JP2020160018A - Quantity acceptance inspection system for load of vessel - Google Patents

Abstract

To reduce time and effort of measurement staff required for quantity acceptance inspection of a load loaded onto a soil store of a vessel navigating in an arbitrary route on the sea.SOLUTION: A quantity acceptance inspection system 1 includes a tablet PC 11 placed at a prescribed position in a prescribed direction of a vessel 2, a drone 12, and a server device 13. The server device 13 determines a flight route traversing the sky above a soil store 21 based on data indicating the position and orientation of the vessel 2 received from the tablet PC 11 and data received from the drone 12 indicating a position of the drone 12. The drone 12 measures the distance to multiple measuring points on a surface of the soil store 21 by a laser scanner while flying above the soil store 21 according to the flight route determined by the server device 13. The server device 13 specifies a three-dimensional shape on the surface of the load in the soil store 21 based on the distance group measured by the laser scanner and calculates the quantity of the load based on the specified three-dimensional shape and the three-dimensional shape of the soil store 21.SELECTED DRAWING: Figure 1

Description

The present invention relates to a quantity acceptance system for a ship's load.

Materials such as stones used in harbor construction are often transported by ship (earthen carrier, gut ship, etc.) to the sea area at the site. Before the material is put into the sea area from the ship, the quantity of the material (load) loaded in the ship's storehouse is measured, and based on the measured quantity, the progress of construction is managed and the construction cost is calculated. Etc. are performed. The measurement of the quantity of materials loaded in Tsuchikura is called acceptance inspection. Acceptance is carried out every time the material is transported.

A technique has been proposed to reduce the time and effort required to measure the number of loads loaded in the storehouse of a ship. For example, in Patent Document 1, a light wave range finder installed at the tip of a mounting arm projecting laterally on a pedestal erected along the route of a gut ship, and a gut that navigates directly under the light wave range finder. A method and an apparatus for measuring the amount of stones loaded on a gut ship are described using the three-dimensional coordinates of the surface of the stones measured by scanning the stones loaded on the ship. In the method and device described in Patent Document 1, when scanning a stone material with a light wave rangefinder, prisms installed at the front, middle, and rear of the gut ship are viewed by an automatic tracking type rangefinder. By conforming, the position, approach angle, and inclination of the gut ship are measured in sequence.

Japanese Unexamined Patent Publication No. 2000-275083

In the case of the invention described in Patent Document 1, the gut ship must pass through the position where the equipment such as the gantry and the light wave range finder is installed in order to receive the acceptance of the loaded material.

In view of the above circumstances, the present invention provides a means for reducing the time and effort of a measurer required to inspect the quantity of a load loaded in the clay storehouse of a ship navigating an arbitrary route at sea.

In order to solve the above-mentioned problems, the present invention has a first positioning means for measuring the position of a ship, an orientation measuring means for measuring the orientation of a ship, an unmanned aerial vehicle, and a second for measuring the position of the unmanned aerial vehicle. Using the positioning means, the laser scanner mounted on the unmanned aerial vehicle, the position of the ship measured by the first positioning means, and the orientation of the ship measured by the orientation measuring means, the ship A flight route that identifies the position and orientation of the Tsuchikura and determines the flight route over the Tsuchikura using the identified position and orientation of the Tsuchikura and the position of the unmanned aerial vehicle measured by the second positioning means. Using the determining means and the three-dimensional shape of the load loaded on the clay storehouse measured by the laser scanner while the unmanned aerial vehicle is flying according to the flight route determined by the flight route determining means. The first aspect is to provide a quantity acceptance system for a vessel's load, which includes a quantity calculation means for calculating the quantity of the load.

In the quantity acceptance system for the load of a ship of the first aspect, the flight route determining means identifies two or more points having a predetermined positional relationship with the Tsuchiya whose position and direction are specified, and the specified two or more points. A configuration in which the flight route is determined so as to pass through the point may be adopted as the second aspect.

In the quantity acceptance system for a ship's load according to the first or second aspect, the first positioning means repeatedly measures the position of the ship, the azimuth measuring means repeatedly measures the direction of the ship, and the above. When a new position of the ship is measured by the first positioning means, the flight route determining means updates the flight route using the new position, and the flight route determining means uses the bearing measuring means. When a new azimuth of the ship is measured, the configuration of updating the flight route using the new azimuth may be adopted as the third aspect.

