JPH08258987A - Hatch edge detecting method - Google Patents
Hatch edge detecting methodInfo
- Publication number
- JPH08258987A JPH08258987A JP8759095A JP8759095A JPH08258987A JP H08258987 A JPH08258987 A JP H08258987A JP 8759095 A JP8759095 A JP 8759095A JP 8759095 A JP8759095 A JP 8759095A JP H08258987 A JPH08258987 A JP H08258987A
- Authority
- JP
- Japan
- Prior art keywords
- hatch
- measurement
- unloader
- edge
- light wave
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Landscapes
- Length Measuring Devices By Optical Means (AREA)
- Ship Loading And Unloading (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、連続式アンローダの掘
削部を船舶のハッチを通し船倉内に降ろす際に、アンロ
ーダ掘削部をハッチと位置合わせするためにハッチ端を
検出する方法に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of detecting a hatch end for aligning a unloader excavation section with a hatch when the excavation section of a continuous unloader is lowered into a hold through a hatch of a ship.
【０００２】[0002]
【従来の技術】図６は従来の光波距離計を使用したハッ
チ端検出方法を示す。図６において、１は石炭等のバラ
荷を運搬する船舶、２は船舶１を接舷した岸壁、３は岸
壁上に設置された連続式アンローダ、４は船倉内へ挿脱
される連続式アンローダ３の掘削部、５は船舶１の船倉
上部デッキ７に設けられたハッチ、６ａ〜６ｄはハッチ
５の前後左右のハッチ端、３０は連続式アンローダ３の
掘削部４（以下単に掘削部と呼ぶ）に装着したハッチ端
６ａ〜６ｄ検出用の従来一般に使用されているスキャン
型光波距離計である。このような装置において、ハッチ
端の検出は、光波距離計３０を船の長さ方向の後部側ハ
ッチ端６ａと直交させるように実線で示す船のデッキ上
からハッチ開口部までの一定距離（例えば角度１０°）
の範囲をスキャンしながら、小間隔毎に光波距離計３０
の直線光波ビームで距離及び光反射強度を順に計測し、
次いで前部ハッチ端６ｂを点線で示す如く同様に計測
し、船の幅方向左右のハッチ端６ｃ，６ｄも同様に計測
し、計測データの距離が急速に伸びた点、及び光反射強
度が著しく変わる点をそれぞれのハッチ端位置として判
定している。2. Description of the Related Art FIG. 6 shows a hatch edge detection method using a conventional lightwave rangefinder. In FIG. 6, 1 is a ship that carries bulk cargo such as coal, 2 is a quayside where the ship 1 is ported, 3 is a continuous unloader installed on the quay, 4 is a continuous unloader that is inserted into and removed from the hold. 3 is an excavation portion, 5 is a hatch provided on the upper deck 7 of the hold of the ship 1, 6a to 6d are front, rear, left and right hatch ends of the hatch 5, 30 is an excavation portion 4 of the continuous unloader 3 (hereinafter simply referred to as an excavation portion). ), Which is a conventional scanning type optical distance meter for detecting the hatch ends 6a to 6d. In such a device, the detection of the hatch edge is performed by a fixed distance (for example, from the deck of the ship to the hatch opening) indicated by a solid line so that the lightwave range finder 30 is orthogonal to the rear hatch edge 6a of the ship in the length direction. Angle 10 °)
While scanning the range of the lightwave rangefinder 30
Measure the distance and light reflection intensity with a linear lightwave beam of
Next, the front hatch edge 6b is measured in the same manner as indicated by the dotted line, and the hatch edges 6c and 6d on the left and right sides of the ship in the width direction are also measured in the same manner. The point at which it changes is determined as the position of each hatch edge.
