Control system and operation planning method

Abstract

The control system is provided with: a region function setting unit that sets a region utilization method for a predetermined time for each of a plurality of regions in a pit in which an object to be incinerated is deposited; an operation setting unit that sets an operation mode for each of the plurality of cranes; and a control unit that controls each of the plurality of cranes on the basis of a combination of the region utilization method set by the region function setting unit and the operation mode set by the operation setting unit.

Description

Technical Field

[0001] The invention relates to a control system and an operation planning method.

[0002] This application claims priority based on Japanese Patent Application No. 2022-096009 filed in Japan on June 14, 2022, and the contents are incorporated herein by reference. Background Art

[0003] Patent Document 1 discloses a crane control device that manages a garbage storage section by dividing it into a plurality of areas (a mixing area, an introduction area, a non-mixing area, etc.). The crane control device is used in an incineration facility that has only one crane and that has one mixing area arranged over most of the length direction (a direction orthogonal to the direction from the garbage storage section toward the hopper) of the garbage storage section or that has multiple mixing areas that are rearranged with each other arranged along the length direction. The garbage storage section is divided into a mixing area, an introduction area, a non-mixing area, and a non-mixing area. The mixing area is a mixing area that is arranged in a row along the length direction. The mixing area is a mixing area that ...

[0004] Patent Document 2 discloses a crane control system including: a camera that captures a garbage pit and generates an image; a map creation unit that creates a garbage type map indicating the type of garbage in each unit section based on the image captured by the camera; an agitation degree evaluation unit that causes a filter corresponding to the size of a bucket to scan within the garbage type map to evaluate the agitation degree of garbage at each position; and a travel destination determination unit that determines the travel destination of the bucket based on the agitation degree of garbage at each position. In this crane control system, a garbage type map is created for the entire area in the image captured by the camera or the entire area excluding the wall area of ​​the garbage pit, and is used for determining the travel destination for rearrangement operations and the like.

[0005] Prior Art Literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent Application Publication No. 2017-218316

[0008] Patent Document 2: Japanese Patent Application Publication No. 2022-029405 Summary of the invention

[0009] Problems to be solved by the invention

[0010] However, when automating the operation of cranes in a garbage pit where multiple cranes are operating, the control content needs to be managed in a way that the multiple cranes do not interfere with each other, and it is necessary to design each incineration facility individually based on one or more of the garbage inlet processing volume of the incineration facility, the furnace processing capacity, furnace configuration, the number of furnaces, the size of the garbage pit, the number of cranes, and the operation policy of the incineration facility, so that operation automation is difficult.

[0011] The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a control system and an operation planning method that can easily automate the operations of a plurality of cranes.

[0012] Solutions to Solve Problems

[0013] In order to solve the above-mentioned problems, the control system of the present invention comprises: an area function setting unit that sets area utilization methods within a predetermined time for each of a plurality of areas in a pit where incineration materials are piled; an action setting unit that sets action modes for each of a plurality of cranes; and a control unit that controls each of the plurality of cranes based on a combination of the area utilization method set by the area function setting unit and the action mode set by the action setting unit. The plurality of areas include at least a first area and a second area. As the area utilization method within a first time, the area function setting unit sets an introduction destination area for suppressing the introduction of the incineration materials into a hopper of an incinerator and introducing the incineration materials to the first area, and sets an introduction area for introducing the incineration materials into the hopper to the second area. As the area utilization method within a second time different from the first time, the area function setting unit sets the introduction area to the first area, and sets the introduction destination area to the second area.

[0014] In order to solve the above-mentioned problems, the operation planning method of the present invention is an operation planning method for a plurality of cranes operating in a storage section for incineration materials, wherein the operation planning method causes a computer to execute the following processing: recording a plurality of area utilization methods that can be set for a plurality of areas in a pit of the storage section; recording a plurality of action modes that can be set for the plurality of cranes; and deriving an operation plan for the plurality of cranes by selectively combining the plurality of area utilization methods and the plurality of action modes according to the equipment content or operation policy of the storage section. The plurality of areas include at least a first area and a second area. The plurality of area utilization methods also include the following processing: as an area utilization method in a first time, setting an introduction destination area for suppressing the introduction of the incineration materials into a hopper of an incinerator and introducing the incineration materials to the first area, and setting an introduction area for introducing the incineration materials into the hopper to the second area; and as an area utilization method in a second time different from the first time, setting the introduction area to the first area, and setting the introduction destination area to the second area.

[0015] Effects of the Invention

[0016] According to the control system and the operation planning method of the present invention, the operations of a plurality of cranes can be easily automated. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic structural diagram showing an incineration facility according to an embodiment of the present invention.

[0018] Figure 2 This is a cross-sectional view showing a combustion device according to an embodiment of the present invention as seen from above.

[0019] Figure 3 This is a block diagram showing a functional configuration associated with a control device according to an embodiment of the present invention.

[0020] Figure 4 It is a diagram for explaining the function of the area function setting unit according to the embodiment of the present invention.

[0021] Figure 5 It is a diagram for explaining the function of the area function setting unit according to the embodiment of the present invention.

[0022] Figure 6 It is a diagram for explaining the function of the operation setting unit according to the embodiment of the present invention.

[0023] Figure 7 This is a flowchart for explaining vertical stirring according to an embodiment of the present invention.

[0024] Figure 8This is a flowchart for explaining the moving stirring according to the embodiment of the present invention.

[0025] Fig. 9 This is a flowchart for explaining the moving dispersion stirring according to the embodiment of the present invention.

[0026] Fig.10 This is a flowchart for explaining the input operation according to the embodiment of the present invention.

[0027] Fig.11 It is a block diagram showing the functional structure of the control unit according to the embodiment of the present invention.

[0028] Fig.12 This is a flowchart showing the flow of the operation planning method according to the embodiment of the present invention.

[0029] Fig.13 This is a flowchart showing the flow of control of the crane according to the embodiment of the present invention.

[0030] Fig.14 This is a flowchart showing the flow of control of the crane according to the embodiment of the present invention.

[0031] Fig.15 This is a flowchart showing the flow of control of the crane according to the embodiment of the present invention.

[0032] Fig.16 This is a flowchart showing the flow of control of the crane according to the embodiment of the present invention.