According to the present invention, it is possible to reduce the time and effort of the measurer required to inspect the quantity of the load loaded in the clay storehouse of a ship navigating an arbitrary route on the sea.

The figure which showed the whole structure of the quantity acceptance system which concerns on one Embodiment. The block diagram which showed the hardware structure of the tablet PC which concerns on one Embodiment. A block diagram showing a configuration related to the features of the present invention among the drone hardware according to the embodiment. The block diagram which showed the hardware configuration of the server apparatus which concerns on one Embodiment. The block diagram which showed the functional configuration of the server apparatus which concerns on one Embodiment. A sequence diagram of operations performed by the quantity acceptance system 1 according to the embodiment for calculating the quantity of soil material. The figure which showed the example of the position of two waypoints which concerns on one Embodiment on a two-dimensional plane.

[Embodiment]
Hereinafter, the quantity acceptance system 1 for the load of a ship according to the embodiment of the present invention will be described. FIG. 1 is a diagram showing the overall configuration of the quantity acceptance system 1.

The quantity acceptance system 1 includes a tablet PC 11 carried by a measurer, a drone 12 which is an unmanned aerial vehicle, and a server device 13 installed on land. The tablet PC 11 is installed at a predetermined position and direction of the ship 2 by a measurer on board the ship 2.

Vessel 2 is a clay carrier, a gut ship, etc. equipped with a clay storehouse 21. Although FIG. 1 shows a case where the vessel 2 is a self-propelled vessel, the vessel 2 may not be self-propelled. For example, the soil material used in port construction (an example of a load) is loaded on the clay storehouse 21, and the loaded soil material can be seen from the sky.

FIG. 2 is a block diagram showing the hardware configuration of the tablet PC 11. The tablet PC 11 includes a computer 111, a GNSS (Global Navigation Satellite System) unit 112 (an example of a first positioning means), a compass 113 (an example of an orientation measuring means), a gyro sensor 114, and a wireless communication unit 115. It includes a touch screen 116.

The computer 111 includes a processor 1111, a memory 1112, and an input / output interface 1113. The processor 1111 controls the operation of each part of the tablet PC 11 by executing the process according to the program stored in the memory 1112. The memory 1112 stores various data in addition to the program executed by the processor 1111. The input / output interface 1113 inputs / outputs data to / from an external device. A GNSS unit 112, a compass 113, a gyro sensor 114, a wireless communication unit 115, and a touch screen 116 are connected to the input / output interface 1113.

The GNSS unit 112 measures the current position of the tablet PC 11 based on radio waves received from a plurality of satellites. The compass 113 measures the current orientation of the tablet PC 11 by measuring the direction of the earth's magnetic field.

The gyro sensor 114 is a 3-axis gyro sensor that measures the change in angle (angular acceleration) per unit time with respect to each of the three reference axes, and is the current posture (pitch axis, roll axis, yaw axis) of the tablet PC 11. Measure the angle around each axis).

When the tablet PC 11 is arranged at a predetermined position and direction of the ship 2, the position, azimuth, and attitude measured by each of the GNSS unit 112, the compass 113, and the gyro sensor 114 are the current position, azimuth, and attitude of the ship 2. Will be shown.

The wireless communication unit 115 wirelessly communicates with the server device 13 via, for example, a mobile communication network and the Internet. The touch screen 116 is, for example, a unit in which a liquid crystal display and a touch panel are laminated, displays various information to the user, and accepts a touch operation by the user.

FIG. 3 is a block diagram showing components related to the features of the present invention in the hardware of the drone 12. In addition to the configuration shown in FIG. 3, the drone 12 includes, for example, a battery, a motor, a propeller, an acceleration sensor, and the like, but the description thereof will be omitted.

The drone 12 includes a computer 121, a GNSS unit 122 (an example of a second positioning means), a compass 123, a gyro sensor 124, a wireless communication unit 125, and a laser scanner 126.