【０００３】[0003]
【発明が解決しようとする課題】しかして、図７
（ａ），（ｂ）は上述した従来の方法で計測した距離及
び光反射強度と計測点との関係を示したグラフである。
この従来の方法では、複数の計測点′〜′毎に光波
距離計３０のスキャンと計測を繰り返すから計測に時間
が掛り、また、その間に光波距離計３０の架台が振動に
より動いてしまい、図７（ａ），（ｂ）中で例えば計測
点′部において、実際には点線及び白丸印部で示すよ
うな変化が生じたときにも、振動によりＡ部のように計
測値に座標ずれを起こして誤差を生じる場合ができ等、
掘削部４と各ハッチ端６ａ〜６ｄとの相対位置が正しく
計測できない問題点があった。本発明は、上述した問題
を解消し、各ハッチ端計測を瞬時に短時間で正確に済む
ようにし、かつ振動等の外乱による影響を防止して高精
度の測定を可能にし、ひいては各ハッチ端の相対位置検
出が迅速正確になり、ハッチ中央部への掘削部の寄せ、
船倉内への掘削部降下を安全に迅速にし、アンローダ荷
揚げの効率を著しく高めることができるハッチ端検出方
法を提供することを目的とする。DISCLOSURE OF THE INVENTION Problems to be Solved by the Invention
(A), (b) is a graph which showed the distance and the light reflection intensity measured by the above-mentioned conventional method, and the relationship with a measurement point.
In this conventional method, since the scanning and measurement of the optical distance meter 30 are repeated for each of a plurality of measuring points ′ to ′, it takes a long time to perform the measurement, and during that time, the pedestal of the optical distance meter 30 moves due to the vibration. 7 (a) and 7 (b), for example, at the measurement point 'portion, even when a change indicated by a dotted line and a white circle portion actually occurs, the measurement value has a coordinate shift like the portion A due to vibration. It may occur and cause an error,
There is a problem that the relative position between the excavation part 4 and each of the hatch ends 6a to 6d cannot be measured correctly. The present invention solves the above-mentioned problems, enables measurement of each hatch edge accurately in an instant, and prevents the influence of disturbances such as vibrations to enable highly accurate measurement, and thus each hatch edge. The relative position detection of the
An object of the present invention is to provide a hatch edge detection method capable of safely and quickly descending an excavated portion into a hold and significantly increasing unloader unloading efficiency.
【０００４】[0004]
【課題を解決するための手段】この目的を達成するた
め、本発明においては、連続式アンローダの掘削部を船
舶のハッチ中央に位置合わせし船倉内に降下させるに際
し、アンローダ掘削部に装着した垂直回動型偏向式光波
距離計から照射する広角光波ビームを、ハッチ端を直角
に跨ぐ位置に順に回動照準し、各照準位置において広角
光波ビーム照射部の複数点を同時計測し、計測された照
射部複数点の距離データ及び又は光反射強度データの大
きい変位点をハッチ端位置と判定し検出することを特徴
とする。In order to achieve this object, in the present invention, when the excavation section of the continuous unloader is aligned with the hatch center of the ship and lowered into the hold, the vertical unloader is installed in the unloader excavation section. The wide-angle light-wave beam emitted from the rotary deflection-type light-wave rangefinder was sequentially rotated and aimed at the position crossing the hatch end at a right angle, and multiple points of the wide-angle light-wave beam irradiation part were simultaneously measured at each aiming position and measured. It is characterized in that a displacement point having large distance data and / or light reflection intensity data of a plurality of points of the irradiation part is determined and detected as a hatch end position.
