated circuit including a CPU (central processing unit). The unloader control unit 140 reads out a program, parameters, and the like for operating the CPU itself from the ROM. The unloader control unit 140 manages and controls the entire unloader device 100 in cooperation with a RAM or other electronic circuit as a work area.

The unloader control unit 140 also functions as a drive control unit 150, a region generation unit 152, an edge detection unit 154, a measurement data acquisition unit 156, a coordinate conversion derivation unit 158, a data storage unit 160, a noise removal unit 162, and a shape derivation unit 164. The data storage 160 also functions as an upper data storage 170 and a lower data storage 172. The shape lead-out portion 164 also functions as a bottom shape lead-out portion 180 and a side wall shape lead-out portion 182. The drive control section 150 controls the drive of the unloader device 100. The details of other functional units of the unloader control unit 140 will be described later.

The storage unit 142 is a storage medium such as a hard disk or a nonvolatile memory. The storage unit 142 stores data of the three-dimensional model of the unloader apparatus 100. The data of the three-dimensional model of the unloader apparatus 100 is voxel data showing at least the outer shape of the elevator 110 and the scooping unit 112. The storage unit 142 also stores data of a three-dimensional model showing the three-dimensional shape of the ship cabin 5, which is derived by the shape deriving unit 164, and details thereof will be described later. The data of the three-dimensional model may be polygon (polygon) data, contour (straight line), dot group, or the like as long as the data is data capable of grasping the three-dimensional shape of the unloader device 100 and the ship tank 5, and the data may be used in combination. The data of the three-dimensional model of the ship's hold 5 is stored in the memory 142 for each ship 4 by the number of the ship's hold 5 installed in the ship 4.

The display unit 144 is an LED display, an organic EL display, or the like. The display unit 144 displays an image in which the three-dimensional model of the unloader device 100 is placed on the three-dimensional model of the ship tank 5.

Fig. 8 is a flowchart showing a flow of processing for deriving the three-dimensional shape of the hold 5. The process of deriving the three-dimensional shape of the hold 5 is premised on the first time the hold 5 in which the cargo 6 is loaded is scooped up by the unloader device 100. Therefore, when the same hold 5 is used to pick up the loaded cargo 6 for the second time or later, the process of taking out the three-dimensional shape of the hold 5 is not performed.

As shown in fig. 8, when the process of deriving the three-dimensional shape of the ship 'S hold 5 is started, the area generating unit 152 first performs an area creating process (step S100) to create a working area 400 (see fig. 11) based on the hatch coaming coordinate system 320 (see fig. 9 and 10) (based on the ship' S hold 5). The work area is formed by arranging small area groups in a virtual dense manner in the generated three-dimensional space. In the present embodiment, a space (so-called voxel space) in which small cubic regions (voxels) are arranged in a square grid is used.

Fig. 9 and 10 are diagrams illustrating a coordinate system of the unloader device 100. Fig. 9 is a view of the unloader apparatus 100 as viewed from above. Fig. 10 is a side view of the unloader apparatus 100. Here, the unloader apparatus 100 has three coordinate systems, namely, an above-ground coordinate system 300, a top frame coordinate system 310, and a hatch coaming coordinate system 320.

As shown in fig. 9 and 10, the ground coordinate system 300 sets the initial position of the unloader device 100, which is set in advance, as the origin. The ground coordinate system 300 defines a direction orthogonal to the extending direction and the vertical direction of the rail 3 as an Xa axis direction. The ground coordinate system 300 sets the extending direction of the rail 3 as the Ya axis direction. The ground coordinate system 300 sets the vertical direction as the Za-axis direction.

The top frame coordinate system 310 sets the lower end of the top frame 108 on the central axis of the elevator 110 and in the vertical direction as the origin. The top frame coordinate system 310 sets the extending direction of the lower surface of the boom 106 and the direction along the boom 106 as the Xb axis direction. The top frame coordinate system 310 sets the direction in which the lower surface of the cantilever 106 extends and the direction orthogonal to the cantilever 106 as the Yb axis direction. The top frame coordinate system 310 sets the extending direction of the lifter 110 to be the Zb-axis direction.

The hatch coaming coordinate system 320 sets the center position of the wall surface on the stern side of the hatch coaming 7 of the ship 4 and the upper end of the hatch coaming 7 as the origin (specific position). The hatch coaming coordinate system 320 sets the longitudinal direction of the ship 4, that is, the extending direction along the hatch coaming 7 of the ship 4, as the Xc axis direction. The hatch coaming coordinate system 320 sets the short side direction (width direction) of the ship 4 to the Yc axis direction. The hatch coaming coordinate system 320 sets the upward direction orthogonal to the upper end surface of the hatch coaming 7 as the Zc-axis direction.

Fig. 11 is a diagram illustrating a work area 400 formed by a plurality of small areas 402. In fig. 11, the hold 5 is illustrated by a chain line. As shown in fig. 11, the area generating unit 152 generates the work area 400 by arranging a plurality of small areas (voxels) 402 that are three-dimensionally expanded with reference to the origin O in the hatch coaming coordinate system 320. The work area 400 is formed by arranging a plurality of small areas 402 in the Xc axis direction, the Yc axis direction, and the Zc axis direction. More specifically, the region generating unit 152 arranges the small regions 402 in both the positive direction and the negative direction along the Xc axis direction and the Yc axis direction, and arranges the small regions 402 only in the negative direction along the Zc axis direction. The small region 402 is, for example, a rectangular parallelepiped with a side of 0.2 to 1 m.

