JP7604335B2 - Unloading system and method for controlling unloading system - Google Patents

Description

The present invention relates to an unloading system and a method for controlling the unloading system.

Conventionally, in a warehouse such as a coil yard (hereinafter referred to as a coil yard, etc.), a lifter is used to rearrange the coils (hereinafter referred to as a rearrangement work) stored in the warehouse to facilitate shipment of the coils (hereinafter referred to as a coil, etc.). In the coil yard, etc., the positions where the coils and the carts are installed are determined in advance. Here, the position refers to a position that can be expressed by three-dimensional coordinates in the traveling direction, the lateral direction, and the up-down direction (also the lifting direction). The crane device has a position monitoring device (e.g., an encoder, a laser distance meter, a GPS, etc.), and the position of the coils and the cart can be detected using the position monitoring device. Therefore, when transferring the coils to the cart or receiving the coils from the cart, the crane device can be automatically moved, and the rearrangement work using the crane device is performed automatically. For example, in Patent Document 1, the position of the coil is automatically detected using a sensor network terminal attached to the coil and a base station terminal installed on the hanging beam of the crane.

On the other hand, when unloading coils or the like from the bed of a vehicle such as a truck (hereinafter referred to as the truck, etc.) to the outside of the vehicle, a worker operates the crane device using a wireless (e.g., telecon) or wired (e.g., pendant) controller device to manually unload the coils, etc.

JP 2005-001804 A

The reasons why unloading work cannot be automated include the fact that the stopping position of trucks and other vehicles is different each time, and the information for controlling the crane device (e.g. target coordinates) cannot be fixed. In addition, the height of the loading platform varies depending on the type of truck, and the height of the loading platform changes (rises) depending on the weight of the coils and other items as they are unloaded from the loading platform.

However, due to safety requirements such as preventing accidents caused by operational errors, it is desirable to automate the process of unloading coils and other items from the bed of a truck or other vehicle to the outside of the truck or other vehicle.

The present invention has been made in consideration of the above circumstances, and has as its exemplary objective the provision of an unloading system and a control method for the unloading system that can automatically unload cargo loaded on the bed of a vehicle outside the vehicle.

To solve the above problems, the present invention has the following configuration.

A loading/unloading system for automatically unloading cargo loaded on a loading platform of a vehicle having a loading platform on one side of a first direction in a horizontal plane from the loading platform to outside of the vehicle, comprising:
a first measuring device that is arranged in a position overlooking the loading platform from the one side of the first direction and has a position measuring function;
a second measurement device that is disposed at a position overlooking the vehicle from a side of the vehicle, is movable, and has a function of measuring a position;
a moving device that moves the second measuring device;
a transport device for transporting the load from the loading platform to outside the vehicle;
a control device that controls the first measuring device and the second measuring device, controls the moving device based on a result of measurement by the first measuring device, and controls the transporting device based on the result of measurement by the first measuring device and the second measuring device;
Equipped with
the cargo has a first surface facing the first measuring device and a second surface opposite the first surface;
The control device includes:
causing the first measuring device to measure the first surface of the load;
moving the second measuring device to a first post-movement position where the first surface comes into view, based on a first position that is a result of measuring the first surface by the first measuring device;
measuring the first surface by the second measuring device at the first post-movement position;
moving the second measuring device to a second post-movement position where the second surface comes into view, based on a first length of the cargo in the first direction that is set in advance, by the moving device;
measuring the second surface by the second measuring device at the second post-movement position;
determining a second length of the cargo in the first direction based on a result of measuring the first surface and a result of measuring the second surface by the second measuring device;
determining a target coordinate when the load is to be unloaded by the transporting device based on the first position and the second length;
The transport device is moved to the target coordinates and the cargo is unloaded by the transport device.

Further objects and other features of the present invention will become apparent from the preferred embodiments described below with reference to the accompanying drawings.

The present invention provides an unloading system and a control method for the unloading system that can automatically unload cargo loaded on the bed of a vehicle outside the vehicle.

FIG. 1 is a schematic diagram showing an overall configuration of an unloading system according to an embodiment; 1A is a schematic side view showing the arrangement of a rear ranging device according to an embodiment of the present invention; FIG. 1B is a schematic rear view showing the arrangement of a side ranging device according to an embodiment of the present invention; FIG. 2A is a schematic front view of a moving device according to an embodiment; FIG. 2B is a schematic perspective view of a crane device according to an embodiment; FIG. 1A is a schematic perspective view of a coil according to an embodiment; FIG. 1B is a schematic top view of the coil loaded on a loading platform; and FIG. 1C is a schematic rear view of the loaded coil as viewed from the rear. Block diagram of an unloading system according to an embodiment. FIG. 1A is a schematic diagram illustrating coordinates in a lateral direction and a lifting direction in an embodiment; FIG. 1B is a schematic diagram illustrating an operation for determining a coordinate in a travel direction and the coordinate in the travel direction; FIG. 2 is a top view schematic diagram illustrating calibration of a rear distance measuring device and a side distance measuring device according to an embodiment; Flowchart showing unloading processing of an embodiment

[Embodiment]
Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the following description, a truck is used as an example of a vehicle, a coil is used as an example of a load loaded on the bed of the vehicle, and a coil yard is used as an example of a warehouse for storing unloaded loads. However, other vehicles, loads, and warehouses may be used. That is, the vehicle may have a bed. Furthermore, the load may be transported by a crane device and may have at least a portion that can be regarded as two surfaces. In this case, the load may have two surfaces that are not perpendicular to each other, or may have two surfaces that are approximately parallel. The warehouse may be a place where loads are stored for a certain period of time, an intermediate warehouse where loads are temporarily stored, or a work site such as a factory, a construction work site, or a container terminal. Furthermore, the load may be stored indoors or outdoors, and may be equipped with a facility that can automatically control the crane device.

In addition, the three-dimensional coordinates (hereinafter referred to as three-dimensional coordinates) are described as, for example, a Cartesian coordinate system, but other coordinate systems, such as a spherical coordinate system, may be used as long as they can identify a specific position in three-dimensional space. As the Cartesian coordinate system, the traveling direction (x direction) is a first direction in a horizontal plane, the lateral direction (y direction) is a second direction in the horizontal plane that is approximately perpendicular to the first direction, and the lifting direction (z direction) is a third direction that is approximately perpendicular to the traveling direction and the lateral direction. Note that the direction of the traveling rail of the crane device described later is the traveling direction, and the direction of the lateral rail is the lateral direction. The traveling direction of the truck (which is also the front-rear direction) is the traveling direction of the crane device, and the width direction of the truck is the lateral direction of the crane device. Note that the traveling direction of the truck and the traveling direction of the crane device are not limited to the above definitions.