The computer 121, the GNSS unit 122, the compass 123, the gyro sensor 124, and the wireless communication unit 125 have the same functions as the computer 111, the GNSS unit 112, the compass 113, the gyro sensor 114, and the wireless communication unit 115 included in the tablet PC 11. However, what each of the GNSS unit 122, the compass 123, and the gyro sensor 124 measures is the current position, orientation, and attitude of the drone 12.

The computer 121 includes a processor 1211, a memory 1212, and an input / output interface 1213. The processor 1211, the memory 1212, and the input / output interface 1213 have the same functions as the processor 1111, the memory 1112, and the input / output interface 1113 included in the computer 111 of the tablet PC 11.

A GNSS unit 122, a compass 123, a gyro sensor 124, a wireless communication unit 125, and a laser scanner 126 are connected to the input / output interface 1213.

The laser scanner 126 is a two-dimensional irradiation laser scanner that sequentially irradiates laser light in a direction of drawing a fan shape in a predetermined two-dimensional plane and measures the distance to the surface of an object by the reflected light. The distance measuring method of the laser scanner 126 may be any of a ToF (Time of Flight) method, a phase difference method, and the like.

The laser scanner 126 is mounted on the main body of the drone 12 and continuously irradiates the target object with laser light in two dimensions while changing the relative position with respect to the target object as the main body of the drone 12 moves. Obtain distance data indicating the distances to many measurement points on the surface of an object. These distance data groups are used in the server device 13 to identify the three-dimensional shape of the object.

FIG. 4 is a block diagram showing the hardware configuration of the server device 13. The server device 13 includes a computer 131, a communication unit 132, and a display 133.

The communication unit 132 communicates with the tablet PC 11 and the drone 12 via, for example, the Internet and a mobile communication network.

The display 133 is, for example, a liquid crystal display and displays various information.

The computer 131 includes a processor 1311, a memory 1312, and an input / output interface 1313. The processor 1311, the memory 1312, and the input / output interface 1313 have the same functions as the processor 1111, the memory 1112, and the input / output interface 1113 included in the computer 111 of the tablet PC 11.

A communication unit 132 and a display 133 are connected to the input / output interface 1313.

FIG. 5 is a block diagram showing a functional configuration of the server device 13. When the computer 131 performs a process according to the program according to the present embodiment, the server device 13 functions as a device including the components shown in FIG. The functional components of the server device 13 shown in FIG. 5 will be described below.

The communication unit 1301 wirelessly communicates with the tablet PC 11 and the drone 12. The communication unit 1301 measured from the tablet PC 11 by the ship position data indicating the current position of the ship 2 measured by the GNSS unit 112, the ship direction data indicating the current direction of the ship 2 measured by the compass 113, and the gyro sensor 114. The ship attitude data indicating the current attitude of the ship 2 is continuously received.

Further, the communication unit 1301 uses the aircraft position data indicating the current position of the drone 12 measured by the GNSS unit 122, the aircraft orientation data indicating the current orientation of the drone 12 measured by the compass 123, and the gyro sensor 124 from the drone 12. Aircraft attitude data indicating the measured current attitude of the drone 12 is continuously received.

Further, the communication unit 1301 receives from the drone 12 a distance data group representing the three-dimensional shape of the soil material in the clay storehouse 21 measured by the laser scanner 126 while the drone 12 is flying over the ship 2.

The storage unit 1302 stores various data. For example, the storage unit 1302 stores various data received by the communication unit 1301 from the tablet PC 11 or the drone 12. Further, in the storage unit 1302, for each of the plurality of ships 2, the ship shape data indicating the three-dimensional shape of the ship 2, the Tsuchiya position data indicating the position of the Tsuchiya 21 in the ship 2, and the three-dimensional shape of the Tsuchiya 21 are stored in advance. The Tsuchiya shape data to be represented and the terminal installation data indicating the position and direction in which the tablet PC 11 on the ship 2 should be installed are stored.

The flight route determination unit 1303 (an example of the flight route determination means) uses the current position of the ship 2 indicated by the ship position data and the current position of the drone 12 indicated by the aircraft position data, and the drone 12 is the ship 2. Determine the flight route to go to the vicinity of the sky (hereinafter referred to as "outbound flight route").