【０００５】[0005]
【作用】本発明ハッチ端検出方法においては、アンロー
ダ掘削部を所定のハッチ上の位置に移動させ、掘削部上
の垂直回動型偏向式光波距離計を各ハッチ端すなわちハ
ッチ後端、前端、左端、右端を直角に跨ぐ位置に順に照
準し、各照準位置において広角光波ビーム照射部の複数
点の距離及び又は光反射強度を同時計測する。そして垂
直回動型偏向式光波距離計に接続されたハッチ端演算装
置が、前記計測されたデータを読み取り、複数点の距離
及び又は光反射強度の大きい変位点をハッチ端位置とし
て、判定し検出する。従って、各ハッチ端計測の時間は
瞬時で済み、振動等の外乱の影響が防止され高精度の測
定が可能になる。また、１ハッチ４個所のハッチ端の相
対位置検出が、速く、正確になり、ハッチ中央位置への
掘削部の寄せ、船倉内への掘削部降下を安全に迅速に制
御することができる。In the hatch end detecting method of the present invention, the unloader excavation unit is moved to a position on a predetermined hatch, and the vertically rotating deflection type optical distance meter on the excavation unit is moved to each hatch end, that is, the rear end of the hatch, the front end, Aim at a position crossing the left end and the right end at right angles in order, and simultaneously measure the distances and / or the light reflection intensities of a plurality of points of the wide-angle light wave beam irradiation unit at each aiming position. Then, a hatch edge computing device connected to the vertical rotation type deflection type optical distance meter reads the measured data and determines and detects a displacement point having a plurality of distances and / or light reflection intensity as a hatch edge position. To do. Therefore, the time required for each hatch edge measurement is instant, the influence of disturbance such as vibration is prevented, and highly accurate measurement becomes possible. Further, the relative positions of the hatch ends at the four positions of one hatch can be detected quickly and accurately, and the excavation portion can be brought closer to the center position of the hatch and the excavation portion can be safely lowered in the hold.
【０００６】[0006]
【実施例】以下、本発明を図１〜図５に示す実施例につ
いて詳細に説明する。なお、図中従来と同一の要素部分
は図６と同一の符号で示し重複する説明を省略する。図
１は本発明にかかるハッチ端検出方法の実施例の外観を
示す斜視図、図２は図１のII−II線に沿う平面図であ
る。まず図１及び図２において、１０は岸壁２上の連続
式アンローダ３の掘削部４の片側側面部に従来の光波距
離計に代えて設けたハッチ端６ａ〜６ｄ検出用の１個の
垂直回動型偏向式光波距離計である。ハッチ端は、ハッ
チ後端を６ａ、ハッチ前端を６ｂ、ハッチ左端を６ｃ、
ハッチ右端を６ｄとして示し、掘削部４は旋回制御可能
にアンローダ３に保持されている。なお図２中で４′は
ハッチ中央に移動させた場合の掘削部４を示している。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail below with reference to the embodiments shown in FIGS. It should be noted that in the figure, the same elements as those of the related art are denoted by the same reference numerals as those in FIG. 1 is a perspective view showing an appearance of an embodiment of a hatch edge detecting method according to the present invention, and FIG. 2 is a plan view taken along line II-II of FIG. First, in FIG. 1 and FIG. 2, 10 is one vertical wheel for detecting the hatch ends 6a to 6d provided on one side surface of the excavation section 4 of the continuous unloader 3 on the quay 2 in place of the conventional optical distance meter. It is a dynamic deflection type optical distance meter. The hatch end is 6a at the rear end of the hatch, 6b at the front end of the hatch, 6c at the left end of the hatch,
The right end of the hatch is shown as 6d, and the excavation unit 4 is held by the unloader 3 so that the excavation control can be performed. In FIG. 2, 4'denotes the excavation part 4 when it is moved to the center of the hatch.
【０００７】この掘削部４をハッチ前後方向に向けた状
態でハッチ上に位置させた時、偏向式光波距離計１０
は、後述するハッチ端検出用演算装置により、アンロー
ダの制御装置が保有する座標位置データをもとにして偏
向式光波距離計１０が照射する広角光波ビームを、図１
〜図２中のデッキ７からハッチ後端６ａに直角に跨ぐ位
置Ａに照準し、この位置に広角照射された照射部上の間
隔をおいた複数の計測点までの距離及び又は光反射強度
を並行的に同時計測する。次いで、偏向式光波距離計１
０を、ハッチ前端側へ垂直回動し、同様にハッチ前端６
ｂを直角に跨ぐ位置Ｂに照準して、この位置で広角照射
された照射部上の間隔をおいた複数の計測点までの距離
及び又は光反射強度を並行的に同時計測する。更に次い
で、掘削部４を９０°水平回動し、偏向式光波距離計１
０をハッチ左端６ｃを跨ぐ位置Ｃに垂直回動し照準して
同様に計測し、それから偏向式光波距離計１０を右へ垂
直回動して、ハッチ右端６ｄを跨ぐ位置Ｄに照準して同
様に計測することにより、一つのハッチ５のハッチ端計
測を完了する。When the excavation unit 4 is positioned on the hatch with the hatch being oriented in the front-rear direction, the deflection type optical distance meter 10
Is a wide-angle lightwave beam emitted by the deflection lightwave rangefinder 10 based on the coordinate position data held by the unloader control device by a hatch edge detecting arithmetic unit described later.