<Unloading system>
The unloading system of this embodiment is a system that automatically unloads coils loaded on the bed of a truck having a bed on one side of the traveling direction into a coil yard outside the vehicle. FIG. 1 is a schematic diagram illustrating the unloading system 100 of this embodiment. FIG. 1 is a schematic plan view of a coil yard 900 viewed from the ceiling 912 (see FIG. 2) side, and shows the unloading system 100 of this embodiment, a truck 700, and a coil 800 in the coil yard 900. FIG. 1 also shows the traveling direction and the lateral direction. Note that the size ratios and relative distances of each component shown in FIG. 1 do not necessarily represent the actual size ratios and relative distances. Furthermore, the arrangement of each component is not limited to the state shown in FIG. 1.

The unloading system 100 of this embodiment includes a rear ranging device 200 as the first measuring device, a side ranging device 300 as the second measuring device, a moving device 400, a crane device 500 as a transport device, and a control device 600. The coil yard 900 includes a vehicle entrance 910, a ceiling 912 (see FIG. 2), and a floor 914. A position (hereinafter referred to as a storage position) 920 for storing the unloaded coils 800 is indicated by a dashed line on the floor 914 of the coil yard 900. The truck 700 includes a cabin 710 and a loading platform 720. At least one coil 800 is loaded on the loading platform 720 of the truck 700, and in FIG. 1, for example, two coils 800 are loaded.

<Rear distance measuring device>
The back surface ranging device 200 is, for example, a three-dimensional LiDAR (Light Detection and Ranging). The back surface ranging device 200 has an irradiation unit 220, a receiving unit 240, and a control unit 260 (see FIG. 5). The irradiation unit 220 irradiates an object present in the field of view with laser light by, for example, scanning (also called scanning) a laser light within a predetermined range in the horizontal and vertical directions (hereinafter referred to as a field of view). The receiving unit 240 receives a reflected wave of the laser light irradiated by the irradiation unit 220 and reflected by an object in the field of view.

The control unit 260 calculates the position of the object based on the timing when the laser light is emitted from the irradiation unit 220 and the timing when the reflected wave is received by the receiving unit 240. Here, a three-dimensional local coordinate system is defined in the control unit 260, and the position of the object is calculated as three-dimensional coordinates. The local coordinate system defined by the control unit 260 can be converted into a world coordinate system (also called a global coordinate system) that serves as a reference coordinate. Therefore, the control unit 260 converts the position of the object into three-dimensional coordinates in the world coordinate system and outputs it to the control device 600.

The rear ranging device 200 is disposed in a position overlooking the bed 720 of the truck 700 from one side in the traveling direction, and has a position measurement function. Specifically, the rear ranging device 200 is disposed in a position behind and above the truck 700 when the truck 700 enters the coil yard 900 through the vehicle entrance/exit 910 and stops at a predetermined position. Hereinafter, in the traveling direction, the cabin 710 side of the truck 700 is also referred to as the front side, and the bed 720 side is also referred to as the rear side. In addition, in the lateral direction, the left side and right side are defined as facing the traveling direction of the truck 700.

2A is a schematic side view showing the arrangement of the back ranging device 200. The back ranging device 200 has a field of view of angle θ _v1 in both the upper and lower directions perpendicular to the central axis C _v1 (optical axis) direction shown by the dashed line, and a field of view of angle θ _h1 (see FIG. 7) in the horizontal direction. Here, the back ranging device 200 is arranged so that the vertical direction substantially coincides with the lifting direction of this embodiment. The back ranging device 200 is also arranged so that the angle between the central axis C _v1 and the floor surface 914 is angle θ _1. The angle θ _v1 is, for example, 38.4 degrees, and the angle θ ₁ is, for example, 30 degrees, but is not limited to these values.

The rear ranging device 200 only needs to be placed in a position where at least the loading platform 720 of the truck 700 can be seen, and in Fig. 1, for example, it is placed above the vehicle entrance 910. The rear ranging device 200 is fixed in this position, in other words, the rear ranging device 200 does not move parallel to any of the driving direction, lateral direction, and ascending/descending direction. When the loading platform 720 is viewed from the rear ranging device 200, the front side in the driving direction corresponds to the back side, and the rear side corresponds to the near side. The field of view of the rear ranging device 200 is shown as a dashed line _Fv1 in Fig. 2(b).

<Side distance measuring device>
The side ranging device 300 is also, for example, a three-dimensional LiDAR. The side ranging device 300 has an irradiation unit 320, a receiving unit 340, and a control unit 360 (see FIG. 5). The functions of the irradiation unit 320, the receiving unit 340, and the control unit 360 are similar to those of the irradiation unit 220, the receiving unit 240, and the control unit 260, so their description will be omitted. Note that the side ranging device 300 can also convert local coordinates into three-dimensional coordinates in a world coordinate system common to the back ranging device 200. Adjustment of the coordinate systems of the back ranging device 200 and the side ranging device 300 (hereinafter referred to as calibration) will be described later.

The side ranging device 300 is disposed at a position overlooking the truck 700 from the side of the truck 700, is movable, and has a position measurement function. The side ranging device 300 is different in that, while the rear ranging device 200 is fixed, the side ranging device 300 is not fixed and is movable, i.e., it is capable of parallel movement in at least one of the driving direction, lateral direction, and ascending/descending direction. Specifically, the side ranging device 300 is disposed on the left side of the truck 700 when the truck 700 enters the coil yard 900 through the vehicle entrance/exit 910 and stops at a predetermined position. The side ranging device 300 may also be disposed on the right side of the truck 700.

FIG. 2B is a schematic rear view showing the arrangement of the side ranging device 300 from one side (rear side) in the traveling direction. For the sake of explanation, the cabin 710 of the truck 700 is omitted. The side ranging device 300 has a field of view of an angle θ _v2 in the vertical direction above and below the central axis C _v2 (optical axis) direction shown by the dashed line, and has a field of view of an angle θ _h2 (see FIG. 7) in the horizontal direction. Here, the side ranging device 300 is arranged so that the vertical direction is approximately the same as the lifting direction of this embodiment. The side ranging device 300 is also arranged so that the central axis C _v2 is approximately parallel to the floor surface 914. The angle θ _v2 is also, for example, 38.4 degrees, but is not limited to this value. The side ranging device 300 is attached to the moving device 400. When the truck 700 is viewed from the side ranging device 300, the right side in the lateral direction corresponds to the back side, and the left side corresponds to the front side. The field of view of the side range finder 300 is shown as a dashed line _Fv2 in FIG.