[0033] Fig.17 It is a hardware configuration diagram showing the configuration of a computer according to an embodiment of the present invention. DETAILED DESCRIPTION

[0034] Hereinafter, the control system and operation planning method of the embodiment of the present invention will be described with reference to the accompanying drawings. In the following description, the same figure mark is marked for the structure having the same or similar function. Moreover, the repeated description of these structures is sometimes omitted. In the present invention, the so-called "based on XX" means "at least based on XX", and it may also include the situation based on other elements in addition to XX. In addition, the so-called "based on XX" is not limited to the situation of directly using XX, and it may also include the situation of the element obtained by calculating and processing XX. In the present invention, the so-called "XX or YY" is not limited to the situation of either XX and YY, and it may also include the situation of both XX and YY. This is also the case when the selective elements are more than 3. "XX" and "YY" are arbitrary elements (for example, arbitrary information). In the present invention, the so-called "obtaining" is not limited to the situation of actively obtaining by sending a sending request, and it may also include the situation of obtaining by passively receiving information sent from other devices. In addition, in the present invention, the database is recorded as "DB".

[0035] Here, first define the +X direction, -X direction, +Y direction, -Y direction, and Z direction. The +X direction, -X direction, +Y direction, and -Y direction are directions along the horizontal plane. The +X direction is the direction from the garbage pit 21 described later toward the hopper 11 (see Figure 1 ). The -X direction is the opposite direction of the +X direction. When the +X direction and the -X direction are not distinguished, it is simply referred to as the "X direction". The +Y direction and the -Y direction are directions that intersect (for example, are orthogonal to) the X direction. The +Y direction is the direction from the first hopper 11A to the second hopper 11B described later (see Figure 2 ). The -Y direction is the opposite direction of the +Y direction. When the +Y direction and the -Y direction are not distinguished, it is simply referred to as the "Y direction". The Z direction is a direction that intersects (for example, is orthogonal to) the X direction and the Y direction. The Z direction is, for example, a vertical direction (see Figure 1 ).

[0036] (Implementation Method)

[0037] <1. Overall structure of incineration equipment>

[0038] Figure 1 1 is a schematic structural diagram of an incineration plant 1 according to an embodiment. The incineration plant 1 is, for example, a grate furnace that uses urban garbage, industrial waste, or biomass as the incineration material G. It should be noted that the incineration plant 1 is not limited to a grate furnace, and may be other types of incineration plants. In the following, for ease of explanation, "the incineration material" is sometimes referred to as "garbage". The incineration plant 1 includes, for example, a storage unit 2 and an incineration furnace 3.

[0039] (Storage Department)

[0040] The storage unit 2 is a facility for storing the collected incineration materials G and feeding the stored incineration materials G into the incinerator 3. The storage unit 2 will be described in detail later.

[0041] (Incinerator)

[0042] The incinerator 3 is a furnace that burns the incinerator G while conveying the incinerator G. The incinerator 3 includes, for example, a hopper 11 and a furnace body 12 .

[0043] The hopper 11 is a temporary storage unit provided to supply the incineration material G to the interior of the furnace body 12. The hopper 11 is open upward. The incineration material G is put into the hopper 11 by a crane 30 of the storage unit 2 described later. A feeder (not shown) is provided in the hopper 11. The feeder moves the incineration material G stored in the hopper 11 toward the interior of the furnace body 12.

[0044] The hopper 11 has a level gauge 11s (refer to Figure 3 ). The level meter 11s is a sensor for detecting the amount of the incineration material G stored in the hopper 11. When the upper surface of the incineration material G stored in the hopper 11 is lower than a predetermined position, the level meter 11s sends a signal requesting the incineration material G to be put into the hopper 11 (hereinafter referred to as "put-in request signal") to the control device 100 of the storage unit 2 described later.

[0045] The furnace body 12 is a device for burning the incineration object G while conveying the incineration object G. The furnace body 12 is provided adjacent to the hopper 11. The furnace body 12 includes a processing space V in which the incineration object G is burned.

[0046] Figure 2 : is a cross-sectional view showing the incineration equipment 1 as viewed from above. In the present embodiment, the incinerator 3 is provided with a plurality of hoppers 11 and a furnace body 12. For example, in the incinerator 3, as the plurality of furnace bodies 12, there are a first furnace body 12A arranged on the -Y direction side and a second furnace body 12B arranged on the +Y direction side. Similarly, in the incinerator 3, as the plurality of hoppers 11, there are: a first hopper 11A, which is arranged on the -Y direction side and connected to the first furnace body 12A; and a second hopper 11B, which is arranged on the +Y direction side and connected to the second furnace body 12B. The first hopper 11A and the second hopper 11B are arranged side by side in the Y direction. In the present embodiment, when the first hopper 11A and the second hopper 11B are not distinguished, they are simply referred to as "hoppers 11". It should be noted that the number of hoppers 11 and furnace bodies 12 provided in the incinerator 3 is not limited to two, and may be one, or three or more.

[0047] <2. Storage unit structure>

[0048] Next, the storage unit 2 will be described.

[0049] like Figure 2 As shown in FIG. 1 , the storage unit 2 includes, for example, a garbage pit 21, a platform 22, a plurality of garbage introduction doors 23, a plurality of cranes 30, and a garbage height detection device 41 (see FIG. 1 ). Figure 1 ).

[0050] (Garbage pit)

[0051] The garbage pit 21 is provided at the front section of the incinerator 3 and is a storage section for storing the incineration objects G before being put into the incinerator 3. The garbage pit 21 has a rectangular shape having a long side along the Y direction and a short side along the X direction when viewed from above. The garbage pit 21 has an opening for introducing the incineration objects G at the upper part of the garbage pit 21 (see Figure 1 ).

[0052] (platform)

[0053] The platform 22 is a loading portion to which a work vehicle P (hereinafter referred to as a “garbage collection vehicle P”) that has collected the incineration materials G from the outside arrives. The platform 22 is provided adjacent to one end of the garbage pit 21 on the −X direction side.

[0054] (Garbage inlet door)

[0055] A plurality of garbage introduction doors 23 are provided between the garbage pit 21 and the platform 22. The plurality of garbage introduction doors 23 are arranged in a row in the Y direction and can be opened and closed independently of each other. When the garbage collection vehicle P arrives at the platform 22, the garbage introduction door 23 corresponding to the position of the garbage collection vehicle P that has arrived among the plurality of garbage introduction doors 23 is opened.