~ Aim at a position A crossing the hatch rear end 6a at a right angle from the deck 7 in Fig. 2, and measure the distances and / or the light reflection intensities to a plurality of spaced measurement points on the irradiation part that are wide-angle irradiated at this position. Simultaneously measure in parallel. Next, the deflection lightwave rangefinder 1
0 is rotated vertically to the front end of the hatch, and the front end 6 of the hatch is also rotated.
Aim at a position B that crosses b at a right angle, and simultaneously measure the distances and / or the light reflection intensities to a plurality of spaced measurement points on the irradiation unit that have been subjected to wide-angle irradiation at this position in parallel. Then, the excavation unit 4 is horizontally rotated by 90 °, and the deflection type optical distance meter 1
0 is vertically swiveled to a position C straddling the left end 6c of the hatch and similarly measured, and then the deflection type optical distance meter 10 is swung vertically to the right to aim at a position D straddling the right end 6d of the hatch. The measurement of the hatch edge of one hatch 5 is completed by performing the measurement.
【０００８】次に、図３は図１で示した垂直回動型偏向
式光波距離計１０と、計測方法の詳細図である。垂直回
動型偏向式光波距離計１０は、掘削部４の壁面に図示し
ない架台を介し固定した駆動箱１２と、同駆動箱１２の
水平軸回りの駆動軸１３上に固定支持して垂直面内に回
動されるよう設けた光波計箱１４からなる。また、光波
計箱１４内には、レーザー発光部１５、同レーザー発光
部１５の発光する直線状の光波ビームを光波計箱１４の
回動面内に沿って平らな面状の外郭線１１，１１′で示
す広角光波ビームに偏向するプリズム又はレンズ１６、
上記広角光波ビーム照射部からの反射光を取り込む受光
プリズム又はレンズ１７、同受光プリズム又はレンズ１
７を経て広角光波ビーム照射部上の間隔をおく複数点
〜の反射光を同時に受光し複数点〜の距離及び又
は光反射強度を同時計測する複数個の受光素子１８を備
えている。また、１９は上記垂直回動型偏向式光波距離
計１０に接続してアンローダの制御室等に設けたハッチ
端検出用演算装置、２０はアンローダの制御装置であ
る。Next, FIG. 3 is a detailed view of the vertical rotation type deflection type optical distance meter 10 shown in FIG. 1 and a measuring method. The vertical rotation type deflection type optical distance meter 10 includes a drive box 12 fixed to a wall surface of the excavation section 4 via a pedestal (not shown), and a drive shaft 13 around the horizontal axis of the drive box 12 fixedly supported to provide a vertical surface. It consists of an optical wave meter box 14 provided so as to be rotated inside. Further, in the light wave meter box 14, a laser light emitting section 15 and a linear light wave beam emitted by the laser light emitting section 15 are formed along the rotation surface of the light wave meter box 14 so as to have a flat planar outer line 11, A prism or lens 16 for deflecting a wide-angle light wave beam designated by 11 ',
Light-receiving prism or lens 17 for taking in the reflected light from the wide-angle light-wave beam irradiator, and the light-receiving prism or lens 1
A plurality of light receiving elements 18 for simultaneously receiving reflected light from a plurality of points spaced apart on the wide-angle light wave beam irradiation unit via 7 and simultaneously measuring distances and / or light reflection intensities of a plurality of points. Reference numeral 19 denotes a hatch edge detecting arithmetic unit provided in the control room of the unloader and connected to the vertical rotation type deflection type optical distance meter 10, and 20 denotes an unloader control apparatus.