The entire work area 400 may be larger than the hold 5, and the number of the small areas 402 and the length of one side may be selected as appropriate. In addition, the entire work area 400 may have a cylindrical shape with the Zc axis direction as an axial center, and in this case, the cross section of the XY plane of the small area 402 may be formed in a fan shape.

The area generating unit 152 creates two identical work areas 400. In the small area 402, the number of votes indicating the number of measurement points, the total of the coordinates of the measurement points in the Xc axis direction, the total of the coordinates of the measurement points in the Yc axis direction, the total of the coordinates of the measurement points in the Zc axis direction, the minimum distance to the distance measuring sensor 133 or 134, and the measurement direction vector (comparison direction) from the measurement points to the distance measuring sensor 133 or 134 are associated with each other and stored, and details thereof will be described later. In addition, the items described herein as the statistical data are examples, and other items such as variance values may be stored.

Returning to fig. 8, the edge detection unit 154 reads the three-dimensional model information of the hatch coaming 7 stored in the storage unit 142 from the storage unit 142 (step S102). The three-dimensional model information of the hatch coaming 7 is a three-dimensional model of the hatch coaming 7 represented by the hatch coaming coordinate system 320. The three-dimensional model information of the hatch coaming 7 can be created by using measurement data of measurement points measured by the distance measuring sensors 130 to 132 when the scooping unit 112 is first put into the cabin 5. In addition, the three-dimensional model information of the hatch coaming 7 can also be made using measurement data measured by other measuring instruments. The three-dimensional model information of the hatch coaming 7 may be created from the drawing of the hatch coaming 7. In any case, the three-dimensional model information of the hatch coaming 7 may be created and stored in the storage unit 142 before the processing in step S102 is performed.

Then, the measurement data acquisition unit 156 acquires measurement data of measurement points measured by the ranging sensors 130 to 136 at any time (step S104). The measurement data acquisition unit 156 periodically acquires measurement data from each of the distance measuring sensors 130 to 136 at a frequency of 1 second to five times during a period (for example, 10 hours) from when the fishing unit 112 starts the fishing operation of the loaded items 6 in the ship tank 5 until all the loaded items 6 are fished.

Then, every time the measurement data is acquired from the range sensors 130 to 136 by the measurement data acquisition unit 156, the coordinate transformation derivation unit 158 performs coordinate transformation processing (step S106) to derive transformation parameters for transforming the top frame coordinate system 310 into the hatch coaming coordinate system 320.

Here, the ground coordinate system 300 and the top frame coordinate system 310 may be transformed according to the shape of the unloader device 100 and the movement of the unloader device 100.

For example, since the distance sensors 133 to 136 are attached to the fishing unit 112, the positions of the distance sensors 133 to 136 with respect to the fishing unit 112 can be known. Also, the position of the top frame coordinate system 310 may be derived from the swivel angle of the lift 110.

In addition, since the ranging sensors 130 through 132 are mounted on the top frame 108, the positions of the ranging sensors 130 through 132 on the top frame coordinate system 310 can be known.

Here, the relative positional relationship between the top frame coordinate system 310 and the hatch coaming coordinate system 320 changes as the unloader apparatus 100 and the ship 4 move. For example, the relative positional relationship between the top frame coordinate system 310 and the hatch coaming coordinate system 320 changes due to the movement of the ship 4 in the vertical direction caused by the rolling of the ship 4, the rising and falling of the tide, the amount of the cargo 6 to be loaded, and the like.

In contrast, the edge detection section 154 detects the edge of the upper end of the hatch coaming 7 based on the measurement data of the measurement points measured by the distance measuring sensors 130 to 132. Then, the coordinate conversion derivation unit 158 derives conversion parameters for converting the top frame coordinate system 310 into the hatch coaming coordinate system 320, based on the detected edge of the upper end of the hatch coaming 7. That is, the positional relationship between the hatch coaming 7 serving as a reference point in the working area 400 and the distance measuring sensor 133 or 134 is derived. The positional relationship is such that the measurement points measured by the ranging sensors 133, 134 reflect the measurement points for the small area 402 within the working area 400.

First, the edge detection unit 154 derives the three-dimensional position of the measurement point in the top frame coordinate system 310 based on the positions of the ranging sensors 130 to 132 and the distances to the measurement points measured by the ranging sensors 130 to 132.

Fig. 12 is a diagram illustrating measurement points of the ranging sensors 130 to 132. In fig. 12, the measurement ranges of the range sensors 130 to 132 on the hatch coaming 7 are indicated by thick lines. As shown in fig. 12, the ranging sensors 130 to 132 measure distances between objects existing further below the horizontal plane and existing within a range of ± 15 degrees from the ranging sensors 130 to 132 with respect to the plane connected to the top frame 108.

Therefore, the distance measuring sensors 130 to 132 use the vertically lower side (the rotation center of the elevator 110) of the distance measuring sensors 130 to 132 as a reference, and the edges of the hatch coaming 7 on the front side and the rear side are different as a measurement range. The front side refers to a measurement range measured in the first half (time series) of one measurement. The rear side refers to a measurement range measured in the second half (in time series) of one measurement.

In contrast, the measurement points measured by the distance-measuring sensors 130 to 132 are divided into both the front side and the rear side with respect to the vertically lower side of the distance-measuring sensors 130 to 132.

Fig. 13 is a diagram showing a case where edge points are detected. In fig. 13, measurement points are indicated by black dots. Fig. 13 shows measurement points measured by laser light irradiated by one laser irradiation portion of the distance measuring sensors 130 to 132.