[0056] Each garbage introduction door 23 has an opening and closing sensor 23s (see Figure 3 The opening / closing sensor 23s is a sensor for detecting that the garbage introduction door 23 provided with the opening / closing sensor 23s is opened. When the garbage introduction door 23 provided with the opening / closing sensor 23s is opened, the opening / closing sensor 23s transmits a signal indicating that the garbage introduction door 23 is opened (hereinafter referred to as an "introduction door opening signal") to the control device 100 of the storage unit 2.

[0057] (crane)

[0058] like Figure 1 As shown, the crane 30 grabs a part of the incineration material G stored in the garbage pit 21, and transports the grabbed incineration material G to the hopper 11 of the incinerator 3 and puts it into the hopper 11. The crane 30 is installed above the garbage pit 21. The crane 30 has, for example, a moving mechanism 31, a cable 32, a hoist 33, and a grab bucket 34.

[0059] The moving mechanism 31 includes, for example, a pair of guide rails 31a, a beam 31b, and a pulley 31c. The pair of guide rails 31a are provided at the upper portion of the storage portion 2. The pair of guide rails 31a are disposed separately on both sides of the garbage pit 21 in the X direction and extend in the Y direction. The beam 31b is disposed so as to straddle the pair of guide rails 31a and is movable in the Y direction along the guide rails 31a. The pulley 31c is disposed on the beam 31b and is movable in the X direction along the beam 31b.

[0060] The cable 32 is suspended from the pulley 31c. The hoist 33 is provided on the pulley 31c to wind up and down the cable 32. The grab 34 is mounted on the front end of the cable 32. The grab 34 has a plurality of claws 34a for grasping the incineration object G. The grab 34 is an example of a "grasping part" for grasping the incineration object G. The grab 34 can be moved to any position in the X direction, the Y direction, and the Z direction by the moving mechanism 31 and the hoist 33.

[0061] like Figure 2 As shown, in the storage unit 2 of the present embodiment, there are a first crane 30A arranged on the -Y direction side and a second crane 30B arranged on the +Y direction side as a plurality of cranes 30. The first crane 30A and the second crane 30B are arranged side by side in the Y direction. The first crane 30A and the second crane 30B share a pair of guide rails 31a. Therefore, the first crane 30A cannot move to the +Y direction side beyond the second crane 30B. In addition, the second crane 30B cannot move to the -Y direction side beyond the first crane 30A. In the present embodiment, when the first crane 30A and the second crane 30B are not distinguished, they are simply referred to as "cranes 30". It should be noted that the plurality of cranes 30 provided in the storage unit 2 are not limited to two cranes 30, and may be three or more cranes 30.

[0062] Each crane 30 has a position sensor 35 and a weight sensor 36 (see Figure 3 ). The position sensor 35 detects the position of the crane 30 in the X direction and the Y direction on which the position sensor 35 is installed. The information indicating the position of the crane 30 detected by the position sensor 35 (hereinafter referred to as "position information") is sent to the control device 100 of the storage unit 2. It should be noted that in the present invention, "the position of the crane" refers to the position of the grab 34. On the other hand, the weight sensor 36 detects the weight of the incineration object G gripped by the grab 34 of the crane 30 on which the weight sensor 36 is installed. The information indicating the weight of the incineration object G detected by the weight sensor 36 (hereinafter referred to as "weight information") is sent to the control device 100 of the storage unit 2.

[0063] (Garbage height detection device)

[0064] like Figure 1 As shown, the garbage height detection device 41 detects the height of the upper surface of the incineration objects G stored in the garbage pit 21. The garbage height detection device 41 is, for example, a laser scanner, which irradiates the surface of the incineration objects G stored in the garbage pit 21 with laser light to scan, measures the time (TOF: Time of fright) from the irradiation of the laser light to the reception of the laser light reflected on the surface of the incineration objects G, and transmits the measured information as the detection result of the garbage height detection device 41 to the control device 100 of the storage unit 2. The garbage height detection device 41 detects the height of the upper surface of the incineration objects G at a predetermined period (for example, every hour).

[0065] It should be noted that the garbage height detection device 41 may be a device that measures the distance based on the parallax of a stereoscopic image, a device that captures an image obtained by projecting an image of a predetermined module and measures the distance based on the offset of the captured module, or a device that detects the height of the upper surface of the incineration object G by irradiating infrared rays, sound waves, or radio waves, etc. The garbage height detection device 41 is an example of a "sensor".

[0066] Next, other structures included in the storage section 2 will be described.

[0067] Figure 3 1 is a block diagram showing a functional configuration related to the control device 100. The storage unit 2 includes, for example, an input device 51, a display device 52, an operation panel 53, and the control device 100 in addition to the above-mentioned configuration.

[0068] (Input device)

[0069] The input device 51 is a device having a keyboard or a touch panel, etc., and capable of receiving input from an operator. For example, when the equipment content of the combustion equipment 1 (one or more of the garbage import processing volume, furnace processing capacity, furnace configuration, number of furnaces, size of garbage pit, number of cranes, etc. of the incineration equipment 1) or the operation policy of the incineration equipment 1 is changed, the input device 51 receives input of information related to the changed equipment content or operation policy. "Information related to the changed equipment content or operation policy" includes, for example, information indicating indicator values ​​and thresholds for determination (selection) set according to the changed equipment content or operation policy. This information will be described later. The information received by the input device 51 is sent to the control device 100 as setting information.

[0070] (Display device)

[0071] The display device 52 has a display screen capable of displaying various information, and displays the display information received from the control device 100. For example, the display device 52 displays the operation plan of the plurality of cranes 30 generated by the control device 100. In addition, when an alarm is issued by the control device 100, the display device 52 displays the content of the issued alarm.

[0072] (Operation panel)

[0073] The operation panel 53 is a device that receives an operator's operation related to the crane 30. For example, when an alarm is issued by the control device 100, the operator switches the crane 30 in automatic driving to manual driving by operating the operation panel 53. The information received by the operation panel 53 is sent to the control device 100 as an operation signal.

[0074] <3. Structure of control device>

[0075] Next, the control device 100 will be described.

[0076] The control device 100 is a control device for automatically operating the plurality of cranes 30 operating in the garbage pit 21. The control device 100 is an example of a "control system". It should be noted that a part or all of the functional parts included in the control device 100 may be provided as a part of the control device for controlling the entire incineration facility 1 instead of the control device 100 of the storage unit 2.