【０００９】今、例えば、ハッチ後端６ａを直角に跨ぐ
位置Ａを照準して、レーザー発光部１５から発したレー
ザー光は偏向プリズム又はレンズ１６を経て角度α（例
えば１０°）の外郭線１１，１１′で示されるように拡
がった広角光波ビームとなって下方向へ照射される。ハ
ッチ後端６ａの検出は、上記のように照準位置Ａで、レ
ーザー広角光波ビームの照射と同時に、広角光波ビーム
上の予め定めた複数個の同時計測点〜の反射光を受
光プリズム又はレンズ１７を経て複数個の受光素子１８
に取り込み、複数個の同時計測点〜の距離及び又は
光反射強度を、瞬間的に同時計測することにより行な
う。光波計箱１４の垂直回動及び又は掘削部４の９０°
水平回動により、光波計箱１４を次の照準位置Ｂ乃至Ｄ
へ照準し、同様に計測を行ない、計測された距離及び又
は光反射強度は、ハッチ端検出用演算装置１９へ伝達さ
れる。Now, for example, aiming at a position A crossing the rear end 6a of the hatch at a right angle, the laser light emitted from the laser emitting portion 15 passes through a deflection prism or lens 16 and an outer line 11 having an angle α (for example, 10 °). , 11 ', a wide-angle light wave beam is spread and is irradiated downward. The detection of the rear end 6a of the hatch is carried out at the aiming position A as described above, and at the same time as the irradiation of the laser wide-angle light wave beam, the reflected light from a plurality of predetermined simultaneous measurement points on the wide-angle light wave beam is received by the light receiving prism or the lens 17. Through a plurality of light receiving elements 18
The measurement is performed by instantaneously and simultaneously measuring the distance from a plurality of simultaneous measurement points and / or the light reflection intensity. Vertical rotation of the light wave meter box 14 and / or 90 ° of the excavation part 4
By horizontally rotating, the optical wave meter box 14 is moved to the next aiming positions B to D.
Then, the distance and / or the light reflection intensity thus measured are transmitted to the hatch edge detecting arithmetic unit 19.
【００１０】図４は、上述した装置を使用して行なう本
発明によるハッチ端検出方法のフロー図である。以下、
図１〜図４を参照して本発明の方法を説明する。最初に
運転指令に従って掘削部４を指定されたハッチ５上に移
動し、停止させる。この位置で、ハッチ端検出を開始さ
せると、ハッチ端検出用演算装置１９が、アンローダの
制御装置２０で認識保有する掘削部４の停止位置とハッ
チ５との相対位置データを取り込み、これをもとに、ハ
ッチ後端６ａ、前端６ｂ、左端６ｃ、右端６ｄの各照準
位置Ａ〜Ｄを自動計算し、計算されたハッチ後端照準位
置Ａへの光波計箱１４の垂直回動と照準及び計測、次い
でハッチ前端照準位置Ｂへの光波計箱１４の垂直回動と
照準及び計測、次いで掘削部４の反時計回りの９０°水
平回動及びハッチ左端照準位置Ｃへの光波計箱１４の垂
直回動と照準及び計測、それからハッチ右端照準位置Ｄ
への光波計箱１４の垂直回動と照準及び計測を自動制御
下で制御実行する。ハッチ端検出用演算装置１９では、
更に上記計測データをもとに、この時の掘削部４位置か
ら各ハッチ端６ａ乃至６ｄまでの相対距離及びハッチ中
心までの掘削部４の相対距離（すなわち掘削部４をハッ
チ５の中心位置へ移動させるに必要な距離）を自動計算
し、そのデータをアンローダの制御装置２０へ出力させ
る。掘削部４は、アンローダの制御装置２０により、上
記伝達された位置データをもとにハッチ５中央位置へ移
動制御され、次いで、船倉内へ安全に降下される。FIG. 4 is a flow chart of a hatch edge detecting method according to the present invention, which is performed by using the above-mentioned apparatus. Less than,
The method of the present invention will be described with reference to FIGS. First, the excavation unit 4 is moved onto the designated hatch 5 according to the operation command and stopped. When the hatch end detection is started at this position, the hatch end detection arithmetic unit 19 fetches relative position data between the stop position of the excavation unit 4 and the hatch 5 which is recognized and held by the control unit 20 of the unloader, and this is also stored. In addition, the respective aiming positions A to D of the hatch rear