The rear ranging device 200 and the side ranging device 300 are three-dimensional LiDAR that irradiate near-infrared light, visible light, or ultraviolet laser light, or irradiate near-infrared light, visible light, or ultraviolet laser light in pulses to perform measurements. Note that the rear ranging device 200 and the side ranging device 300 do not have to be LiDAR, and may be radar that uses electromagnetic waves of other wavelengths, such as radio waves. Furthermore, the rear ranging device 200 and the side ranging device 300 may use sound waves, and may be any device that can identify the position of an object as three-dimensional coordinates.

<Mobile device>
3A is a schematic front view showing the configuration of the moving device 400. The moving device 400 has a holding unit 410, a horizontal moving unit 420, a vertical moving unit 430, a support unit 440, a control unit 450, and a driving unit 460. The holding unit 410 holds the side distance measuring device 300.

The holding unit 410 is fixedly attached to the horizontal moving unit 420, and is capable of moving horizontally along a horizontal rail 432 provided on the vertical moving unit 430. The horizontal moving unit 420 is driven by a driving unit 460 and moves horizontally (white arrow in the figure). The horizontal movement of the horizontal moving unit 420 is configured to approximately coincide with the running direction.

The horizontal moving section 420 is movably attached to the vertical moving section 430, and is capable of moving vertically along a vertical rail 442 provided on the support section 440. The vertical moving section 430 has a horizontal rail 432. The vertical moving section 430 is driven by a drive section 460 and moves vertically (white arrow in the figure). The vertical movement of the vertical moving section 430 is configured to be approximately the same as the lifting and lowering direction.

The vertical moving part 430 is movably attached to the support part 440 and has a vertical rail 442. The control part 450 can transmit and receive information to and from the control device 600 via a wired or wireless communication network (not shown), and controls various operations of the moving device 400 according to the control of the control device 600. The control part 450 has, for example, a CPU, ROM, RAM, a timer, etc. The control part 450 uses the RAM as a temporary working area according to various programs stored in the ROM, monitors various timings with a timer, and performs various calculations with the CPU to control the moving device 400. The drive part 460 has known drive means and transmission means (not shown), such as a motor, cylinder, clutch, gear, etc., for driving the horizontal moving part 420 and the vertical moving part 430.

The support unit 440 may be installed so that it stands independently from the floor surface 914 of the coil yard 900, or may be attached to a wall surface (not shown) of the coil yard 900. The moving device 400 may be disposed in a position that is near either the left or right side of the truck 700 when the truck 700 is stopped.

<Crane equipment>
3(b) is a schematic perspective view showing the overall configuration of the crane apparatus 500 of this embodiment. The crane apparatus 500 is an apparatus for hoisting and transporting the coils 800 in the coil yard 900, and is, for example, an overhead crane. Note that the crane apparatus 500 is not limited to an overhead crane, and may be a crane of another configuration.

The crane device 500 has a saddle 510 as a first moving means, a club 520 as a second moving means, a hoisting section (hoisting device) 530 as a third moving means, a control section 540, and a drive section 560 (see FIG. 5). At the installation location of the crane device 500, a running rail 550 for the saddle 510 to run along the running direction, and a girder 560a and a lateral rail 560b for the club 520 to run along the lateral direction (lateral movement) are also installed. In addition, a wire rope 570 and a coil lifter 580 as a gripping means are also used to hoist the coil 800.

The saddle 510 is a moving body that is configured to be able to move linearly along the running direction in a horizontal plane (white arrow in the figure). A running rail 550 is laid so as to extend along the running direction, and the saddle 510 can move back and forth on the running rail 550 by the drive unit 560 based on a control command from the control unit 540.

A girder 560a is installed on the saddle 510. The girder 560a extends in the lateral direction in a horizontal plane, and a lateral rail 560b is installed on the upper part of the girder 560a, extending in the same direction as the girder 560a. Therefore, the lateral rail 560b can also move back and forth linearly along the traveling direction together with the saddle 510. The crab 520 is a moving body configured to be able to move on the lateral rail 560b (white arrow in the figure). The crab 520 can move back and forth on the lateral rail 560b in the lateral direction by the drive unit 560 based on a control signal from the control unit 540.

In this embodiment, the saddle 510 is described as the first moving means and the club 520 as the second moving means, but this is not limited to the above. For example, the club 520 may be the first moving means that moves along a first direction (traveling direction), and the saddle 510 may be the second moving means that moves along a second direction (traverse direction). Whether the saddle 510 or the club 520 is the first moving means or the second moving means is a matter of definition and a design matter. Similarly, whether the first direction or the second direction is the x direction or the y direction is also a matter of definition and a design matter.

The hoisting unit 530 is installed on the crab 520. The hoisting unit 530 can move freely in the running direction and lateral direction together with the crab 520 in a horizontal plane. As shown in FIG. 3(b), the hoisting unit 530 has a hoisting drum 532. The hoisting drum 532 is a rotating body that can hoist and lower (white arrow in the figure) the wire rope 570 for hoisting the coil 800, and is connected to a motor held by the drive unit 560, and can rotate forward and backward based on a control command from the control unit 540.

(coil)
Here, the coil 800 will be described. FIG. 4(a) is a schematic perspective view of the coil 800. The coil 800 is also called a steel strip, and is made of steel or other metals (e.g., aluminum, copper, titanium, etc.) wound in a coil shape, and is shipped to be processed into various products. The coil 800 has a cylindrical shape with a width value and a diameter value known in advance, and is loaded onto the loading platform 720 of the truck 700 so that the central axis Cr of the cylindrical shape approximately coincides with the traveling direction. The coil 800 is unloaded outside the truck 700, specifically, into a storage position 920 (see FIG. 1) of the coil yard 900 so that the central axis Cr approximately coincides with the traveling direction. The coil 800 has a surface 810 approximately perpendicular to the central axis Cr, and a surface 820 opposite to the surface 810. Here, the surface 820 of the coil 800 corresponds to a first surface facing the rear distance measuring device 200 when the coil 800 is loaded on the loading platform 720 of the truck 700, and the surface 810 corresponds to a second surface. The length of the coil 800 in the direction of the central axis Cr is referred to as the width Wc, which is the first length. The thickness Dr of the coil 800 is the difference (R _c1 -R _c2 ) between the outer radius R _c1 and the inner radius R _c2 of the coil 800. The coil 800 has a hole 830 formed by the inner diameter portion. The weight of the coil 800 depends on the material, the thickness Dr, and the width Wc, but is, for example, 1t to 20t.

The information on the storage location 920 in the coil yard 900 and the information on the three-dimensional coordinates in the world coordinate system indicating the storage location 920 are linked, and are stored in the ROM, RAM, etc., by the control device 600 as a table, for example. Here, the information on the storage location 920 is, for example, the identification number or address of the storage location 920 in the coil yard 900.