Further, the flight route determination unit 1303 identifies the current position and azimuth of the Tsuchikura 21 by using the current position of the ship 2 indicated by the ship position data and the current azimuth of the ship 2 indicated by the azimuth data. Using the identified current position and azimuth of the Tsuchiya 21 and the current position of the drone 12 indicated by the aircraft position data, the drone 12 flies over the Tsuchiya 21 while the laser scanner 126 is used to determine the soil material in the Tsuchiya 21. A flight route (hereinafter referred to as "ship flight route") for generating a distance data group representing a three-dimensional shape is determined.

Further, the flight route determination unit 1303 uses the current position of the drone 12 indicated by the aircraft position data and the position of the next destination of the drone 12 (for example, the base where the drone 12 waits), and the drone 12 is a ship. Determine the flight route (hereinafter referred to as "return flight route") for heading to the next destination from the vicinity of the sky above 2.

The quantity calculation unit 1304 (an example of the quantity calculation means) is a tertiary of the soil material loaded on the clay storehouse 21, which is represented by a group of distance data transmitted from the drone 12 while the drone 12 is flying according to the flight route over the ship. Using the original shape and the three-dimensional shape of the soil storage 21 represented by the soil storage shape data stored in the storage unit 1302, the number of soil materials loaded on the soil storage 21 is calculated. The quantity of the soil material calculated by the quantity calculation unit 1304 is, for example, the volume of the soil material, but may be the weight of the soil material calculated by multiplying the volume by the weight per unit volume of the soil material. ..

By the way, while the drone 12 is flying over the ship 2, the positional relationship between the ship 2 and the drone 12 changes from moment to moment due to the movement of the ship 2, the shaking of the ship 2, and the shaking of the drone 12 in addition to the movement of the drone 12. Therefore, the quantity calculation unit 1304 refers to the individual distance data included in the distance data group, and is indicated by the ship position data of the ship 2 at the timing when the distance data is generated (the timing when the distance is measured by the laser scanner 126). Position, orientation of vessel 2 indicated by vessel orientation data, attitude of vessel 2 indicated by vessel attitude data, position of drone 12 indicated by aircraft position data, orientation of drone 12 indicated by aircraft orientation data, drone 12 indicated by aircraft attitude data The positional relationship between the drone 12 and the ship 2 is specified based on the posture, and the coordinates of the measured points in the coordinate system of the ship 2 are obtained based on the positional relationship between the specified drone 12 and the ship 2 and the distance indicated by the distance data. Identify. The coordinate group specified in this way represents the three-dimensional shape of the surface of the ship 2 including the soil material loaded on the clay storehouse 21.

The data indicating the quantity of the soil material calculated by the quantity calculation unit 1304 is stored in the storage unit 1302 as the acceptance result data together with the data indicating the name of the ship 2, the date and time of acceptance inspection, and the position of acceptance inspection.

The display unit 1305 displays the information indicated by the acceptance inspection result data. Therefore, the person concerned can easily know when and how much soil material was loaded on which ship 2 by looking at the screen of the display unit 1305.

It should be noted that a person concerned may access the server device 13 via the network using the terminal device, and the information indicated by the acceptance inspection result data may be viewed on the screen of the terminal device.

Subsequently, the operation performed by the quantity acceptance system 1 to calculate the quantity of the soil material loaded in the soil storage 21 will be described. FIG. 6 is a sequence diagram of operations performed by each of the tablet PC 11, the drone 12, and the server device 13 for calculating the quantity of soil material.

First, the measurer on board the ship 2 sailing toward the construction site (or arriving at the construction site and berthed) operates the tablet PC 11 to operate the application program according to the present embodiment (hereinafter, "quantity"). The "acceptance application") is executed by the computer 111 of the tablet PC 11. Subsequently, the measurer operates the tablet PC 11 to display the setting screen of the quantity inspection application, and selects the vessel 2 to be inspected from the vessel list displayed on the setting screen. The tablet PC 11 transmits the ship identification data for identifying the ship 2 selected by the measurer to the server device 13 (step S101). The ship list may be stored in the tablet PC 11 in advance, or may be received by the tablet PC 11 from the server device 13.

The server device 13 transmits terminal installation data indicating the position and direction in which the tablet PC 11 should be installed on the ship 2 identified by the ship identification data received from the tablet PC 11 to the tablet PC 11 (step S102). The tablet PC 11 displays an installation guidance screen showing the position and direction indicated by the terminal installation data received from the server device 13. The measurer installs the tablet PC 11 at the position and direction displayed on the installation guidance screen.