end 6a, the front end 6b, the left end 6c, and the right end 6d are automatically calculated, and the vertical rotation of the optical wave meter box 14 to the calculated hatch rear end aiming position A and the aiming and Measurement, then vertical rotation and aiming and measurement of the photometer box 14 to the hatch front end aiming position B, and then counterclockwise 90 ° horizontal rotation of the excavation unit 4 and movement of the photometer box 14 to the hatch left end aiming position C. Vertical rotation and aiming and measurement, and then the hatch right end aiming position D
The vertical rotation of the light wave meter box 14 to, the aiming, and the measurement are controlled under automatic control. In the calculation device 19 for detecting the hatch edge,
Further, based on the above measurement data, the relative distance from the position of the excavated portion 4 to each of the hatch ends 6a to 6d at this time and the relative distance of the excavated portion 4 to the center of the hatch (ie, the excavated portion 4 to the center position of the hatch 5). The distance required for movement) is automatically calculated, and the data is output to the control device 20 of the unloader. The excavator 4 is controlled to move to the center position of the hatch 5 by the control device 20 of the unloader based on the transmitted position data, and then safely lowered into the hold.
【００１１】図５（ａ），（ｂ）は、図３の状態下で偏
向式光波距離計１０により同時計測されたハッチ端前後
の距離データと光反射強度データを示している。ハッチ
端を跨ぐ複数の計測点〜が同時計測されるから計測
の時間は瞬時で済み、機器の振動が計測値に影響しなく
なり、計測値の精度が高まる。また、従来のような光波
距離計を低速スキャンさせながら行なう複数点の計測が
解消し、アンローダの制御装置２０が認識するデータか
ら計算された照準位置Ａへの光波計箱１４の垂直回動と
照準停止、照準位置Ａから次の照準位置Ｂ〜Ｄへの光波
計箱１４の垂直回動と照準停止を高速で制御できるよう
になり、１ハッチ４個所のハッチ端の検出が早く、正確
に実行できる。更に、掘削部４のハッチ５中央（４′位
置）への位置合わせ及び船倉内への下降も早く、正確に
なり、安全性が高まる。FIGS. 5A and 5B show distance data before and after the hatch edge and light reflection intensity data which are simultaneously measured by the deflection type optical distance meter 10 under the condition of FIG. Since a plurality of measurement points across the hatch end are simultaneously measured, the measurement time is instant, the vibration of the device does not affect the measurement value, and the accuracy of the measurement value is improved. Further, the conventional measurement of a plurality of points while performing a low-speed scanning of the lightwave rangefinder is canceled, and the vertical rotation of the lightwave meter box 14 to the aiming position A calculated from the data recognized by the control device 20 of the unloader is eliminated. Aiming stop, vertical rotation of the optical wave meter box 14 from the aiming position A to the next aiming positions B to D, and aiming stop can be controlled at high speed, and the hatch ends of the four hatches can be detected quickly and accurately. I can do it. Further, the positioning of the excavation part 4 to the center of the hatch 5 (position 4 ') and the descent into the hold are quick, accurate, and safety is enhanced.