Returning to the description of the crane device 500 in FIG. 3(b), a coil lifter 580 is tethered to the wire rope 570 and inserted into the hole 830 of the coil 800 to grasp the coil 800. The coil lifter 580 has a main body 582 and a pair of arms 584, each of which has a claw 586 at its tip. The pair of arms 584 can transition between a grasping state in which they are close to each other and grasp the coil 800, and an open state in which they are farther apart and release the coil 800. The transition between the grasping state and the open state of the pair of arms 584 is performed by the drive unit 560.

The coil lifter 580 only needs to be capable of gripping the coil 800 and maintaining a grip on the coil 800 during transport. For example, the coil lifter 580 may have one arm, and the arm may have a claw portion at its tip that is long enough to pass through the hole 830 in the coil 800.

The control unit 540 can transmit and receive information to and from the control device 600 via a wired or wireless communication network (not shown), and controls various operations of the crane device 500 according to the control of the control device 600. When the control device 600 inputs the target coordinates for unloading the coil 800 and the three-dimensional coordinates of the storage position 920, the control unit 540 controls the crane device 500 to move to the target coordinates, lift the coil 800, and transport the lifted coil 800 to the storage position 920. Here, the target coordinates are coordinates for moving the crane device 500 so that the crane device 500 can grasp and lift the coil 800 on the loading platform 720 (hereinafter also referred to as cargo grabbing). The control unit 540 has, for example, a CPU, a ROM, a RAM, a timer, etc. The control unit 540 uses the RAM as a temporary working area according to various programs stored in the ROM, monitors various timings using a timer, and performs various calculations using the CPU to control the crane device 500. The movement of the crane device 500, the gripping of objects, transportation, etc. will be controlled using known controls, and explanations will be omitted.

The drive unit 560 has known drive means and transmission means (not shown) such as a motor, cylinder, clutch, gears, etc. for driving the saddle 510, the crab 520, the hoist drum 532, and the arm 584.

<Control device>
The control device 600 has an operation unit 610 and a display unit 620 (see FIG. 5). The operation unit 610 has known input means (not shown), such as a keyboard, mouse, button, microphone, etc., and receives input from the worker. The display unit 620 has known display means (not shown), such as a display, lamp (light), speaker (sound), etc., and notifies the worker of various information. The control device 600 controls the entire unloading system 100. The control device 600 controls the back distance measuring device 200 and the side distance measuring device 300. The control device 600 controls the moving device 400 based on the results of measurement by the back distance measuring device 200, and controls the crane device 500 based on the results of measurement by the back distance measuring device 200 and the side distance measuring device 300.

The control device 600 can transmit and receive information to and from the control unit 260 of the rear distance measuring device 200, the control unit 360 of the side distance measuring device 300, the control unit 450 of the moving device 400, and the control unit 540 of the crane device 500 via a wired or wireless communication network (not shown). The control device 600 has, for example, a CPU, ROM, RAM, a timer, etc. The control device 600 uses the RAM as a temporary working area in accordance with various programs stored in the ROM, monitors various timings with a timer, and performs various calculations with the CPU to control the entire unloading system 100.

<Condition of the coil on the loading platform>
4B and 4C are diagrams showing the state of the coil 800 loaded on the loading platform 720, where (b) is a schematic top view showing a state in which, for example, two coils 800, 800a are loaded, and (c) is a schematic rear view of the loaded coil 800 as seen from the rear side. The loading platform 720 of the truck 700 is provided with restricting members 740, 740a for restricting the movement of the coils 800, 800a in the traveling direction. The restricting members 740, 740a are also used for positioning the coils 800, 800a in the traveling direction. In addition, the loading platform 720 of the truck 700 is provided with a pair of skids 760, which are a pair of elongated parallel support members that support the coils 800, 800a with the traveling direction as the longitudinal direction when the coils are placed on the loading platform 720.

The pair of skids 760 each have an upper surface 762 and a cutout portion 764. The pair of skids 760 are arranged so that the cutout portions 764 face each other. In other words, the pair of skids 760 are arranged so that each cutout portion 764 faces the center of the pair of skids 760. When the coils 800, 800a are loaded onto the bed 720 of the truck 700, the coils 800, 800a are supported by the cutout portions 764 of the pair of skids 760 and the bed 720.

<Block diagram of unloading system>
5 is a block diagram of the unloading system 100. The control device 600 transmits a control command to the control unit 260 of the back surface distance measuring device 200 to make the back surface distance measuring device 200 measure the surface 820 of the coil 800. Here, the result of measuring the surface 820 by the back surface distance measuring device 200 is called the first position. When the control unit 260 of the back surface distance measuring device 200 receives the control command from the control device 600, it causes the irradiation unit 220 to irradiate laser light and receives a reflected wave from the receiving unit 240. The control unit 260 calculates the three-dimensional coordinates of the first position and outputs the three-dimensional coordinates of the coil 800 to the control device 600 in the world coordinate system. Note that the control between the control device 600 and the side surface distance measuring device 300 is similar, so a description thereof will be omitted.

The control device 600 transmits the target coordinates for unloading the coil 800 and the three-dimensional coordinates of the storage position 920 to the control unit 540 of the crane device 500. The control unit 540 controls the drive unit 560 to move the saddle 510 and the crab 520 to the target coordinates, and causes the hoist drum 532 to lower the coil lifter 580 and the arm 584 to grasp the coil 800. The control unit 540 causes the hoist drum 532 to raise the coil lifter 580 and the coil 800. The control unit 540 controls the drive unit 560 to transport the coil 800 to the three-dimensional coordinates of the storage position 920 using the saddle 510 and the crab 520.

The control device 600 transmits the three-dimensional coordinates of the first position input from the rear distance measuring device 200 to the control unit 450 of the moving device 400. The control unit 450 of the moving device 400 controls the drive unit 460 to move the horizontal moving unit 420 and the vertical moving unit 430 to a predetermined position (hereinafter also referred to as the first post-movement position) according to the three-dimensional coordinates input from the control device 600. The control device 600 also transmits the preset width Wc of the coil 800 to the control unit 450. The control unit 450 controls the drive unit 460 based on the width Wc of the coil 800 to move the horizontal moving unit 420 and the vertical moving unit 430 to a predetermined position (hereinafter also referred to as the second post-movement position) different from the first post-movement position.

Note that the control device 600, control unit 260, control unit 360, control unit 450, and control unit 540 all have known communication ports, communication interfaces, etc., and are assumed to transmit and receive information. In addition, in this embodiment, the control device 600 controls the entire unloading system 100, but some or all of the functions of the control device 600 may be performed by a control unit of another device.