The tablet PC 11 continuously measures the current position, azimuth, and attitude of the ship 2 by the GNSS unit 112, the compass 113, and the gyro sensor 114 with the execution of the quantity acceptance application, and the ship position data showing the measurement results. The process of continuously transmitting the ship orientation data and the ship attitude data to the server device 13 (step S103) is started. In the present application, "continuously measuring" means repeatedly measuring at a sufficiently short time interval, and "continuously transmitting" means repeatedly transmitting at a sufficiently short time interval. To do. The measurement is performed, for example, every time a predetermined time elapses. Further, the measurement result may be transmitted, for example, every time the measurement is executed, or may be executed when the measurement result satisfies a predetermined condition (for example, when the measurement result changes to a threshold value or more). ..

At the beginning of the operation according to the sequence of FIG. 6, it is assumed that the drone 12 is at the base on land. The measurer at the base performs an operation to give an instruction to start operation to the drone 12. In response to this operation, the drone 12 continuously measures the current position, orientation, and attitude of the drone 12 by the GNSS unit 122, the compass 123, and the gyro sensor 124, and the aircraft position data and the aircraft orientation showing the measurement results. The process of continuously transmitting the data and the aircraft attitude data to the server device 13 (step S104) is started.

The server device 13 determines as an outbound flight route a route to fly while maintaining a predetermined altitude in the direction from the position indicated by the latest aircraft position data to the position indicated by the latest ship position data, and determines the determined outbound flight route. The indicated outbound flight route data is transmitted to the drone 12 (step S105).

Upon receiving the outbound flight route data from the server device 13, the drone 12 takes off and starts a flight (step S106) according to the outbound flight route indicated by the received outbound flight route data.

In the server device 13, for example, when the GNSS unit 112 of the tablet PC 11 measures a new position and the server device 13 receives the new ship position data from the tablet PC 11, the GNSS unit 122 of the drone 12 determines the new position. When the server device 13 measures and receives new aircraft position data from the drone 12, the outbound flight route is determined using the new data, and the outbound flight route data indicating the determined new outbound flight route is obtained. Send to drone 12. When the drone 12 newly receives the outbound flight route data from the server device 13, the drone 12 overwrites the outbound flight route data used up to that point with the newly received outbound flight route data and updates the data.

The server device 13 is for determining the flight route over the ship when the distance between the current position of the ship 2 indicated by the ship position data and the current position of the drone 12 indicated by the aircraft position data is equal to or less than a predetermined threshold value. Perform processing. First, the server device 13 is a ship identified by the ship identification data received from the tablet PC 11 in step S101 among the ship shape data, the Tsuchikura position data, the Tsuchikura shape data, and the terminal installation data stored for various ships. Using the data corresponding to 2 and the latest ship position data and ship orientation data received from the tablet PC 11, the positions (three-dimensional coordinates) of two points having a predetermined positional relationship with respect to the Tsuchiya 21 are specified (step). S107). Hereinafter, these two points will be referred to as "waypoints".

FIG. 7 is a diagram showing an example of the positions of two waypoints on a two-dimensional plane. The heights of waypoints P1 and P2 are, for example, the height indicated by the ship position data plus a predetermined distance (for example, 20 m).

The server device 13 first identifies the center point D of the Tsuchiya 21 (for example, the center point of the Tsuchiya 21 in the left-right direction and the front-back direction). The center point D of the Tsuchikura 21 is the position of the tablet PC 11 indicated by the ship position data, the position of the tablet PC 11 on the ship 2 indicated by the terminal installation data, the position of the Tsuchikura 21 on the ship 2 indicated by the Tsuchikura position data, and the Tsuchikura shape data. It is specified by the shape of the clay storehouse 21 indicated by. In the example of FIG. 7, the center point D of the Tsuchiya 21 is a position forward by a distance L from the installation position of the tablet PC 11 (to be exact, the position of the antenna of the GNSS unit 112).