【００１２】[0012]
【発明の効果】要するに、本発明は、連続式アンローダ
掘削部を船舶のハッチ中央に位置合わせし船倉内に降下
させるに際し、アンローダ掘削部に装着した垂直回動型
偏向式光波距離計から照射する広角光波ビームを、ハッ
チ端を直角に跨ぐ位置に順に回動照準し、各照準位置に
おいて広角光波ビーム照射部の複数点を同時計測し、同
計測された照射部複数点の距離データ及び又は光反射強
度データの大きい変位点をハッチ端位置として判定し検
出することによって、各ハッチ端計測を瞬時に短時間で
正確に済むようにし、かつ振動等の外乱による影響を防
止して高精度の測定を可能にし、ひいては各ハッチ端の
相対位置検出が迅速正確になり、ハッチ中央位置への掘
削部の寄せ、船倉内への掘削部降下を安全に迅速にし、
アンローダ荷揚げの効率を著しく高める効果を奏する。In summary, according to the present invention, when the continuous unloader excavation unit is aligned with the center of the hatch of the ship and lowered into the hold, irradiation is performed from the vertical rotation type deflection type optical distance meter attached to the unloader excavation unit. A wide-angle light-wave beam is sequentially swiveled to a position that crosses the hatch edge at a right angle, and multiple points of the wide-angle light-wave beam irradiation part are simultaneously measured at each aiming position. By determining and detecting the displacement point with large reflection intensity data as the hatch edge position, each hatch edge measurement can be completed instantly and accurately in a short time, and the influence of external disturbances such as vibration can be prevented for high-precision measurement. The result is that the relative position of each hatch edge can be detected quickly and accurately, and the excavation section can be brought closer to the center of the hatch and the excavation section can be lowered into the hold safely and quickly.
This has the effect of significantly increasing the efficiency of unloading unloaders.
【図１】本発明の実施例にかかるハッチ端検出の外観を
示す斜視図である。FIG. 1 is a perspective view showing an appearance of hatch edge detection according to an embodiment of the present invention.
【図２】図１のII−II線に沿う平面図である。FIG. 2 is a plan view taken along the line II-II of FIG.
【図３】図１の要部を拡大して示す計測部の詳細説明図
である。FIG. 3 is a detailed explanatory view of a measurement unit showing an enlarged main part of FIG.
【図４】本発明によるハッチ端検出方法のフロー図であ
る。FIG. 4 is a flow diagram of a hatch edge detection method according to the present invention.
【図５】計測データの説明図である。FIG. 5 is an explanatory diagram of measurement data.
【図６】従来のハッチ端検出の外観を示す斜視図であ
る。FIG. 6 is a perspective view showing an appearance of conventional hatch edge detection.
【図７】従来方法による計測データの説明図である。FIG. 7 is an explanatory diagram of measurement data by a conventional method.
１ 船舶 ２ 岸壁 ３ 連続式アンローダ ４ アンローダの掘削部 ４′ ハッチ中央位置の掘削部 ５ ハッチ ６ａ〜６ｄ ハッチの後端、前端、左端及び右端 ７ デッキ 10 垂直回動型偏向式光波距離計 11 偏向ビーム光の外郭線 12 駆動箱 13 駆動軸 14 光波計箱 15 レーザー発光部 16 偏向プリズム又はレンズ 17 受光プリズム又はレンズ 18 受光素子 19 ハッチ端検出用演算装置 20 アンローダの制御装置 Ａ〜Ｄ 各ハッチ端を跨ぐ照準位置 〜 複数個の同時計測点 1 Vessel 2 Quay 3 Continuous unloader 4 Excavator of unloader 4'Excavator at the center position of hatch 5 Hatch 6a-6d Hatch rear end, front end, left end and right end 7 Deck 10 Vertical turning deflection type optical distance meter 11 Deflection Outline of beam light 12 Drive box 13 Drive axis 14 Optical wave meter box 15 Laser emitting section 16 Deflection prism or lens 17 Light receiving prism or lens 18 Light receiving element 19 Hatch end detection computing device 20 Unloader control device A to D Each hatch end Aiming position crossing over ~ multiple simultaneous measurement points