<Outline of unloading control>
Using Fig. 6, automatic unloading control of the coil 800 from the loading platform 720 of the truck 700 to the storage position 920 using the unloading system 100 of this embodiment will be described. Fig. 6(a) is a schematic diagram for explaining the coordinates in the lateral direction and the lifting direction, and Fig. 6(b) is a schematic diagram for explaining the operation for determining the coordinates in the traveling direction and the coordinates in the traveling direction. In both figures, only the essential parts are drawn.

(Measured using a rear ranging device)
The back surface measuring device 200 measures the surface 820 of the coil 800. The control device 600 can obtain the outer diameter and inner diameter of the coil 800 based on the measurement result of the surface 820 by the back surface measuring device 200. The control device 600 also causes the back surface measuring device 200 to measure the surface 820 of the coil 800 to obtain a first position, and obtains a target coordinate when moving the crane device 500 to the position of the coil 800 based on the first position. The first position is expressed in three-dimensional coordinates, and the three-dimensional coordinates of the first position have an x coordinate in the running direction, a y coordinate in the lateral direction, and a z coordinate in the lifting direction. The target coordinates are also expressed in three-dimensional coordinates, and have a first coordinate in the running direction, a second coordinate in the lateral direction, and a third coordinate in the lifting direction.

As shown in FIG. 6B, the x coordinate of the first position is the coordinate in the running direction of the surface 820 of the coil 800 measured by the back ranging device 200. As shown in FIG. 6A, the y coordinate of the first position is obtained based on the result of measuring the surface 820 of the coil 800 by the back ranging device 200. For example, the y coordinate of the first position is the coordinate of approximately the center of the diameter (hereinafter also referred to as the coil center) which is the third length of the coil 800 in the horizontal direction. In addition, the z coordinate of the first position is the coordinate in the lifting direction and is obtained based on the result of measuring the surface 820 of the coil 800 by the back ranging device 200. For example, the z coordinate of the first position is the coordinate of approximately the center of the diameter (coil center) which is the fourth length of the coil 800 in the lifting direction. In addition, the z coordinate of the first position may be the coordinate of the upper surface of the coil 800 (the highest position in the lifting direction) shown by the dotted line in FIG. 6A. The control device 600 then determines the y coordinate of the first position as the second coordinate of the target coordinate, and the z coordinate of the first position as the third coordinate of the target coordinate.

(Moving the moving device (first time))
6B, the control device 600 uses the moving device 400 to move the side distance measuring device 300 to a first post-movement position X1 where the surface 820 of the coil 800 comes into view based on the above-mentioned first position, specifically the x-coordinate of the first position. Specifically, the control device 600 moves the side distance measuring device 300 by taking into account (subtracting) the offset value ΔL from the coordinate (hereinafter, x1_1) of the surface 820 of the coil 800 in the traveling direction measured by the back distance measuring device 200. Here, if the front side is plus (+) and the rear side is minus (-) in the traveling direction, the first post-movement position X1 can be calculated as follows:
Position after first movement X1=x1_1−ΔL
In this embodiment, for ease of explanation, it is assumed that the moving device 400 moves the side distance measuring device 300 only in the traveling direction.

(Measurement using a side ranging device (first time))
The control device 600 measures the position of the surface 820 of the coil 800 loaded on the loading platform 720 using the side distance measuring device 300 moved by the moving device 400, and obtains the coordinate x2_1 of the coil 800 in the traveling direction.

(Moving the moving device (second time))
6B, the control device 600 causes the moving device 400 to move the side distance measuring device 300 to a second post-movement position X2 where the surface 810 of the coil 800 comes into view, based on the preset width Wc of the coil 800. Specifically, the control device 600 moves the side distance measuring device 300 to the first post-movement position X1, taking into account the offset value ΔL. Here, the second post-movement position X2 is calculated as follows.
Second post-movement position X2=X1 coordinate+Wc+2×ΔL

(Measurement using a side ranging device (second time))
The control device 600 measures the position of the surface 810 of the coil 800 loaded on the loading platform 720 by the side surface distance measuring device 300 moved by the moving device 400, and obtains the coordinate x2_2 in the traveling direction of the surface 810 of the coil 800. Based on the results of measuring the surfaces 820, 810 of the coil 800 by the above operation, the width of the coil 800 can be actually measured. If the actually measured width of the coil 800 is the width Wc_det, which is the second length, the actually measured coil width Wc_det can be obtained as follows.
Wc_det=x2_2−x2_1

The reason why the width Wc_det of the coil 800 is obtained by the side distance measuring device 300 even though the width Wc of the coil 800 is set in advance is as follows. That is, the set width Wc of the coil 800 may differ from the width Wc_det of the coil 800 actually loaded on the loading platform 720. In such a case, if the target coordinates of the crane device 500 are determined based on the set width Wc of the coil 800, there is a risk that the coil 800 may not be automatically gripped, or that the crane device may interfere and damage the top surface of the coil 800. For this reason, the side distance measuring device 300 measures the surfaces 820 and 810 of the coil 800, and the width Wc_det of the coil 800 is obtained based on the measurement results.

The reason why the width Wc_det of the coil 800 is obtained using the side ranging device 300 instead of the back ranging device 200 is as follows. It may be difficult for the back ranging device 200 to measure the width Wc_det of the coil 800, which is in the depth direction (travel direction). For this reason, in this embodiment, the side ranging device 300 is used to accurately obtain the width Wc_det of the coil 800.

(Determination of target coordinates)
The control device 600 obtains the first coordinate based on the results obtained by the two measurements by the side distance measuring device 300. Specifically, half the value of the actually measured width Wc_det of the coil 800 is added to the coordinate x2_1, which is the measurement result of the side distance measuring device 300 at the first post-movement position X1. Note that half the value of the width Wc_det of the coil 800 may be subtracted from the coordinate x2_2, which is the measurement result of the side distance measuring device 300 at the second post-movement position X2, or the average of the coordinate x2_1 and the coordinate x2_2 may be taken. In summary, the target coordinates are as follows:
1st coordinate=x2_1+Wc_det/2
Second coordinate = y coordinate of first position = coordinate of coil center Third coordinate = z coordinate of first position = coordinate of coil center (or coil top surface)

The control device 600 transmits the target coordinates determined based on the measurement results of the rear distance measuring device 200 and the side distance measuring device 300 to the control unit 540 of the crane device 500, and moves the crane device 500 to the target coordinates. The control device 600 also transmits the three-dimensional coordinates of the storage position 920 to the crane device 500.

(Coil loading, transportation, and landing)
When the crane device 500 moves to the target coordinates, the control device 600 grips the coil 800 with the arm 584 of the coil lifter 580 and raises the coil lifter 580. When the coil 800 rises to a position where it does not interfere with other members, the control device 600 transports the coil 800 to the storage position 920. When the crane device 500 moves to the storage position 920, the control device 600 lowers the crane device 500 to land the coil 800 at the storage position 920. The control device 600 causes the crane device 500 to release the arm 584. If there is a coil 800 to be unloaded next, the control device 600 repeats the above-mentioned operation. On the other hand, if there is no coil 800 to be loaded next, the control device 600 returns the crane device 500 to a predetermined position (a waiting place, etc.) (hereinafter referred to as the home position).