The edge detection unit 154 performs the following processing for each measurement point group (on the front side and the rear side, respectively) of one measurement line measured by irradiation with one laser irradiation unit. The edge detection unit 154 derives a vector (direction) of each measurement point measured by irradiation of one laser irradiation unit. Here, the vector of the measurement point is derived as the vector of one measurement point from the direction (vector) of the measurement point measured next to one measurement point among the measurement points measured continuously.

The edge detection unit 154 extracts measurement points whose vectors are in the vertical direction. Since the wall surface (side surface) of the hatch coaming 7 measured by the distance measuring sensors 130 to 132 extends substantially in the vertical direction, when there is a measurement point on the wall surface of the hatch coaming 7, the vector of the measurement point becomes the vertical direction.

When there are a plurality of measurement points extracted continuously from among the extracted measurement points, the edge detection unit 154 extracts the uppermost point in the vertical direction. This is because the uppermost point of the continuously measured measurement point group may be the edge of the upper end of the hatch coaming 7 in order to detect the edge of the upper end of the hatch coaming 7.

Next, the edge detection unit 154 extracts the closest measurement point to the origin in the Xb axis direction and the Yb axis direction of the top frame coordinate system 310 from among the extracted measurement points. That is, the edge detection unit 154 extracts a measurement point closest to the central axis of the lifter 110. This is because the hatch coaming 7 is located closest to the elevator 110 among the structures of the vessel 4.

Then, the edge detection unit 154 extracts a measurement point existing in a predetermined range (for example, a range of several tens of cm) in the Xb axis direction and the Yb axis direction of the top frame coordinate system 310 from the extracted measurement point. The measuring point on the hatch coaming 7 is here withdrawn.

Then, the edge detection unit 154 extracts the uppermost measurement point in the vertical direction from among the re-extracted measurement points, that is, the measurement points on the hatch coaming 7, as the edge point of the hatch coaming 7.

The edge detection unit 154 extracts edge points on the front side and the rear side from the measurement point group measured by irradiation with one laser irradiation unit of the distance measurement sensors 130 to 132.

When all the edge points are extracted, the edge detection unit 154 detects the straight line of the edge of the hatch coaming 7. Specifically, the edge detection unit 154 groups edge points extracted on the front side of the distance measuring sensor 130. Similarly, the edge detection unit 154 groups the edge points extracted on the rear side of the distance measuring sensor 130. The edge detection unit 154 groups edge points extracted on the front side and the rear side of the distance measuring sensors 131 and 132, respectively.

Here, as shown in fig. 12, when the straight lines of the edges of the upper ends of the hatch coaming 7 measured on the front side and the rear side of the distance measuring sensors 130 to 132 respectively include the rotation angle of the hatch coaming 7, two straight lines are measured.

In contrast, the edge detection unit 154 derives, as candidate vectors, the line segment having the most similar line segments among the line segments between the extracted edge points for each group. Then, the edge detection unit 154 extracts edge points existing within a predetermined range with respect to the candidate vectors. Then, the edge detection unit 154 calculates a straight line again using the extracted edge points.

Next, the edge detection unit 154 repeats the above-described processing using the edge points that have not been extracted. However, when the number of extracted edge points does not reach a predetermined threshold value, no straight line is derived. Accordingly, even when the corners of the hatch coaming 7 are included, the straight lines of the two edges can be derived.

The edge detection unit 154 repeats the above-described processing for each group, and derives a straight line of the edge.

In this way, the straight lines of the edge detect two lines at most at one point, and thus twelve lines at most are detected.

Then, the edge detection unit 154 derives an angle between the respective straight lines from among the detected straight lines. The edge detection unit 154 integrates the same straight line when the included angle is equal to or smaller than a predetermined threshold value. Specifically, the straight line is derived again by least squares approximation using edge points constituting the straight line having an included angle equal to or smaller than a predetermined threshold value.

Next, the edge detection unit 154 derives edge information from the straight line of the detected edge, the edge information including: the three-dimensional direction vector of each side, the three-dimensional barycentric coordinates of each side, the length of each side, and the coordinates of the end point of each side. In this way, by deriving the edge information of the hatch coaming 7 provided at the upper portion of the cabin 5 using the distance measuring sensors 130 to 132 provided above the ship 4, the position (attitude) of the cabin 5 can be derived easily and accurately.

Next, the coordinate conversion derivation unit 158 performs coordinate conversion processing (S106 in fig. 8) based on the three-dimensional model information read in step S102 and the edge information (detection result) expressed by the top frame coordinate system 310, and derives conversion parameters of the top frame coordinate system 310 and the hatch coaming coordinate system 320.

The coordinate conversion derivation unit 158 roughly corrects the detected direction of the straight line of the edge of the hatch coaming 7 by rotating the straight line by the rotation angle of the cantilever 106. The coordinate conversion derivation unit 158 associates the straight line of the detected edge of the hatch coaming 7 with the straight line closest to the edge direction among the straight lines of the upper end of the hatch coaming 7 in the three-dimensional shape information. Accordingly, since the correct assignment correspondence relationship is formed, the stable conversion parameter close to the correct solution can be obtained. In addition, when the correspondence relationship is given, the straight line of the edge of the detected hatch coaming 7 may be represented as a three-dimensional point group, and the correspondence relationship may be given between the three-dimensional point group and the average value of the shortest distances between the three-dimensional point group and the edge of the upper end of the hatch coaming 7 in the three-dimensional model information. In addition, the correspondence relationship may be given in consideration of both the direction of the edge and the average value of the shortest distance.