Subsequently, the server device 13 specifies a position (0.5 W + 20) m from the center point D of the Tsuchiya 21 in the direction of 90 degrees counterclockwise from the bow direction indicated by the ship bearing data as the position of the waypoint P1. W is the width of the ship 2 indicated by the ship shape data (the width of the ship 2 at the central position in the front-rear direction of the earth storage 21). Further, the server device 13 specifies a position (0.5W + 20) m in the direction of 90 degrees clockwise from the bow direction from the center point D of the Tsuchiya 21 as the position of the waypoint P2.

When the server device 13 specifies the positions of the waypoints P1 and P2 as described above (FIG. 6, step S107), the server device 13 subsequently passes the waypoint P1 from the current position of the drone 12 indicated by the aircraft position data and then the way. The flight route passing through the point P2 is determined as the flight route over the ship, and the flight route data over the ship indicating the determined flight route over the ship is transmitted to the drone 12 (step S108).

When the drone 12 receives the flight route data over the ship from the server device 13, the drone 12 continues the flight according to the return flight route indicated by the flight route data over the ship instead of the outbound flight route data used up to that point.

For example, when the server device 13 receives new ship position data or new ship orientation data from the tablet PC 11, and when it receives new aircraft position data from the drone 12, the server device 13 uses the new data to ship. The flight route is determined, and the ship flight route data indicating the determined new ship flight route is transmitted to the drone 12. When the drone 12 newly receives the ship flight route data from the server device 13, the drone 12 overwrites the ship flight route data used up to that point with the newly received ship flight route data and updates it.

When the drone 12 receives the flight route data over the ship from the server device 13, the drone 12 starts the flight according to the flight route over the ship described above, starts the distance measurement by the laser scanner 126, and displays the distance data group showing the result of the distance measurement. The data is sequentially transmitted to the server device 13 (step S109).

The server device 13 uses the distance data group received from the drone 12 to specify the three-dimensional shape of the surface of the entire ship 2 including the soil material 21 and the soil material loaded on the soil store 21 (step S110). In step S110, the server device 13 uses the ship position data, the ship orientation data, the ship attitude data, and the aircraft in order to specify the positional relationship between the drone 12 and the ship 2 at the timing when the distance measurement by the laser scanner 126 is performed. Use position data, aircraft orientation data, and aircraft attitude data.

Subsequently, the server device 13 is loaded on the soil storage 21 from the three-dimensional shape of the surface of the entire ship 2 specified in step S110 based on the position and shape of the soil storage 21 on the ship 2 indicated by the soil storage position data and the soil storage shape data. A portion of the soil material is cut out (step S111).

Subsequently, the server device 13 determines the quantity of the soil material based on the three-dimensional shape of the surface of the soil material loaded on the soil storehouse 21 cut out in step S111 and the three-dimensional shape of the soil material indicated by the soil storehouse shape data. Is calculated (step S112).

The processing of steps S110 to S112 described above is performed while the drone 12 is flying according to the flight route over the ship. However, the processes of steps S110 to S112 may be performed after the drone 12 completes the flight following the flight route over the ship and starts the flight following the return flight route described below.

When the distance between the current position of the drone 12 indicated by the aircraft position data and the position of the way point P2 becomes equal to or less than a predetermined threshold value, the server device 13 starts from the current position of the drone 12 indicated by the aircraft position data to the way point. After passing through P2, the route to fly toward the base while maintaining a predetermined altitude is determined as the return flight route, and the return flight route data indicating the determined return flight route is transmitted to the drone 12 (step S113).

When the drone 12 receives the return flight route data from the server device 13, the drone 12 continues the flight according to the return flight route indicated by the return flight route data, instead of the ship flight route data used up to that point.

For example, when new ship position data is received from the tablet PC 11 and when new aircraft position data is received from the drone 12, the server device 13 determines the return flight route using the new data. The return flight route data indicating the determined new return flight route is transmitted to the drone 12. When the drone 12 newly receives the return flight route data from the server device 13, the drone 12 overwrites the return flight route data used up to that point with the newly received return flight route data and updates the data.

The drone 12 flies according to the return flight route, and when it arrives over the base, it lands at the base (step S114).