[0077] The control device 100 of the present embodiment includes, for example, an information acquisition unit 110 , an area function setting unit 120 , an operation setting unit 130 , a control unit 140 , a setting acceptance unit 150 , and a storage unit 160 .

[0078] <3.1 Information Acquisition Department>

[0079] The information acquisition unit 110 acquires various information required by the control device 100. For example, the information acquisition unit 110 acquires a drop request signal sent from the hopper 11, a garbage introduction door opening signal sent from the garbage introduction door 23, position information sent from the position sensor 35 of the crane 30, weight information sent from the weight sensor 36 of the crane 30, and a detection result sent from the garbage height detection device 41.

[0080] <3.2 Area Function Setting Section>

[0081] The area function setting unit 120 sets area utilization methods for each predetermined time for each of the plurality of areas in the garbage pit 21. The area utilization method is not a method made for a specific incineration facility, but an operation module for each area that is pre-modularized (generalized) so as to be set for any incineration facility.

[0082] Figure 4 and Figure 5 1 is a diagram for explaining the function of the area function setting unit 120. In the present embodiment, the area function setting unit 120 sets a plurality of virtual partitions R in the garbage pit 21. The plurality of partitions R are arranged in a grid shape, for example. Figure 4 and Figure 5 In the example, for the sake of convenience, there are 6 rows in the X direction and 10 columns in the Y direction, and a total of 60 partitions R are shown in the garbage pit 21. However, the number of partitions R is not limited to the above example, and may be less or more than the above example. For example, the partitions R are set to be small to the extent that two or more partitions R arranged in the Y direction correspond to one garbage introduction door 23. Each partition R is not limited to a square shape, and may also be a rectangular shape. In addition, the size of the partitions R does not need to be the same in all areas in the garbage pit 21, and there may be partitions R of different sizes.

[0083] In the present embodiment, the area function setting unit 120 sets the first to third areas A1 to A3 as the plurality of areas in the garbage pit 21. The first area A1, for example, includes 20 areas R consisting of 4 rows on the +X direction side and 5 columns on the -Y direction side in the plurality of areas R mentioned above. The second area A2, for example, includes 20 areas R consisting of 4 rows on the +X direction side and 5 columns on the +Y direction side in the plurality of areas R mentioned above. The third area A3 includes 9 areas R included in the row closest to the -X direction side in the plurality of areas R mentioned above. It should be noted that the first exclusive area C1 and the second exclusive area C2 may be further set in the third area A3. The first exclusive area C1 includes one or more areas R closest to the -Y direction side in the third area A3. The second exclusive area C2 includes one or more areas R closest to the +Y direction side in the third area A3.

[0084] It should be noted that the first to third areas A1 to A3 may be imaginary areas or areas actually divided by earth embankments, etc. In addition, the settings of the first to third areas A1 to A3 are not limited to the above examples. For example, the first area A1 and the second area A2 may also be of different sizes. In addition, the settings of the first exclusive area C1 and the second exclusive area C2 may also be omitted.

[0085] In the present embodiment, the area function setting unit 120 sets the area utilization method within the prescribed time for each of the first to third areas A1 to A3. In the present embodiment, as the area utilization method, "import source area", "import destination area", "drop-in area", "first crane exclusive import source area" and "second crane exclusive import source area" are prepared modularly in advance and recorded in the area function DB 161 of the storage unit 160.

[0086] The “introduction source area” is an area where the incineration objects G are introduced from the garbage collection truck P. The “introduction source area” is an area where the incineration objects G can be gripped by both the first crane 30A and the second crane 30B.

[0087] The “import destination area” is an area where the incineration objects G moved from the “import source area” are introduced (see Figure 4 ). The "import destination area" is an area where the incineration material G in the import destination area is suppressed from being dropped into the hopper 11. In the "import destination area", the incineration material G is reorganized in the import destination area to make the properties of the incineration material G uniform. In this embodiment, the "import destination area" also imports the incineration material G from the "first crane exclusive import source area" and the "second crane exclusive import source area" described later.

[0088] The “feeding area” is an area where the incineration material G in the feeding area is fed into the hopper 11 upon receiving a request from the incinerator 3 (e.g., a feeding request signal from the hopper 11) (see Figure 5 ). It should be noted that the above-mentioned charging operation is intermittent, so in the "charging area", the incineration material G is reformed in the charging area during the intervals of the charging operation to make the properties of the incineration material G uniform.

[0089] The “first crane exclusive import source area” and the “second crane exclusive import source area” are areas where the incineration materials G are imported from the garbage collection truck P, similarly to the other sections R in the “import source area”. The “first crane exclusive import source area” is, for example, an area where only the first crane 30A can hold the incineration materials G due to interference between the first crane 30A and the second crane 30B. It should be noted that the “first crane exclusive import source area” may be set as an import source area assigned only to the first crane 30A regardless of the interference between the first crane 30A and the second crane 30B. The “second crane exclusive import source area” is, for example, an area where only the second crane 30B can hold the incineration materials G due to interference between the first crane 30A and the second crane 30B. It should be noted that the “second crane exclusive import source area” may be set as an import source area assigned only to the second crane 30B regardless of the interference between the first crane 30A and the second crane 30B.

[0090] In the present embodiment, the area function setting unit 120 sets, as the area utilization method within a predetermined time, an “import source area”, an “import destination area”, a “drop-in area”, a “first crane exclusive import source area”, and a “second crane exclusive import source area” for a plurality of areas within the garbage pit 21. For example, the area function setting unit 120 sets the “import destination area” to the first area A1, the “drop-in area” to the second area A2, the “import source area” to the third area A3, the “first crane exclusive import source area” to the first exclusive area C1, and the “second crane exclusive import source area” to the second exclusive area C2 as the area utilization method within a first time (for example, 24 hours on a certain day).

[0091] On the other hand, the area function setting unit 120 sets the "drop-in area" to the first area A1, the "import destination area" to the second area A2, the "import source area" to the third area A3, the "first crane exclusive import source area" to the first exclusive area C1, and the "second crane exclusive import source area" to the second exclusive area C2 as the area utilization method in the second time different from the first time (for example, 24 hours of the next day). That is, in this embodiment, with respect to the first area A1 and the second area A2, when the incineration objects G stored in each area remain unchanged, the functions assigned for each predetermined time (for example, daily changes) are replaced with each other.