The coordinate transformation deriving unit 158 determines the rotation angles α, β, γ around the Xb axis, Yb axis, and Zb axis, which belong to the transformation parameters, and the manipulated vector t ═ (tx, ty, tz), for example, by the LM method. In the LM method, for example, the square sum of the difference between the edge point of the straight line constituting the edge and the edge at the upper end of the hatch coaming 7 based on the three-dimensional shape information is used as an evaluation function, and a conversion parameter is obtained so that the evaluation function becomes minimum. Specifically, the conversion parameter is obtained so that the sum of the distances between the edge point of the straight line constituting the edge and the edge at the upper end of the hatch coaming 7 based on the three-dimensional shape information becomes minimum, or so that the area of the curved surface formed by the straight line of the edge and the edge at the upper end of the hatch coaming 7 based on the three-dimensional shape information becomes minimum. The method of obtaining the conversion parameter is not limited to the LM method, and may be other methods such as the steepest descent method and the newton method.

In this way, coordinate transformation derivation section 158 derives transformation parameters for transforming top frame coordinate system 310 into hatch coaming coordinate system 320.

Accordingly, the unloader apparatus 100 can represent the three-dimensional position of the measurement points measured by the distance measuring sensors 133 to 136 provided in the scooping portion 112 by using the hatch coaming coordinate system 320. Therefore, the range sensors 133 to 136 can also be said to measure measurement data related to the three-dimensional position (position information) of the hatch coaming coordinate system 320 in the measurement points of the hold 5. Further, by representing the hatch coaming coordinate system 320, the influence of the rolling and position change of the ship 4 on the unloader device 100 can be reduced.

The data storage unit 160 stores statistical data of measurement points for the small area 402 formed in the work area 400 based on the three-dimensional positions of the measurement points measured by the distance measuring sensors 133 and 134 (steps S108 and S110 of fig. 8).

Fig. 14 is a diagram illustrating a case where the measurement point measured by the distance measuring sensor 133 is divided into an upper portion and a lower portion. In addition, in fig. 14, the measurement range of the distance measuring sensor 133 is shown by a chain line. As described above, a part of the distance measuring sensor 133 in the vertical direction is covered with a cover not shown. Therefore, as shown in fig. 14, the distance measuring sensor 133 can measure the distance between an object (measuring point) relatively present in the upper portion (the elevator 110 side) and an object (measuring point) relatively present in the lower portion (the bottom surface side of the scooping portion 112) with reference to a plane S1 orthogonal to the extending direction of the elevator 110. Similarly, the distance measuring sensor 134 can measure the distance between the objects (measuring points) existing above and below with reference to the plane S1 orthogonal to the extending direction of the elevator 110. The reference for dividing the upper and lower portions can be set at a height at which the surface of the loaded cargo 6 does not enter the measurement range.

In a state where the fishing unit 112 is inserted into the cabin 5, the distance measuring sensors 133 and 134 measure distances to the side wall of the cabin 5 and the structures in the cabin 5 (these parts are collectively referred to as the side part of the cabin 5) mainly at the upper measuring points, and measure distances to the bottom surface of the cabin 5, the side wall of the cabin 5, the structures in the cabin 5, and the cargo 6 (these parts are collectively referred to as the bottom part of the cabin 5) at the lower measuring points.

In contrast, the data storage 160 divides the measurement data of the measurement points measured by the distance measuring sensors 133 and 134 into the measurement data of the upper measurement point and the measurement data of the lower measurement point, and stores statistical data for the small areas 402 formed in different operation areas 400.

The upper data storage unit 170 derives the three-dimensional position of the top frame coordinate system 310 classified into the upper measurement points among the measurement points measured by the distance measuring sensors 133 and 134. The upper data storage unit 170 converts the three-dimensional position of the top frame coordinate system 310 into the three-dimensional position of the hatch coaming coordinate system 320 using the conversion parameters.

The upper data storage unit 170 performs an upper measurement data storage process (step S108 in fig. 8), and stores statistical data for a small area 402 corresponding to the three-dimensional position of the measurement point in the hatch coaming coordinate system 320, using the upper work area 400. Specifically, when receiving the measurement data of one point, the upper data storage unit 170 adds 1 to the number of votes (the number of measurement points) of the corresponding small area 402. In addition, the upper data storage section 170 adds the position (coordinates) of the measurement point in the Xc axis direction to the sum of the coordinates in the Xc axis direction. In addition, the upper data storage unit 170 adds the position (coordinates) of the measurement point in the Yc axis direction to the sum of the coordinates in the Yc axis direction. In addition, the upper data storage unit 170 adds the position (coordinates) of the measurement point in the Zc-axis direction to the sum of the Zc-axis directions. Since the multi-point measurement is performed in one measurement, the small area 402 may be added several times in one measurement. Here, the total number of votes divided by the coordinates in the Xc axis direction can be used to determine the center of gravity position in the Xc axis direction of the measurement point included in the small region 402. Therefore, by storing the number of votes, the sum of coordinates in the Xc axis direction, the sum of coordinates in the Yc axis direction, and the position (coordinate) in the Zc axis direction of the measurement point, the three-dimensional barycentric position of the small region 402 can be derived.

In addition, the upper data storage section 170 derives the distance between the measurement point and the position of the ranging sensor 133 or 134 at the time of measuring the measurement point. In addition, the three-dimensional position of the top frame coordinate system 310 of the ranging sensor 133 or 134 is transformed into the hatch coaming coordinate system 320 using the transformation parameters. In addition, the distance between the measurement point and the position of the distance measuring sensor 133 or 134 at the time of measuring the measurement point may be derived without changing to the hatch coaming coordinate system 320.

Then, the upper data storage unit 170 compares the derived distance with the minimum distance recorded for the small area 402, and updates the minimum distance to the derived distance when the derived distance is a small value. That is, among the measurement points included in the small area 402, the distance between the measurement point at which the distance sensor 133 or 134 is reached is the closest distance to the position of the distance sensor 133 or 134 at which the measurement point is measured is recorded as the minimum distance.