───────────────────────────────────────────────────── フロントページの続き (72)発明者 小林 照視 千葉県君津市君津１番地 新日本製鐵株式 会社君津製鐵所内 (72)発明者 久保井 巧 広島市西区観音新町四丁目６番22号 三菱 重工業株式会社広島製作所内 (72)発明者 西崎 純一 広島市西区観音新町四丁目６番22号 三菱 重工業株式会社広島製作所内 (72)発明者 阿曽沼 博 広島市西区観音新町四丁目６番22号 三菱 重工業株式会社広島製作所内 (72)発明者 横山 智広 広島市西区観音新町四丁目６番22号 三菱 重工業株式会社広島製作所内 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Terumi Kobayashi Terumi Kobayashi 1 Kimitsu, Kimitsu-shi, Chiba Inside Nippon Steel Corporation Kimitsu Steel Co., Ltd. Mitsubishi Heavy Industries, Ltd. Hiroshima Works (72) Inventor Junichi Nishizaki 4-6-22 Kannon Shinmachi, Nishi-ku, Hiroshima City Mitsubishi Heavy Industries Ltd. Hiroshima Works (72) Inventor Hiroshi Asonuma 4-6-22 Kannon Shinmachi, Nishi-ku, Hiroshima City Mitsubishi Heavy Industries Ltd. Hiroshima Works (72) Inventor Tomohiro Yokoyama 4-6-22 Kannon Shinmachi, Nishi-ku, Hiroshima City Mitsubishi Heavy Industries Ltd. Hiroshima Works
Claims (1)
チ中央に位置合わせし船倉内に降下させるに際し、アン
ローダ掘削部に装着した垂直回動型偏向式光波距離計か
ら照射する広角光波ビームを、ハッチ端を直角に跨ぐ位
置に順に回動照準し、各照準位置において広角光波ビー
ム照射部の複数点を同時計測し、計測された照射部複数
点の距離データ及び又は光反射強度データの大きい変位
点をハッチ端位置と判定し検出することを特徴とするハ
ッチ端検出方法。1. A wide-angle lightwave beam emitted from a vertically rotating deflection lightwave rangefinder attached to the unloader excavation unit when aligning the excavation unit of the continuous unloader with the hatch center of the ship and lowering it into the hold. Aiming sequentially to a position that crosses the hatch edge at a right angle, simultaneously measure multiple points of the wide-angle light wave beam irradiation part at each aiming position, and displace the measured distance data of the irradiation part multiple points and / or light reflection intensity data. A method for detecting a hatch edge, characterized by detecting a point as a hatch edge position and detecting it.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8759095A JPH08258987A (en) | 1995-03-20 | 1995-03-20 | Hatch edge detecting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8759095A JPH08258987A (en) | 1995-03-20 | 1995-03-20 | Hatch edge detecting method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH08258987A true JPH08258987A (en) | 1996-10-08 |
Family
ID=13919221
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP8759095A Withdrawn JPH08258987A (en) | 1995-03-20 | 1995-03-20 | Hatch edge detecting method |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH08258987A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2016060598A (en) * | 2014-09-19 | 2016-04-25 | Ｉｈｉ運搬機械株式会社 | Operation support device of grab bucket type unloader |
| WO2019151346A1 (en) * | 2018-02-02 | 2019-08-08 | 株式会社Ihi | Unloading device |
| CN112374177A (en) * | 2020-10-30 | 2021-02-19 | 深圳创维－Rgb电子有限公司 | Feeding method, feeding device and computer readable storage medium |
-
1995
- 1995-03-20 JP JP8759095A patent/JPH08258987A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2016060598A (en) * | 2014-09-19 | 2016-04-25 | Ｉｈｉ運搬機械株式会社 | Operation support device of grab bucket type unloader |
| WO2019151346A1 (en) * | 2018-02-02 | 2019-08-08 | 株式会社Ihi | Unloading device |
| CN112374177A (en) * | 2020-10-30 | 2021-02-19 | 深圳创维－Rgb电子有限公司 | Feeding method, feeding device and computer readable storage medium |
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