<Calibration>
The coordinates measured by the back ranging device 200 and the side ranging device 300 are used to control the crane device 500 (movement and transportation of the coil 800). For this reason, the coordinates of each local coordinate system of the back ranging device 200 and the side ranging device 300 need to be adjusted (calibrated) in advance so that they can be converted into coordinates of a common (in other words, one) world coordinate system. Calibration is performed, for example, when the back ranging device 200 and the side ranging device 300 are installed in the coil yard 900 or at regular intervals.

7 is a top view schematic diagram for explaining the calibration of the rear ranging device 200 and the side ranging device 300. A marker 930, which is an index member, is arranged on the floor surface 914 of the coil yard 900. The marker 930 is arranged at a position where at least a part of the marker 930 can be seen from both the rear ranging device 200 and the side ranging device. The marker 930 has, for example, nine rectangular black areas 932 of 40 cm x 40 cm in a rectangular area of, for example, 2 m x 2 m. Specifically, the marker 930 has three black areas 932 arranged in the running direction with a white area 934 between them, and three black areas 932 arranged in the lateral direction with a white area 934 between them. The shape and size of the marker 930, the size, arrangement, number, etc. of the black areas 932, etc. are not limited to the configuration shown in FIG. 7. In addition, the black areas 932 do not necessarily have to be black, and may be another color. Furthermore, the white area 934 does not necessarily have to be white, but may be another color or the floor surface 914.

The rear ranging device 200 and the side ranging device 300 each measure the marker 930. The control device 600 adjusts the rear ranging device 200 and the side ranging device 300 so that the three-dimensional coordinates in the world coordinate system of the marker 930 measured by the rear ranging device 200 and the three-dimensional coordinates in the world coordinate system of the marker 930 measured by the side ranging device 300 approximately match. Note that the adjustment method is publicly known and will not be described here.

Note that since the side ranging device 300 can move, for example, the marker 930 may be measured at a predetermined position Xr behind in the direction of travel, and at a predetermined position Xf ahead in the direction of travel, and adjustments may be made using the measurement results at the rear and the front. For example, the part of the marker 930 that is within the field of view of the rear ranging device 200 and the rear and front side ranging devices 300 is assumed to be a black area 936. Here, the three-dimensional coordinates of the black area 936 in the world coordinate system are known, and are recognized as common three-dimensional coordinates in the world coordinate system of the crane device 500. The control device 600 may adjust the measurement results of the black area 936 by the side ranging device 300 at positions Xf and Xr to approximately match the measurement results of the black area 936 by the rear ranging device 200. This can reduce measurement errors caused by the movement of the side ranging device 300.

<Unloading process>
FIG. 8 is a flow chart for explaining the unloading process of this embodiment. When the truck 700 enters the coil yard 900 through the vehicle entrance 910 and stops at a predetermined position, and the operator inputs the start of automatic unloading through the operation unit 610, the control device 600 starts the process from step (hereinafter referred to as S) 100 onwards. In S100, the control device 600 transmits information on the width Wc of the coil 800 that is set in advance to the control unit 450 of the moving device 400. The control device 600 may transmit information on the outer radius R _c1 and the inner radius R _c2 of the coil 800 together with the information on the width Wc of the coil 800 to the moving device 400, and these will be referred to as information on the width Wc of the coil 800, etc., hereinafter. The control device 600 also transmits information on the width Wc of the coil 800, etc., to the control unit 540 of the crane device 500 in order to grab the load. In S<b>102 , the control device 600 causes the control unit 260 of the rear surface distance measuring device 200 to scan the field of view, specifically, the surface 820 of the coil 800 loaded on the loading platform 720 .

In S104, the control device 600 determines the coordinates of the first position using the rear ranging device 200. Specifically, the rear ranging device 200 determines the coordinate in the running direction of the surface 820 of the coil 800 as the x coordinate of the first position, and the coil center determined from the diameter of the coil 800 in the horizontal direction as the y coordinate of the first position. In addition, the rear ranging device 200 determines the coil center determined from the diameter of the coil 800 in the vertical direction as the z coordinate of the first position. In S106, the control device 600 moves the side ranging device 300 to the first post-movement position X1 using the moving device 400 based on the x coordinate of the first position determined in S104.

In S108, the control device 600 causes the side distance measuring device 300 to scan the surface 820 of the coil 800 at the first post-movement position X1 (first measurement). In S110, the control device 600 causes the moving device 400 to move the side distance measuring device 300 to the second post-movement position X2 based on the coil width Wc.

In S112, the control device 600 scans the surface 810 of the coil 800 at the second post-movement position X2 using the side distance measuring device 300 (second measurement). In S114, the control device 600 calculates the width Wc_det of the coil 800 based on the measurement result of the surface 820 measured in S108 and the measurement result of the surface 810 measured in S112. The control device 600 calculates the first coordinate of the target coordinates based on the calculated (actually measured) width Wc_det of the coil 800. In S116, the control device 600 calculates the target coordinates for moving the crane device 500 to grab the coil 800. The first coordinate of the target coordinates is the first coordinate calculated in S114, the second coordinate is the y coordinate calculated in S104, and the third coordinate is the z coordinate calculated in S104.

In S118, the control device 600 transmits the target coordinates determined in S116 and the three-dimensional coordinates of the storage position 920 of the coil 800 to the crane device 500. In S120, the control device 600 moves the crane device 500 to the target coordinates and causes it to grasp and lift (grab) the coil 800. After the crane device 500 grasps and lifts the coil 800, the control device 600 causes the crane device 500 to transport the coil 800 to the storage position 920. In S122, the control device 600 lands the coil 800 at the storage position 920 after the crane device 500 has transported the coil 800 to the storage position 920. In S124, the control device 600 releases the arm 584 of the crane device 500.

In S126, the control device 600 judges whether there is a coil 800 to be unloaded next. If the control device 600 judges that there is a coil 800 to be unloaded next in S126, the process returns to S100. If the control device 600 judges that there is no coil 800 to be unloaded next, the process proceeds to S128. In S128, the control device 600 returns the crane device 500 to the home position and ends the unloading process. If there is a coil 800a to be unloaded next in S126, the control device 600 waits for the regulating member 740 (see FIG. 6) arranged in contact with the surface 820a of the coil 800a loaded on the loading platform 720 to be carried out of the loading platform 720, and then performs the processes from S100 onward. For example, when the control device 600 receives an input from the operator via the operation unit 610 that the carrying out of the regulating member 740 has been completed, the control device 600 performs the processes from S100 onward.