In addition, when the minimum distance is updated, the upper data storage unit 170 derives a vector from the measurement point toward the distance measuring sensor 133 or 134, and updates the derived vector to a measurement direction vector. Here, a vector between the measurement point that is the minimum distance and the position of the distance measuring sensor 133 or 134 at the time of measuring the measurement point is recorded as a measurement direction vector.

The upper data storage unit 170 stores statistical data for the corresponding small area 402 for all the measurement points belonging to the upper part each time measurement data is acquired by the distance measuring sensor 133 or 134.

Similarly, the lower data storage unit 172 derives the three-dimensional position of the top frame coordinate system 310 classified into the lower measurement points among the measurement points measured by the distance measuring sensors 133 and 134. In addition, the lower data storage 172 converts the three-dimensional position of the top frame coordinate system 310 into the three-dimensional position of the hatch coaming coordinate system 320 using the conversion parameters.

The lower data storage unit 172 performs a lower measurement data storage process (step S110 in fig. 8), and stores statistical data for a small area 402 corresponding to the three-dimensional position of the measurement point in the hatch coaming coordinate system 320, using the lower work area 400. Specifically, the lower data storage unit 172 adds 1 to the number of votes (the number of measurement points) of the corresponding small area 402. In addition, the lower data storage section 172 adds the position (coordinates) of the measurement point in the Xc axis direction to the sum of the coordinates in the Xc axis direction. In addition, the lower data storage section 172 adds the position (coordinate) of the measurement point in the Yc axis direction to the sum of the coordinates in the Yc axis direction. In addition, the lower data storage section 172 adds the position (coordinates) of the measurement point in the Zc-axis direction to the sum of the Zc-axis directions.

In addition, the lower data storage section 172 derives the distance between the measurement point and the position of the ranging sensor 133 or 134 at which the measurement point is measured. Then, the lower data storage unit 172 compares the derived distance with the minimum distance stored for the small area 402, and updates the minimum distance to the derived distance when the derived distance has a small value. In addition, the distance between the measurement point and the position of the distance measuring sensor 133 or 134 at the time of measuring the measurement point may be derived without changing to the hatch coaming coordinate system 320.

In addition, when the minimum distance is updated, the lower data storage section 172 derives a vector from the measurement point toward the distance measuring sensor 133 or 134, and updates the derived vector to a measurement direction vector.

The lower data storage unit 172 stores statistical data for the corresponding small area 402 for all measurement points belonging to the lower part every time measurement data measured by the distance measuring sensor 133 or 134 is acquired during several tenths to several hours immediately before the completion of the fishing operation of the loaded cargo 6 in the hold 5 by the unloader device 100. In this way, the statistical data can be stored in the lower operation area 400 for the lower measurement point acquired several minutes before the completion of the fishing operation of the loaded cargo 6. Accordingly, statistics of the time points at which almost no cargo 6 remains in the hold 5 can be recorded. Therefore, when deriving the shape of the bottom surface of the ship tank 5 described below, the shape of the bottom surface of the ship tank 5 can be derived with high accuracy by excluding the measurement points corresponding to the stacked cargo 6 as much as possible. Accordingly, when the same cargo 6 in the hold 5 is unloaded by the unloader device 100 the second time or later, the operator can easily grasp the shape of the bottom surface of the hold 5 by using the shape of the bottom surface of the hold 5 that is derived.

The data storage 160 determines whether all the measurements have been completed (step S112). Here, for example, the process is performed by confirming whether or not the fishing unit 112 is lifted up to the extent that it can be removed from the ship tank 5. However, it is also possible to determine whether all the measurements have been completed by performing a predetermined operation by an operator.

When it is determined that all the measurements have been completed (yes at step S112), the process proceeds to step S114. On the other hand, when it is not determined that all the measurements have been completed (no in step S112), the process proceeds to step S104, and the processes from step S104 to step S110 are repeated until all the measurements have been completed.

When it is determined that all the measurements have been completed (yes in step S112), the noise removing unit 162 performs noise removal processing (step S114) to create a no-use flag indicating that the shape of the cabin 5 is not extracted for the small region 402 regarded as noise. The noise removing unit 162 performs two noise removing processes.

In the first noise removal process, the noise removal unit 162 creates an unused flag in the small region 402 having a low voting frequency (less measurement points) for the small region 402 having the same height in the Zc axis direction (the same XcYc plane). Specifically, the noise removing unit 162 integrates the number of votes for all the small regions 402 having the same Zc-axis direction. The noise removing unit 162 creates a non-adoption flag for the small region 402 in which the number of votes for the small regions 402 having the same Zc axis direction is less than 0.01% of the accumulated value. Accordingly, the small region 402 in which the number of votes is extremely small can be suppressed from being adopted as the shape of the hold 5.

In the second noise removal process, the noise removal unit 162 creates an unused flag for one small region 402 when the number of votes is 0 for twenty-six small regions 402 adjacent to the small region 402 (small regions 402 other than the central small region 402 among the 27 cubes (Cube)). This is because the small area 402 is suppressed from being adopted as the shape of the cabin 5 when suspended matter such as rainwater and dust is measured as a measurement point.