[0092] In the present embodiment, regarding the "drop-in area", for example, only one area is set among the multiple areas in the garbage pit 21. That is, in both cases of receiving a drop-in request signal from the first hopper 11A and receiving a drop-in request signal from the second hopper 11B during the first time, the incineration material G is dropped from the second area A2 into the first hopper 11A or the second hopper 11B. On the other hand, in both cases of receiving a drop-in request signal from the first hopper 11A and receiving a drop-in request signal from the second hopper 11B during the second time, the incineration material G is dropped from the first area A1 into the first hopper 11A or the second hopper 11B.

[0093] <3.3 Action Setting Section>

[0094] Next, the operation setting unit 130 will be described. The operation setting unit 130 sets an operation mode for each predetermined time for each of the plurality of cranes 30. The operation mode is not a mode made for a specific incineration facility, but an operation module of each crane 30 that is pre-modularized (generalized) so as to be set for any incineration facility.

[0095] Figure 6This is a diagram for explaining the function of the action setting unit 130. In the present embodiment, the action setting unit 130 sets the action mode within a predetermined time for each of the first crane 30A and the second crane 30B. In the present embodiment, as the action mode, a "drop-in mode" and a "load-in mode" are prepared in advance as modularization, and recorded in the action mode DB 162 of the storage unit 160.

[0096] The "drop-in mode" is an operation mode in which the incineration material G in the drop-in area is dropped into the hopper 11 when a request from the incinerator 3 (for example, a drop-in request signal from the hopper 11) is received. It should be noted that the above-mentioned drop-in operation is intermittent, so in the "drop-in mode", the incineration material G is rearranged in the drop-in area during the intervals of the drop-in operation to make the properties of the incineration material G uniform. In addition, in the present embodiment, in the "drop-in mode", the incineration material G is moved from the import source area to the import destination area during the intervals of the incineration operation. For example, in the "drop-in mode", the crane 30 set to the drop-in mode moves the incineration material G from the exclusive import source area ("first crane exclusive import source area" or "second crane exclusive import source area") to the import destination area. It should be noted that the crane 30 set to the drop-in mode may also move the incineration material G from a partition R in the import source area other than the partition R exclusive to the crane 30 ("first crane exclusive import source area" or "second crane exclusive import source area") to the import destination area.

[0097] In the present embodiment, a correspondence is established between a plurality of operation contents that are pre-moduleized (generalized) as unit operations and the "drop-in mode". The plurality of operation contents include, for example, an "import operation", a "rearrangement operation", and a "drop-in operation". The "import operation" is an operation in which the crane 30 with the drop-in mode set moves the incineration material G from an import source area (for example, an exclusive import source area exclusive to the crane 30 with the drop-in mode set) to an import destination area. The "rearrangement operation" is an operation in which the incineration material G is rearranged in the drop-in area. The "drop-in operation" is an operation in which the incineration material G in the drop-in area is dropped into the hopper 11. The operation contents as these unit operations are recorded in the action mode DB 162 of the storage unit 160.

[0098] On the other hand, the "import mode" is an operation mode in which the incineration material G is suppressed from being thrown into the hopper 11 and the incineration material G is introduced from the import source area to the import destination area. In the "import mode", the incineration material G is rearranged in the import destination area during the interval of the import operation to make the properties of the incineration material G uniform. In addition, in the present embodiment, in the "import mode", the incineration material G is moved from the import source area to the import destination area. For example, in the "import mode", the incineration material G is moved from the partition R (hereinafter sometimes referred to as the "partition R of the specific area") in the import source area except for the exclusive import source area exclusive to the crane 30 set in the input mode to the import destination area.

[0099] In this embodiment, a plurality of operation contents which are pre-modularized (generalized) as unit operations are associated with the "import mode". The plurality of operation contents include, for example, "import operation" and "rearrangement operation". "Import operation" is an operation of moving the incineration object G from the partition R of the specific area in the import source area to the import destination area. "Rearrangement operation" is an operation of rearranging the incineration object G in the import destination area.

[0100] In addition, in the present embodiment, a plurality of stirring methods that are pre-modularized (generalized) as unit operations are prepared. The plurality of stirring methods include, for example, "vertical stirring", "moving stirring", and "moving dispersing stirring". In addition, as a unit operation in the same column as the stirring method, a pre-modularized input action is prepared. These stirring methods and input actions as unit operations are recorded in the action mode DB 162 of the storage unit 160.

[0101] Figure 7 This is a flowchart for explaining "vertical stirring". "Vertical stirring" as a unit operation includes a series of operations, including: moving the crane 30 to a gripping position of the incineration object G (S11), gripping and lifting the incineration object G by the crane 30 (S12), and releasing the grip of the incineration object G at the lifted position to perform vertical stirring (S13).

[0102] Figure 8 This is a flowchart for explaining "moving and mixing". "Moving and mixing" as a unit operation includes a series of operations, including: moving the crane 30 to a gripping position of the incineration object G (S21), gripping and lifting the incineration object G by the crane 30 (S22), moving the crane 30 from the position after lifting the incineration object G in at least one of the X direction and the Y direction (S23), and then releasing the grip of the incineration object G to perform moving and mixing (S24).

[0103] Fig. 9This is a flowchart for explaining "mobile dispersion stirring". "Mobile dispersion stirring" as a unit operation includes a series of operations, which include: moving the crane 30 to the gripping position of the incineration object G (S31), gripping and lifting the incineration object G by the crane 30 (S32), moving the crane 30 from the position after lifting the incineration object G along at least one of the X direction and the Y direction to the starting position of mobile dispersion stirring (S33), and then gradually releasing the grip of the incineration object G while moving the crane 30 to perform mobile dispersion stirring (S34).

[0104] Fig.10 This is a flowchart for explaining the "dropping operation". The "dropping operation" as a unit operation includes a series of operations, including: using the crane 30 to grasp and lift the incineration object G (S41), moving the crane 30 from the position where the incineration object G is lifted to the hopper 11 (S42), and then releasing the grip of the incineration object G to drop the incineration object G into the hopper 11 (S43).

[0105] In this embodiment, for each of the import operation and the reorganization operation that have established a correspondence with the import mode, and for each of the import operation and the reorganization operation that have established a correspondence with the input mode, as a stirring method for the incinerated material G, one or more (for example, two or more) of vertical stirring, mobile stirring, and mobile dispersed stirring that have been modularized as unit operations are established as candidates for correspondence and can be selected arbitrarily.