As described above, according to this embodiment, it is possible to provide an unloading system and a control method for the unloading system that can automatically unload cargo loaded on the bed of a vehicle outside the vehicle.

The above describes preferred embodiments of the present invention, but the present invention is not limited to these, and various modifications and variations are possible within the scope of the gist of the invention.

For example, in the above-described embodiment, the rear ranging device 200 is fixed in position, but it does not have to be fixed. For example, the rear ranging device 200 may be arranged so that it can move parallel in one, two, or three directions among the travel direction, lateral direction, and elevation direction.

In addition, the rear ranging device 200 and the side ranging device 300 may be configured to change the vertical center axes _Cv1 , _Cv2 and the horizontal field of view when stopped (fixed) at a predetermined position. For example, the rear ranging device 200 and the side ranging device 300 may be configured to rotate in one or two directions of the vertical direction and the horizontal direction when stopped at a predetermined position.

In addition, the moving device 400 is configured to move in the horizontal and vertical directions, but it may also be configured to move in a direction substantially perpendicular to the horizontal and vertical directions (the lateral direction in this embodiment).

In addition, in this embodiment, the first coordinate of the target coordinate is obtained based on the measurement result of the side ranging device 300. However, for example, the first coordinate of the target coordinate may be obtained based on the actually measured width Wc_det of the coil 800 and the x-coordinate of the first position which is the measurement result of the back ranging device 200. For example, the first coordinate of the target coordinate may be the x-coordinate of the first position plus half the value of the width Wc_det of the coil 800. In this case, the side ranging device 300 only needs to obtain a relative value, the width Wc_det of the coil 800, so calibration between the back ranging device 200 and the side ranging device 300 is not required.

In addition, when determining the first coordinate of the target coordinate, the actually measured width Wc_det of the coil 800 is used, but a preset width Wc may also be used. For example, the width Wc may be used when it is confirmed that the preset width Wc and the actually measured width Wc_det are approximately the same by two measurements using the side ranging device 300.

Furthermore, the second and third coordinates of the target coordinates are determined based on the third and fourth lengths of the cargo, but are not limited to length. For example, if the exact size of the cargo (e.g., the diameter of the coil 800) is known, a point on the cargo as seen from the rear distance measuring device 200 may be measured, and a predetermined distance from the measured point may be set as the second and third coordinates. Also, for example, if a diagonal line can be drawn on the cargo as seen from the rear distance measuring device 200, the point where the diagonal line intersects may be set as the second and third coordinates. In other words, the second and third coordinates may be determined based on a "point" rather than a "length".

The present invention includes the following objects.
[Objective 1]
The unloading system of the present invention comprises:
A loading/unloading system for automatically unloading cargo loaded on a loading platform of a vehicle having a loading platform on one side of a first direction in a horizontal plane from the loading platform to outside of the vehicle, comprising:
a first measuring device that is arranged in a position overlooking the loading platform from the one side of the first direction and has a position measuring function;
a second measurement device that is disposed at a position overlooking the vehicle from a side of the vehicle, is movable, and has a function of measuring a position;
a moving device that moves the second measuring device;
a transport device for transporting the load from the loading platform to outside the vehicle;
a control device that controls the first measuring device and the second measuring device, controls the moving device based on a result of measurement by the first measuring device, and controls the transporting device based on the result of measurement by the first measuring device and the second measuring device;
Equipped with
the cargo has a first surface facing the first measuring device and a second surface opposite the first surface;
The control device includes:
causing the first measuring device to measure the first surface of the load;
moving the second measuring device to a first post-movement position where the first surface comes into view, based on a first position that is a result of measuring the first surface by the first measuring device;
measuring the first surface by the second measuring device at the first post-movement position;
moving the second measuring device to a second post-movement position where the second surface comes into view by the moving device based on a first length of the cargo in the first direction that is set in advance;
measuring the second surface by the second measuring device at the second post-movement position;
determining a second length of the cargo in the first direction based on a result of measuring the first surface and a result of measuring the second surface by the second measuring device;
determining a target coordinate when the load is to be unloaded by the transporting device based on the first position and the second length;
The transport device is moved to the target coordinates and the cargo is unloaded by the transport device.

[Objective 2]
an index member disposed at a position where it can be measured by the first measuring device and the second measuring device;
The control device may perform adjustment so that coordinates based on the results of measuring the position of the index member by the first measuring device and coordinates based on the results of measuring the position of the index member by the second measuring device approximately coincide with each other.

[Objective 3]
The target coordinates are:
a first coordinate in the first direction;
a second coordinate in a second direction substantially perpendicular to the first direction in the horizontal plane;
a third coordinate in a third direction substantially perpendicular to the first direction and the second direction;
The control device includes:
determining the first coordinates based on a result of measuring the first surface by the second measuring device and the second length;
The second coordinate and the third coordinate may be determined based on the first position.

[Objective 4]
The control device includes:
determining the second coordinate based on a third length of the cargo in the second direction determined based on the first position;
The third coordinate may be determined based on a fourth length of the cargo in the third direction determined based on the first position.

[Objective 5]
The moving device may be capable of moving the second measurement device in the first direction and/or the third direction.

[Objective 6]
The conveying device is
A gripping means for gripping the load;
a first moving means capable of moving the gripping means in the first direction;
second moving means capable of moving the gripping means in the second direction;
a third moving means capable of moving the gripping means in the third direction;
may have the following structure:

[Objective 7]
The first measurement device and the second measurement device may be three-dimensional LiDAR that irradiates at least near-infrared light, visible light, or ultraviolet light, or that irradiates at least near-infrared light, visible light, or ultraviolet light in a pulsed manner and performs measurements.

[Objective 8]
The method for controlling an unloading system of the present invention comprises the steps of:
A control method for an unloading system that automatically unloads cargo loaded on a loading platform of a vehicle having a loading platform on one side of a first direction in a horizontal plane from the loading platform to outside of the vehicle, comprising:
The unloading system comprises a first measuring device arranged in a position overlooking the loading platform from one of the first directions and having a position measuring function, a second measuring device arranged in a position overlooking the vehicle from the side of the vehicle, capable of moving and having a position measuring function, a moving device for moving the second measuring device, a transporting device for transporting the load from the loading platform to outside the vehicle, and a control device for controlling the first measuring device and the second measuring device, controlling the moving device based on a result of measurement by the first measuring device, and controlling the transporting device based on the result of measurement by the first measuring device and the second measuring device,
the cargo has a first surface facing the first measuring device and a second surface opposite the first surface;
the control device causes the first measuring device to measure the first surface of the cargo;
a step of moving the second measuring device to a first post-movement position where the first surface is within a field of view, using the moving device, based on a first position that is a result of measuring the first surface by the first measuring device;
a step of causing the control device to measure the first surface by the second measurement device at the first post-movement position;
a step of the control device moving the second measuring device to a second post-movement position where the second surface is within a field of view by the moving device based on a first length of the cargo in the first direction that is set in advance;
a step of causing the control device to measure the second surface by the second measurement device at the second post-movement position;
a step of the control device determining a second length of the cargo in the first direction based on a result of measuring the first surface and a result of measuring the second surface by the second measuring device;
a step of the control device calculating a target coordinate when the load is to be unloaded by the transport device based on the first position and the second length;
the control device moving the transport device to the target coordinates and unloading the load by the transport device;
Equipped with.