When the noise removing unit 162 performs the noise removing process, the shape deriving unit 164 derives the three-dimensional shape of the ship tank 5 (steps S116 and S118 in fig. 8). The bottom surface shape deriving unit 180 performs a bottom surface shape deriving process for deriving the three-dimensional shape of the bottom surface of the ship tank 5 mainly using the lower working area 400 (the small area 402 where the height obtained by adding a predetermined threshold to the bottom surface position is not reached) (S116 in fig. 8). The side wall shape derivation section 182 mainly uses the upper work area 400 (including the small area 402 having a height equal to or greater than the height obtained by adding a predetermined threshold to the bottom position in the lower work area 400) to perform the side wall shape derivation process of deriving the three-dimensional shape of the side wall of the hold 5 (S118 in fig. 8).

Fig. 15 is a diagram illustrating the bottom surface shape deriving process. In fig. 15, measurement points are indicated by black dots, and extracted small regions 402 are indicated by thick lines. As shown in fig. 15, the bottom shape derivation section 180 extracts a small region 402 having the smallest value of the Zc axis among small regions 402 arranged in the Zc axis direction (vertical direction) from among small regions 402 in which no flag is used in the lower work region 400. In addition, when the statistics are not stored in the small area 402 at one time, that is, when there is no measurement point, the flag is not used for the small area 402, i.e., the statistics are not extracted here.

In the lower measurement data storage process, the statistical data of each small area 402 is also stored for the measurement points in the state where the cargo 6 remains in the hold 5. In this case, statistical data is also stored for the measurement points of the accumulated cargo 6. On the other hand, when the amount of the cargo 6 is reduced so that the bottom surface of the hold 5 is exposed, the statistical data on the measurement point of the bottom surface of the hold 5 is stored. Therefore, it is possible to extract the small region 402 having the smallest value of the Zc axis from the small regions 402 aligned in the Zc axis direction by using the case where the bottom surface of the hold 5 is located below the loaded cargo 6 in the Zc axis direction, and thereby extract the small region 402 corresponding to the bottom surface of the hold 5.

The bottom surface shape deriving unit 180 sets the center of gravity position in the Zc axis direction of the extracted small region 402 as a representative height. The bottom surface shape deriving unit 180 extracts small regions 402 at all positions on the XcYc plane and derives a representative height. The bottom surface shape deriving unit 180 divides the range at predetermined intervals (for example, 0.2 to 1m) in the Zc axis direction, and derives the number of small regions 402 including the representative height for each divided range. The interval in the Zc axis direction and the interval in the XcYc direction may be different.

Next, the bottom surface shape deriving unit 180 derives the height of the bottom surface of the hold 5 as the average of the representative heights of the small regions 402 included in the range in which the number of the small regions 402 including the representative height is the largest and the range in which 50% or more of the maximum number is derived. Here, the bottom surface of the cabin 5 is not always fixed in the Zc axis direction, and may be inclined, partially protruded or recessed. In this regard, the range including the largest number of small regions 402 representing the height may be the height of the bottom surface, but the average height of the bottom surface of the hold 5 may be derived by extracting a range from which 50% or more of the number is derived.

Next, the bottom shape deriving unit 180 extracts statistics of the small region 402 located at the height of the bottom surface of the hold 5 and the small region 402 adjacent to the small region 402 in the Zc axis direction for each small region 402 identical on the XcYc plane. The bottom surface shape deriving unit 180 adds the extracted statistics for each item, and derives the gravity center positions of the three small regions 402 as the bottom surface positions. Here, the extraction is performed also for the small regions 402 adjacent in the Zc axis direction, considering the possibility that the bottom surface of the hold 5 may span more small regions 402. Accordingly, the bottom surface position can be derived more accurately.

The bottom surface shape derivation section 180 derives the bottom surface position similarly for all the small regions 402 on the XcYc plane. Accordingly, the bottom surface shape deriving unit 180 derives the shape of the bottom surface (bottom shape) of the ship tank 5 by a group of points at a plurality of bottom surface positions (center of gravity positions).

Fig. 16 is a diagram illustrating a case where a small region 402 corresponding to a sidewall is derived. The side wall shape deriving part 182 extracts a small region 402 at a position in the Zc axis direction or more obtained by adding a predetermined value to the height of the bottom surface derived by the bottom surface shape deriving part 180 from the small regions 402 not having the non-adopted flag, among the small regions 402 at a height or more obtained by adding a predetermined threshold value to the height of the bottom surface in the upper working region 400 and the small regions 402 at a height or more obtained by adding a predetermined threshold value to the position of the bottom surface in the lower working region 400.

As shown in fig. 16, the side wall shape deriving part 182 extracts eight small regions 402 around the XcYc plane of any one small region 402 (in the figure, the central small region 402). Then, the sidewall shape deriving unit 182 extracts a small region 402 (in the figure, a thick-line small region 402) corresponding to the measurement direction vector of one small region 402 from among the eight small regions 402 as a small region to be compared. Specifically, the sidewall shape deriving unit 182 extracts, as a small region to be compared, a small region 402 corresponding to a vector closest to the measurement direction vector (having the smallest angular difference) from among vectors of each of the eight small regions 402 to 402. Then, the side wall shape deriving unit 182 compares the number of votes for one small region 402 with the number of votes for the comparison target region. Further, based on the comparison result, the side wall shape derivation section 182 creates an unused flag for the small region 402 with a small number of votes.

The side wall shape derivation unit 182 performs extraction of the comparison target region, comparison of the number of votes, and processing for creating a no-adoption flag for all the small regions 402 in the same manner.

The sidewall shape deriving unit 182 derives the gravity center position of the small region 402, in which the unused flag is not set, that is, which is determined to have a large number of votes, as the sidewall position. In other words, the sidewall shape deriving part 182 compares the statistics among the small regions 402 arranged along the measurement direction vector to specify the small region 402 corresponding to the sidewall (surface). Accordingly, the side wall shape derivation section 182 derives the shape of the side wall (the shape of the side portion) of the hold 5 from the group of points at the plurality of side wall positions (the position of the center of gravity).