[0106] For example, Figure 6 As shown, for the "import operation" of the "input mode", a correspondence is established between "mobile dispersing stirring" and "mobile stirring" as candidates, and can be selected arbitrarily. For the "reorganization operation" of the "input mode", a correspondence is established between "mobile dispersing stirring" and "mobile stirring" as candidates, and can be selected arbitrarily. For the "input operation" of the "input mode", a correspondence is established between "vertical stirring" as a candidate, and can be selected arbitrarily. On the other hand, for the "import operation" of the "import mode", a correspondence is established between "mobile dispersing stirring" and "mobile stirring" as candidates, and can be selected arbitrarily. For the "reorganization operation" of the "import mode", a correspondence is established between "vertical stirring" and "mobile stirring" as candidates, and can be selected arbitrarily.

[0107] In the present embodiment, the control unit 140 described later executes any one or more stirring methods from among the one or more stirring methods corresponding to candidates as the stirring method of the incinerated material G based on the setting accepted by the setting acceptance unit 150 described later or the detection results of one or more sensors (for example, based on one or more of the height of the garbage pile described later, the properties of the garbage (stirring progress, etc.), and the opening and closing status of the garbage introduction door 23, etc., described later) in each of the multiple operations corresponding to the import mode (for example, the import operation and the rearrangement operation) and each of the multiple operations corresponding to the input mode (for example, the import operation and the rearrangement operation).

[0108] For example, the control unit 140 establishes a correspondence between "vertical stirring" and "input operation", establishes a correspondence between "mobile stirring" and "import operation", and establishes a correspondence between "mobile stirring" and "rearrangement operation" based on the settings received by the setting receiving unit 150 or the detection results of one or more sensors. It should be noted that the control unit 140 can also execute any two or more stirring methods from a plurality of stirring methods that have established a correspondence as candidates in each operation. For example, the control unit 140 can establish a correspondence between "mobile stirring" and "vertical stirring" and "rearrangement operation" based on the settings received by the setting receiving unit 150 or the detection results of one or more sensors, and can also establish a correspondence between two or more "mobile stirring" and "rearrangement operation" and execute.

[0109] In the present embodiment, the operation setting unit 130 sets the "drop-in mode" or "import mode" as the operation mode for the plurality of cranes 30 within a predetermined time. For example, the operation setting unit 130 sets the "import mode" for the first crane 30A and the "drop-in mode" for the second crane 30B as the operation mode within the first time. On the other hand, the operation setting unit 130 sets the "drop-in mode" for the first crane 30A and the "import mode" for the second crane 30B as the operation mode within the second time. That is, in the present embodiment, the operation modes assigned to the first crane 30A and the second crane 30B are alternated with each other at every predetermined time (for example, daily).

[0110] In the present embodiment, only one of the plurality of cranes 30 is set as the "drop-in crane". That is, in the first time period, in both cases of receiving a drop-in request signal from the first hopper 11A and receiving a drop-in request signal from the second hopper 11B, the second crane 30B drops the incineration material G from the drop-in area into the first hopper 11A or the second hopper 11B. On the other hand, in the second time period, in both cases of receiving a drop-in request signal from the first hopper 11A and receiving a drop-in request signal from the second hopper 11B, the first crane 30A drops the incineration material G from the drop-in area into the first hopper 11A or the second hopper 11B.

[0111] <3.4 Control Unit>

[0112] Next, the control unit 140 will be described. The control unit 140 controls each of the plurality of cranes 30 based on a combination of the area utilization method set by the area function setting unit 120 and the operation pattern set by the operation setting unit 130 .

[0113] For example, the control unit 140 grasps the incineration objects G accumulated in the incineration source area and moves them to the first area A1 by combining the "introduction area" set for the first area A1 and the "introduction mode" set for the first crane 30A during the first time. In addition, the control unit 140 grasps the incineration objects G accumulated in the second area A2 and drops them into the hopper 11 by combining the "drop-in area" set for the second area A2 and the "drop-in mode" set for the second crane 30B during the first time. Therefore, during the first time, the crane 30 that performs the main operation in the first area A1 is limited to the first crane 30A, and the crane 30 that performs the main operation in the second area A2 is limited to the second crane 30B.

[0114] On the other hand, the control unit 140 grasps the incineration objects G accumulated in the first area A1 and puts them into the hopper 11 by combining the "drop-in area" set for the first area A1 and the "drop-in mode" set for the first crane 30A during the second time. In addition, the control unit 140 grasps the incineration objects G accumulated in the introduction source area and moves them to the second area A2 by combining the "introduction area" set for the second area A2 and the "introduction mode" set for the second crane 30B during the second time. Therefore, during the second time, the crane 30 that performs the main operation in the first area A1 is limited to the first crane 30A, and the crane 30 that performs the main operation in the second area A2 is limited to the second crane 30B.

[0115] Next, the function of the control unit 140 will be described in more detail.

[0116] Fig.11 1 is a block diagram showing a functional configuration of the control unit 140. The control unit 140 includes, for example, a garbage height calculation unit 141, a stirring frequency calculation unit 142, a volume specific gravity calculation unit 143, an evaluation value calculation unit 144, a selection unit 145, and an operation control unit 146.

[0117] (Garbage height calculation department)

[0118] The garbage height calculation unit 141 calculates the height of the incineration objects G accumulated in the garbage pit 21 (hereinafter referred to as “garbage pile height”) based on the detection result of the garbage height detection device 41. The garbage pile height is calculated for each of the plurality of sections R set in the garbage pit 21.

[0119] (Stirring times calculation unit)

[0120] The stirring frequency calculation unit 142 calculates the stirring frequency of the incineration object G based on, for example, the history of the stirring work performed by the crane 30 . The stirring frequency of the incineration object G is calculated for each of the plurality of sections R set in the garbage pit 21 .

[0121] (Volume specific gravity calculation part)

[0122] The volume specific gravity calculation unit 143 calculates the volume specific gravity of the incineration object G based on the weight information from the weight sensor 36 of the crane 30. The "volume specific gravity" is not the specific gravity inherent to the object, but is a specific gravity calculated based on the "weight per unit volume including voids". The volume specific gravity of the incineration object G is calculated for each of the plurality of partitions R set in the garbage pit 21.