According to the quantity acceptance system 1 described above, the measurer selects the vessel 2 to be subject to quantity acceptance from the vessel list using the tablet PC 11, and then arranges the tablet PC 11 at a predetermined position of the vessel 2 to cause the vessel 2. It is possible to inspect the quantity of the load loaded on the Tsuchiya 21. In addition, the person concerned can know the acceptance inspection result by accessing the server device 13 using, for example, a terminal device.

[Modification example]
The above-described embodiment is a specific example of the present invention, and can be variously modified within the scope of the technical idea of the present invention. Examples of these modifications are shown below. In addition, two or more modified examples shown below may be combined as appropriate.

(1) In the above-described embodiment, the communication between the drone 12 and the server device 13 and the communication between the tablet PC 11 and the server device 13 are performed via the mobile communication network. The network used for communication between these devices is not limited to the mobile communication network. For example, if the tablet PC 11 and the drone 12 include a communication unit that wirelessly communicates with the satellite and the radio waves of the mobile communication network do not reach, the tablet PC 11 and the drone 12 may communicate with the server device 13 via the satellite communication network.

Further, for example, the distance data group generated by the laser scanner 126 during flight by the drone 12 according to the flight route over the ship is stored without being transmitted to the server device 13, and is placed at the base after the drone 12 lands at the base. It may be transmitted to the server device 13 via the wireless access point (for example, an access point that follows the communication protocol of WiFi (registered trademark)).

(2) In the above-described embodiment, both the drone 12 and the tablet PC 11 communicate with the server device 13. Instead of this, a configuration may be adopted in which only one of the drone 12 and the tablet PC 11 communicates with the server device 13.

For example, when the tablet PC 11 can communicate with the server device 13, but the drone 12 cannot communicate with the server device 13, the tablet PC 11 may relay the communication between the drone 12 and the server device 13. .. In that case, the data that the drone 12 is supposed to transmit to the server device 13 in the above-described embodiment is transmitted from the drone 12 to the tablet PC 11, and the tablet PC 11 transmits the data to the server device 13. Further, the data that the server device 13 is supposed to transmit to the drone 12 in the above-described embodiment is transmitted from the server device 13 to the tablet PC 11, and the tablet PC 11 transmits the data to the drone 12.

Further, although the tablet PC 11 cannot communicate with the server device 13, the drone 12 may relay the communication between the tablet PC 11 and the server device 13 when the drone 12 can communicate with the server device 13. ..

(3) A part or all of the processing performed by the server device 13 in the above-described embodiment may be performed by the drone 12 or the tablet PC 11. For example, the computer 121 of the drone 12 may play the role of the computer 131 of the server device 13. In that case, communication is performed between the drone 12 and the tablet PC 11.

(4) In the above-described embodiment, the drone 12 constantly transmits aircraft position data, aircraft orientation data, and aircraft attitude data to the server device 13 during flight. Further, in the above-described embodiment, the tablet PC 11 constantly transmits the ship position data, the ship orientation data, and the ship attitude data to the server device 13 while the quantity acceptance application is being executed. These data may be transmitted to the server device 13 only for a period required by the server device 13.

For example, while the drone 12 is flying according to the outbound flight route, the server device 13 needs the ship position data and the aircraft position data to update the outbound flight route data, but the ship orientation data, the ship attitude data, and the aircraft. No orientation data or aircraft attitude data is required. Therefore, while the drone 12 is flying according to the outbound flight route, the tablet PC 11 does not send the ship orientation data and the ship attitude data to the server device 13, and the drone 12 does not send the aircraft orientation data and the aircraft attitude data to the server device 13. The configuration may be adopted.

(5) The positions of waypoints P1 and P2 are not limited to those described in the above-described embodiment. For example, waypoints P1 and P2 may be arranged in front-rear positions instead of left-right positions of ship 2.

Also, the number of waypoints is not limited to two. For example, when the size of the Tsuchiya 21 is larger than the distance that the laser scanner 126 can irradiate the laser beam two-dimensionally, the distance data regarding a part of the surface of the Tsuchiya 21 is obtained only by the drone 12 flying over the Tsuchiya 21 once. May only be generated. In such a case, for example, a waypoint P1 is determined on the left front side of the Tsuchikura 21, a waypoint P2 is determined on the right front side, a waypoint P3 is determined on the right rear side, and a waypoint P4 is determined on the left rear side. The flight route that passes in the order of may be determined as the flight route over the ship.