Here, the measurement direction vector shows a direction in which a measurement point having a minimum distance to the ranging sensor 133 or 134 is measured. Thus, the measured direction vector can be said to show the center direction of the hold 5. Further, due to measurement errors, a plurality of small regions 402 having different numbers of measurement points may be arranged along the direction of the measurement direction vector.

In this regard, the side wall shape derivation unit 182 may compare the number of votes for one small region 402 with the small region to be compared corresponding to the measurement direction, and thereby reserve only the small region 402 most likely to be the position of the hold 5 (no flag is set). Accordingly, the side wall shape derivation section 182 can accurately derive the shape of the side wall of the hold 5. In addition, the unloader device 100 can derive the shape of the wall surface or the structure that is shielded (not visually or measurably) by the loaded cargo 6.

When deriving the point groups of the plurality of bottom surface positions (barycentric positions) and the plurality of side wall positions (barycentric positions) of the hold 5, the shape derivation unit 164 generates a three-dimensional model of the hold 5 from the point groups of the plurality of bottom surface positions (barycentric positions) and the plurality of side wall positions (barycentric positions), and stores the three-dimensional model in the storage unit 142. The method of generating the three-dimensional model is not particularly limited, and may be, for example, a method of generating the three-dimensional model by arranging voxels centered on the bottom surface position and the sidewall position, or a method of generating the three-dimensional model by deriving a curved surface connecting the adjacent bottom surface position and sidewall position.

As described above, the unloader apparatus 100 generates the work area 400 based on the cabin 5, and stores the statistical data of the measurement points for the small area 402 of the work area 400. Accordingly, even when the distance measuring sensors 133, 134 move relative to the ship tank 5, the unloader apparatus 100 can constantly store statistical data with reference to the ship tank 5. Thus, the unloader device 100 can improve the storage accuracy of the statistical data, and can accurately derive the three-dimensional shape of the hold 5.

Further, when the same cargo hold 5 is picked up for the cargo 6, the unloader device 100 displays the three-dimensional model of the cargo hold 5 on the display unit 144. Accordingly, the unloader device 100 enables the operator to easily grasp the shape of the ship tank 5.

In addition, the unloader apparatus 100 stores statistics by dividing the measurement points measured by the ranging sensors 133 and 134 into upper and lower parts. The unloader device 100 derives the shape of the side wall of the hold 5 extending in the vertical direction using the upper statistical data, and derives the shape of the bottom surface of the hold 5 extending in the horizontal direction using the lower statistical data. Accordingly, the unloader device 100 can accurately derive the shapes of the side wall and the bottom surface of the hold 5, respectively.

The unloading device moves the loaded cargo loaded in the cabin out of the cabin. As an example of the unloading device, an unloader device may be exemplified. The unloader device often has a difficulty or impossibility for an operator to directly visually recognize a state of loading the cargo, a distance to a wall surface of the hold, and the like. A technique for measuring the distance to the wall of the ship's hold by mounting a sensor on the scooping portion of the unloader device has been developed (for example, japanese patent application laid-open No. 8-012094).

However, the cabin has wall surfaces of various shapes such as a vertical surface and an inclined surface. In addition, structures such as reinforcing plates and spiral steps are arranged in the cabin. As such, the hold assumes a complex shape. In the above-described technique, it is difficult for an operator to grasp a complicated shape in the cabin.

To this end, the unloader device 100 includes: an area generating unit 152 that generates a work area 400 based on a specific position of the ship, the work area 400 being composed of a plurality of small areas that are three-dimensionally expanded; a measurement data acquisition unit 156 for acquiring measurement data of a measurement point of the hold measured by the distance sensors 133 and 134 at any time; a data storage unit 160 for storing statistical data of the measurement points for the small area 402 including the measurement points based on the measurement data of the measurement points; and a shape deriving unit 164 for deriving the shape of the hold 5 based on the statistical data. Accordingly, the unloader device 100 can easily grasp the shape of the cabin 5.

While the embodiments have been described above with reference to the accompanying drawings, it is a matter of course that the present invention is not limited to the embodiments. It is to be understood that various changes and modifications may be suggested to one skilled in the art from the scope of the appended claims and that such changes and modifications are also within the scope of the present invention.

For example, in the above embodiment, the method of detecting an edge by the edge detection unit 154 is merely an example. The edge detection unit 154 may extract the edge of the hatch coaming 7 by other methods.

In the above embodiment, the distance measuring sensors 133 and 134 are moved in accordance with the movement of the unloader device 100, but the orientation of the distance measuring sensors 133 and 134 may be changed. Accordingly, the measuring ranges of the distance measuring sensors 133 and 134 can be widened, and the shape of the cabin 5 can be derived as quickly as possible.

In the above embodiment, the number of votes is compared when deriving the shape of the side wall. However, the data storage section 160 may store (update) the measurement timing as the storage data. Further, the shape deriving unit 164 may create a small area 402 including a measurement point measured at an earlier timing, and retain a measurement point measured at a later timing without using a flag. Accordingly, for example, when the environment changes due to the load 6 being picked up, the shape of the object can be accurately derived by using the measurement point measured most recently.

In the above embodiment, the number of votes for one small region 402 and the adjacent small region 402 is compared when deriving the shape of the side wall. However, the number of votes for one small region 402 and a plurality of small regions 402 corresponding to the measurement direction vector among small regions arranged in the vicinity of one small region 402 may be compared. At this time, only the small area 402 with the largest number of votes may be reserved, and the non-adopted flag may be established for the other small areas 402. The small region 402 having the largest number of votes and the small region 402 having the largest number of votes at a predetermined ratio (for example, 50%) or more may be retained. Accordingly, for example, when another structure is present around the side wall of the cabin 5, the small region 402 (shape of the derived structure) corresponding to the structure can be retained.