[0123] (Evaluation value calculation unit)

[0124] The evaluation value calculation unit 144 calculates an evaluation value (hereinafter referred to as a "comprehensive evaluation value" for convenience of explanation) indicating the progress of the stirring in each section R, for example, based on the number of stirring times in each section R calculated by the stirring times calculation unit 142 and the volume specific gravity in each section R calculated by the volume specific gravity calculation unit 143. It should be noted that the evaluation value calculation unit 144 may calculate the comprehensive evaluation value in each section R based on image analysis performed on an image obtained by photographing the inside of the garbage pit 21, instead of / in addition to the number of stirring times and the volume specific gravity.

[0125] (Selection Department)

[0126] The selection unit 145 includes a work selection unit 145 a and a gripping position selection unit 145 b .

[0127] The operation selection unit 145a selects an operation suitable for each crane 30 from among the plurality of operations corresponding to the import mode and the input mode, respectively, according to the status of the garbage pit 21 or the incinerator 3, and switches the operation to be performed by each crane 30. For example, the operation selection unit 145a switches the operation to be performed among the plurality of operations corresponding to the import mode (for example, the import operation and the rearrangement operation) based on a request from the incinerator 3 (for example, a request from the hopper 11) or a detection result of one or more sensors provided in the incineration facility 1 (for example, based on one or more of the height of the garbage pile, the properties of the garbage (mixing progress, etc.), and the opening and closing status of the garbage import door 23, etc.). For example, the operation selection unit 145a switches the operation to be performed among the plurality of operations corresponding to the import mode based on a comparison between the detection result of the one or more sensors and a preset threshold value Ta.

[0128] Similarly, the operation selection unit 145a switches the operation to be performed among a plurality of operations (e.g., introduction operation, rearrangement operation, and introduction operation) corresponding to the introduction mode, based on a request from the incinerator 3 (e.g., a request from the hopper 11) or a detection result of one or more sensors installed in the incineration equipment 1 (e.g., based on one or more of the height of the garbage pile, the properties of the garbage (mixing progress, etc.), and the opening and closing status of the garbage introduction door 23. For example, the operation selection unit 145a switches the operation to be performed among a plurality of operations corresponding to the introduction mode, based on a comparison between the detection results of the above-mentioned one or more sensors and a preset threshold value Tb. The above content will be described in detail in the description of the control flow described later.

[0129] In addition, in the present embodiment, the operation selection unit 145a selects to execute at least one stirring method from one or more (for example, two or more) stirring methods with which a corresponding relationship has been established in each of the import operation and the reorganization operation in the import mode and the import operation and the reorganization operation in the input mode, based on the setting content received by the setting acceptance unit 150 described later or the detection results of the one or more sensors mentioned above (for example, based on one or more of the height of the garbage mountain, the properties of the garbage (mixing progress, etc.)).

[0130] For example, the operation selection unit 145a selects one or more stirring methods from two or more stirring methods based on the comparison between the detection results of the above one or more sensors and the preset threshold value Tc. For example, when the stirring progress of only a specific partition R is lower than a predetermined threshold value, vertical stirring for the specific partition R is selected. In addition, when the difference between the height of the garbage mountain of a certain partition R and the height of the garbage mountain of another partition R is greater than a predetermined threshold value, mobile stirring of moving the incinerated material G from one of the above two partitions R to the other is selected. In addition, in the case of improving the stirring progress of the entire area, vertical stirring and mobile stirring are inappropriate, etc., mobile dispersion stirring is selected.

[0131] The gripping position selection unit 145b selects a position for gripping the object G to be incinerated based on the detection results of the above-mentioned one or more sensors (for example, based on one or more of the height of the garbage pile, the properties of the garbage (mixing progress, etc.), and the opening and closing state of the garbage introduction door 23, etc.) when the object G to be incinerated is moved during the introduction operation, the reorganization operation, or the input operation. For example, the gripping position selection unit 145b selects a position for gripping the object G to be incinerated in the introduction source area when the object G to be incinerated is moved from the introduction source area to the introduction destination area. In addition, the gripping position selection unit 145b determines a position for gripping the object G to be incinerated in the introduction destination area or the input area when the object G to be incinerated is reorganized in the introduction destination area or the input area. In addition, the gripping position selection unit 145b selects a position for gripping the object G to be incinerated in the input area when the object G to be incinerated is input from the input area to the hopper 11. For example, the gripping position selection unit 145b selects a position for gripping the object to be incinerated G based on a comparison between the detection results of the one or more sensors and a preset threshold value Td.

[0132] (Motion Control Department)

[0133] The motion control unit 146 sends a control signal to the control panel of each crane 30 to execute the movement of each crane 30 and the gripping of the incineration object G. For example, the motion control unit 146 causes the crane 30 to perform the operation or mixing method selected by the operation selection unit 145a. In addition, the motion control unit 146 causes the crane 30 to move to the gripping position selected by the gripping position selection unit 145b and grip the incineration object G.

[0134] In addition, when there is a possibility of interference between multiple cranes 30, the motion control unit 146 determines the priority of multiple cranes 30 based on the type of work being performed or scheduled to be performed by each crane 30. And, the motion control unit 146 sends a retreat instruction to the crane 30 with a low priority among the multiple cranes 30 that may interfere, thereby avoiding interference between the cranes 30. As the priority set for the type of work, for example, "input work" has the highest priority, "import work" has the next higher priority, and "reorganization work" has a low priority. However, these priorities can also be replaced at any time according to the mixing progress of each area, the garbage height of the import source area, etc. The information indicating these priorities is recorded in the priority information DB163 of the storage unit 160.

[0135] <3.5 Setting the receiving unit>

[0136] Next, the setting acceptance unit 150 will be described.

[0137] The setting receiving unit 150 receives various settings designated by the operator by receiving setting information sent from the input device 51. The various settings include, for example, the type of index used for determination and selection and the size of various thresholds. The various thresholds include, for example, thresholds Ta and Tb for selecting a job to be executed from a plurality of jobs set corresponding to the import mode or the input mode; threshold Tc for selecting a stirring method to be executed from two or more stirring methods; and threshold Td for selecting a gripping position of the incineration object G. The above-mentioned various settings are recorded in the determination condition DB 164 of the storage unit 160.