100 Unloading system 200 Rear distance measuring device 220 Irradiation unit 240 Receiving unit 260 Control unit 300 Side distance measuring device 320 Irradiation unit 340 Receiving unit 360 Control unit 400 Moving device 410 Holding unit 420 Horizontal moving unit 430 Vertical moving unit 432 Horizontal rail 440 Support unit 442 Vertical rail 450 Control unit 460 Driving unit 500 Crane device 510 Saddle 520 Crab 530 Hoisting unit 532 Hoisting drum 540 Control unit 550 Traveling rail 560 Driving unit 560a Girder 560b Transverse rail 570 Wire rope 580 Coil lifter 582 Main body unit 584 Arm 586 Claw unit 600 Control device 610 Operation unit 620 Display unit 700 Truck 710 Cabin 720 Cargo bed 740, 740a Regulating member 760 Skid 762 Top surface 764 Notch 800, 800a Coil 810 Surface 820, 820a Surface 830 Hole 900 Coil yard 910 Vehicle entrance/exit 912 Ceiling 914 Floor surface 920 Storage position 930 Marker 932, 936 Black area 934 White area

Claims (8)

A loading/unloading system for automatically unloading cargo loaded on a loading platform of a vehicle having a loading platform on one side of a first direction in a horizontal plane from the loading platform to outside of the vehicle, comprising:
a first measuring device that is arranged in a position overlooking the loading platform from the one side of the first direction and has a position measuring function;
a second measurement device that is disposed at a position overlooking the vehicle from a side of the vehicle, is movable, and has a function of measuring a position;
a moving device that moves the second measuring device;
a transport device for transporting the load from the loading platform to outside the vehicle;
a control device that controls the first measuring device and the second measuring device, controls the moving device based on a result of measurement by the first measuring device, and controls the transporting device based on the result of measurement by the first measuring device and the second measuring device;
Equipped with
the cargo has a first surface facing the first measuring device and a second surface opposite the first surface;
The control device includes:
causing the first measuring device to measure the first surface of the load;
moving the second measuring device to a first post-movement position where the first surface comes into view, based on a first position that is a result of measuring the first surface by the first measuring device;
measuring the first surface by the second measuring device at the first post-movement position;
moving the second measuring device to a second post-movement position where the second surface comes into view, based on a first length of the cargo in the first direction that is set in advance, by the moving device;
measuring the second surface by the second measuring device at the second post-movement position;
determining a second length of the cargo in the first direction based on a result of measuring the first surface and a result of measuring the second surface by the second measuring device;
determining a target coordinate when the load is to be unloaded by the transporting device based on the first position and the second length;
An unloading system that moves the transport device to the target coordinates and unloads the cargo using the transport device. an index member disposed at a position where it can be measured by the first measuring device and the second measuring device;
2. The unloading system according to claim 1, wherein the control device performs adjustments so that coordinates based on the results of measuring the position of the index member by the first measuring device and coordinates based on the results of measuring the position of the index member by the second measuring device are approximately equal. The target coordinates are:
a first coordinate in the first direction;
a second coordinate in a second direction substantially perpendicular to the first direction in the horizontal plane;
a third coordinate in a third direction substantially perpendicular to the first direction and the second direction;
The control device includes:
determining the first coordinates based on a result of measuring the first surface by the second measuring device and the second length;
The unloading system according to claim 2 , further comprising: determining the second coordinate and the third coordinate based on the first position. The control device includes:
determining the second coordinate based on a third length of the cargo in the second direction determined based on the first position;
The unloading system of claim 3 , wherein the third coordinate is determined based on a fourth length of the cargo in the third direction determined based on the first position. The unloading system according to claim 3 or claim 4, wherein the moving device is capable of moving the second measuring device in the first direction and/or the third direction. The conveying device is
A gripping means for gripping the load;
a first moving means capable of moving the gripping means in the first direction;
second moving means capable of moving the gripping means in the second direction;
a third moving means capable of moving the gripping means in the third direction;
The unloading system according to any one of claims 3 to 5, comprising: The unloading system according to any one of claims 1 to 6, wherein the first measuring device and the second measuring device are three-dimensional LiDARs that irradiate at least near-infrared light, visible light, or ultraviolet light, or irradiate at least near-infrared light, visible light, or ultraviolet light in pulses to perform measurements. A control method for an unloading system that automatically unloads cargo loaded on a loading platform of a vehicle having a loading platform on one side of a first direction in a horizontal plane from the loading platform to outside of the vehicle, comprising:
The unloading system comprises a first measuring device arranged in a position overlooking the loading platform from one of the first directions and having a position measuring function, a second measuring device arranged in a position overlooking the vehicle from the side of the vehicle, capable of moving and having a position measuring function, a moving device for moving the second measuring device, a transporting device for transporting the load from the loading platform to outside the vehicle, and a control device for controlling the first measuring device and the second measuring device, controlling the moving device based on a result of measurement by the first measuring device, and controlling the transporting device based on the result of measurement by the first measuring device and the second measuring device,
the cargo has a first surface facing the first measuring device and a second surface opposite the first surface;
the control device causes the first measuring device to measure the first surface of the cargo;
a step of moving the second measuring device to a first post-movement position where the first surface is within a field of view, using the moving device, based on a first position that is a result of measuring the first surface by the first measuring device;
a step of causing the control device to measure the first surface by the second measurement device at the first post-movement position;
a step of the control device moving the second measuring device to a second post-movement position where the second surface is within a field of view by the moving device based on a first length of the cargo in the first direction that is set in advance;
a step of causing the control device to measure the second surface by the second measurement device at the second post-movement position;
a step of the control device determining a second length of the cargo in the first direction based on a result of measuring the first surface and a result of measuring the second surface by the second measuring device;
a step of the control device calculating a target coordinate when the load is to be unloaded by the transport device based on the first position and the second length;
the control device moving the transport device to the target coordinates and unloading the load by the transport device;
A method for controlling an unloading system comprising:

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