In the above embodiment, the number of votes for one small region 402 is compared with the small region 402 corresponding to the measurement direction vector (comparison direction). However, the comparison may be performed for small regions 402 arranged in any direction without being limited to the measurement direction vector. For example, the following method may also be employed: the direction in which the sum of squared distances from the center of gravity of the distribution of the measurement points from the small region 402 is the smallest, that is, the direction of the third principal component of the distribution, is statistically obtained as the comparison direction, and the small regions 402 arranged in this direction are compared.

In the above embodiment, the coordinate conversion process is performed every time. However, the SLAM method may be used to obtain a pair of the measured measurement point and the measurement point measured this time, and estimate the three-dimensional position of the hatch coaming coordinate system 320 of the measurement point.

In the above embodiment, the area generating unit 152 generates the work area 400 based on the cabin 5. However, the area generating unit 152 may generate the work area 400 based on an arbitrary specific position of the ship 4. For example, the area generating unit 152 may generate the work area 400 based on a specific position including the opening portions of the hatch coaming 7 and the hatch cover 8. Accordingly, even with the same ship 4, the structure near the hold 5 differs between the bow side, the center, and the stern side, and the work area 400 can be created in accordance with the structure.

In the above embodiment, the unloader device 100 is described as an example of the shape deriving device. However, the shape deriving means is not limited to the unloader means. The shape deriving device can be applied to various devices for deriving the shape of an object.

In the above embodiment, the unloader device 100 is described as an example of the unloading device. However, the discharge device may also be a continuous unloader (bucket, belt, vertical screw conveyor, etc.), a pneumatic unloader, etc.

[ Industrial Applicability ]

The invention can be used for the shape guiding device and the unloading device.

Description of the reference numerals

100 unloader device (shape leading-out device, unloading device)

133 ranging sensor

134 ranging sensor

152 region generating part

156 measurement data acquisition part

160 data storage part

164 shape derivation part.

The claims (modification according to treaty clause 19)

1. A shape deriving device is provided with:

an area generation unit that generates a work area composed of a plurality of small areas that are three-dimensionally expanded;

a measurement data acquisition unit for acquiring measurement data of a measurement point of the object measured by the distance measuring sensor at any time;

a data storage part for storing statistical data of the measuring points for small areas corresponding to the measuring data according to the measuring data of the measuring points; and

a shape deriving unit for deriving the shape of the object based on the statistical data; wherein

The data storage part derives a comparison direction with the distance measuring sensor by using at least the measuring point with the minimum distance to the distance measuring sensor when the measuring point is measured as the statistical data;

the shape deriving section derives the shape of the object by using, as a small region to be compared, a small region located in a direction corresponding to the comparison direction among small regions arranged in the vicinity of one small region, and comparing the statistical data of the one small region and the small region to be compared.

2. The shape deriving device according to claim 1,

the data storage part further stores the number of the measuring points contained in the small area as the statistical data;

the shape deriving unit compares the number of the measuring points of one small region with the number of the measuring points of a small region to be compared, and derives the shape of the object based on the number.

3. The shape deriving device according to claim 1 or 2,

the data storage part stores the measuring time of the measuring point contained in the small area as the statistical data;

the shape deriving unit compares the measurement timing of one small region with that of a small region to be compared, and derives the shape of the object based on the comparison.

4. An unloading device is provided with:

an area generating unit that generates a work area including a plurality of small areas that are three-dimensionally expanded, based on a specific position of the ship;

a measurement data acquisition unit for acquiring measurement data of a measurement point of the cabin measured by the distance measurement sensor at any time;

a data storage unit for storing statistical data of the measurement points for a small area including the measurement points based on the measurement data of the measurement points; and

a shape deriving unit for deriving the shape of the cabin based on the statistical data.

5. Discharge device according to claim 4,

the area generating unit generates an upper work area and a lower work area;

the data storage part stores the statistical data for the upper operation area based on the measurement data of the measurement points relatively classified into the upper measurement points among the measurement points measured by the range sensor;

and the data storage part stores the statistical data for the lower operation area based on the measurement data relatively classified into lower measurement points among the measurement points measured by the range sensor;

the shape deriving unit derives the shape of the side portion of the hold based on the statistical data of the upper working area, and derives the shape of the bottom portion of the hold based on the statistical data of the lower working area.

6. Discharge device according to claim 4 or 5,

the data storage part derives the comparison direction according to the statistical data; and is

The shape deriving section compares the statistical data between a plurality of the small regions arranged in the comparison direction to specify the small region corresponding to the shape of the hold.

7. Discharge device according to claim 6,

the data storage part at least extracts the comparison direction between the measuring point and the distance measuring sensor, which has the minimum distance to the distance measuring sensor when the measuring point is measured, as the statistical data;

the shape deriving unit derives the shape of the hold by comparing the statistical data of the small region and the small region to be compared, with the small region in the direction corresponding to the comparison direction, among the small regions arranged in the vicinity of the small region.

8. Discharge device according to any one of claims 5 to 7,

the shape deriving unit extracts a lowest small area in which the statistical data is stored, from among a plurality of small areas arranged in an up-down direction with respect to a lower working area, and derives the shape of the bottom surface of the hold based on the extracted small area.

9. Discharge device according to any one of claims 4 to 8,

the area generating unit generates the work area with reference to an opening of the ship.