(6) In the above-described embodiment, the positional relationship between the ship 2 and the drone 12 is specified based on the ship position data, the ship orientation data, the ship attitude data, the aircraft position data, the aircraft orientation data, and the aircraft attitude data. Instead of this, for example, a camera is mounted on the drone 12 main body, and the ship is based on the positions of three or more feature points (for example, four corner points of Tsuchikura 21) of the ship 2 included in the image taken by the camera. The positional relationship between 2 and the drone 12 may be specified.

(7) In the above-described embodiment, it is assumed that the ship 2 is moving while the drone 12 is in flight. However, while the drone 12 is in flight, the ship 2 may be stopped at a harbor, offshore near the harbor, a construction site, or the like. In this case, it is sufficient that the ship position data indicating the current position of the ship 2 and the ship direction data indicating the current direction of the ship 2 are transmitted to the server device 13 once after the ship 2 is stopped, for example, for a predetermined time. It does not have to be continuously transmitted every time.

Further, when the ship 2 is stopped while the drone 12 is in flight, the timing at which the server device 13 determines the flight route over the ship and the return flight route may be earlier than the timing in the above-described embodiment. For example, in the above-described embodiment, the process for transmitting the flight route data over the ship (FIG. 6, steps S107 and S108), which is assumed to be executed after the drone 12 reaches the vicinity of the sky above the ship 2, is the outbound flight. It may be executed at the same timing as the process for transmitting the route data (FIG. 6, step S105).

Further, in the above-described embodiment, the process for transmitting the return flight route data (FIG. 6, step S113), which is assumed to be executed after the drone 12 flies over the ship 2, is the transmission of the outward flight route data. (FIG. 6, step S105) may be executed at the same timing as the process for.

1 ... Quantity acceptance system, 2 ... Ship, 11 ... Tablet PC, 12 ... Drone, 13 ... Server device, 21 ... Tsuchikura, 111 ... Computer, 112 ... GNSS unit, 113 ... Compass, 114 ... Gyro sensor, 115 ... Wireless communication Unit, 116 ... touch screen, 121 ... computer, 122 ... GNSS unit, 123 ... compass, 124 ... gyro sensor, 125 ... wireless communication unit, 126 ... laser scanner, 131 ... computer, 132 ... communication unit, 133 ... display, 1111 ... Processor, 1112 ... Memory, 1113 ... Input / output interface, 1211 ... Processor, 1212 ... Memory, 1213 ... Input / output interface, 1301 ... Communication unit, 1302 ... Storage unit, 1303 ... Flight route determination unit, 1304 ... Quantity calculation unit, 1305 ... Display unit, 1311 ... Processor, 1312 ... Memory, 1313 ... Input / output interface.

Claims (3)

The first positioning means to measure the position of the ship and
An azimuth measuring means for measuring the azimuth of a ship and
With unmanned aerial vehicles
The second positioning means for measuring the position of the unmanned aerial vehicle and
The laser scanner mounted on the unmanned aerial vehicle and
Using the position of the ship measured by the first positioning means and the direction of the ship measured by the azimuth measuring means, the position and orientation of the earthen storehouse of the ship are specified, and the specified position of the earthen storehouse is specified. And the flight route determining means for determining the flight route over the Tsuchikura using the bearing and the position of the unmanned aerial vehicle measured by the second positioning means.
The quantity of the load using the three-dimensional shape of the load loaded on the clay storehouse measured by the laser scanner while the unmanned aerial vehicle is flying according to the flight route determined by the flight route determining means. A quantity inspection system for the cargo of a ship, which is equipped with a quantity calculation means for calculating. The flight route determining means identifies two or more points having a predetermined positional relationship with the Tsuchikura whose position and direction are specified, and determines the flight route so as to pass through the specified two or more points. The quantity acceptance system according to 1. The first positioning means repeatedly measures the position of the ship and measures it.
The azimuth measuring means repeatedly measures the azimuth of the ship,
When a new position of the ship is measured by the first positioning means, the flight route determining means updates the flight route using the new position.
The quantity acceptance system according to claim 1 or 2, wherein the flight route determining means updates the flight route using the new azimuth when a new azimuth of the ship is measured by the azimuth measuring means.

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