[0138] The types of the above-mentioned indicators and various threshold values ​​(e.g., threshold values ​​Ta, Tb, Tc, Td) are set based on the equipment content of the incineration facility 1 (one or more of the waste inlet processing volume, furnace processing capacity, furnace configuration, number of furnaces, size of the waste pit, number of cranes, etc. of the incineration facility 1) or the operation policy of the incineration facility 1. In addition, when the equipment content or operation policy of the incineration facility 1 is changed, the types of the above-mentioned indicators and various threshold values ​​(e.g., threshold values ​​Ta, Tb, Tc, Td) are set again based on the changed equipment content or operation policy of the incineration facility 1.

[0139] In other words, when the equipment content or operation policy of the incineration equipment 1 is changed, the setting acceptance unit 150 can accept changes in the threshold values ​​Ta and Tb so that the selection result of the operation selection unit 145a that selects the operation to be executed from the multiple operations corresponding to the introduction mode or the input mode is different. In addition, when the equipment content or operation policy of the incineration equipment 1 is changed, the setting acceptance unit 150 can accept changes in the threshold value Tc so that the selection result of the operation selection unit 145a that selects the stirring method to be executed from the multiple stirring methods is different. In addition, when the equipment content or operation policy of the incineration equipment 1 is changed, the setting acceptance unit 150 can accept changes in the threshold value Td so that the selection result of the gripping position selection unit 145b that selects the gripping position that actually grips the incineration object G from the multiple gripping position candidates is different.

[0140] <3.6 Storage unit>

[0141] The storage unit 160 stores various information. For example, the storage unit 160 stores the above-mentioned area function DB 161, operation mode DB 162, priority information DB 163, and determination condition DB 164.

[0142] <4. Export of operation plan>

[0143] Next, the derivation of the operation plan of the crane 30 is described. In the present invention, the "operation plan" refers to a plan indicating the basic operation of the crane 30, and indicates a plan whose control content can be changed by changing the types of the above-mentioned indicators and various thresholds (for example, thresholds Ta, Tb, Tc, Td).

[0144] Fig.12 1 is a flowchart showing the flow of the operation planning method of the crane 30. First, a plurality of area utilization methods that can be set for a plurality of areas in the garbage pit 21 are recorded as the area function DB 161 (S101). The setting receiving unit 150 receives the record of the plurality of area utilization methods. As described above, the plurality of area utilization methods are not prepared for a specific incineration facility, but are operation modules of each area that are pre-modularized so as to be set for any incineration facility.

[0145] Next, a plurality of action modes that can be set for a plurality of cranes 30 are recorded as an action mode DB 162 (S102). The setting receiving unit 150 receives the record of the plurality of action modes. As described above, these action modes are not made for a specific incineration facility, but are action modules of each crane 30 that are pre-modularized in a manner that can be set for any incineration facility. A correspondence is established between a plurality of operation contents such as an import operation, a rearrangement operation, or a loading operation and each action mode. In addition, a correspondence is established between one or more (for example, two or more) mixing methods and a plurality of operation contents of each action mode.

[0146] Next, the operation plan of the plurality of cranes 30 is derived by selectively combining the plurality of area utilization methods and the plurality of action patterns according to the equipment content or operation policy of the incineration facility 1 (S103). In the present invention, the so-called "combination" is not limited to directly establishing a correspondence between the area utilization method and the action pattern, and may also include setting a specific area utilization method for a specific area, setting a specific action pattern for a specific crane 30, thereby specifying the crane 30 that mainly operates in the above-mentioned specific area, or limiting the area where the above-mentioned specific crane 30 moves, etc. The control unit 140 derives the operation plan of the plurality of cranes 30 based on the selective combination of the plurality of area utilization methods and the plurality of action patterns set according to the equipment content or operation policy of the incineration facility 1. In the present invention, the so-called "deriving the operation plan according to the equipment content or operation policy" includes, for example, setting the area utilization method for each specified time of the plurality of areas in the pit and the action pattern for the plurality of cranes according to the equipment content or operation policy, and specifying the operation plan of the plurality of cranes 30 by their combination. The so-called "according to the equipment content or operation policy" means, for example, setting the area utilization method and the crane operation mode based on one or more of the garbage inlet processing volume, furnace processing capacity, number of furnaces, size of the garbage pit, etc. included in the equipment content.

[0147] Next, the types of indicators and various threshold values ​​(e.g., threshold values ​​Ta, Tb, Tc, Td) for selecting (switching) the operation contents or stirring methods of the crane 30 in each operation mode according to the equipment contents or operation policy of the incineration facility 1 are recorded (S104). The setting receiving unit 150 receives the records of the types of indicators and various threshold values. Thus, the details of the control contents of the crane 30 in the operation plan are specified.

[0148] <5. Crane control flow>

[0149] Next, a description will be given of a flow of control of the crane 30. Here, first, a description will be given of a flow of control of the crane 30 in which the launching mode is set.

[0150] <5.1 Control of the crane in the start-up mode>

[0151] Figures 13 to 15 This is a flowchart showing the flow of control of the crane 30 in the drop-in mode. Hereinafter, the crane 30 in which the drop-in mode is set is referred to as a "drop-in crane 30T". On the other hand, the crane 30 in which the import mode is set is referred to as an "import crane 30U". In addition, in the following, the state in which the import destination area is set to the first area A1 and the drop-in area is set to the second area A2 is referred to as "area setting A". In addition, the state in which the drop-in area is set to the first area A1 and the import destination area is set to the second area A2 is referred to as "area setting B".

[0152] (Start working)

[0153] First, the selection unit 145 determines whether there is a charging request signal from the hopper 11 (S201). If there is no charging request signal from the hopper 11 (S201; No), the selection unit 145 determines that charging operation is unnecessary and proceeds to processing related to introduction operation or rearrangement operation.

[0154] On the other hand, when there is a feed request signal from the hopper 11 (S201; Yes), the selection unit 145 selects any one of the partitions R in the feed area whose comprehensive evaluation value or garbage height is greater than a predetermined reference value as the partition R for grasping the incineration material G (S202).

[0155] Next, the action control unit 146 sends an instruction to execute the "vertical stirring" corresponding to the input mode to the input crane 30T (S203). As a result, the section R selected in the process of S202 is vertically stirred. Next, the action control unit 146 sends an instruction to execute the "input operation" corresponding to the input mode to the input crane 30T (S204). As a result, the section R selected in the process of S202 grasps the incineration object G and puts the incineration object G into the hopper 11.

[0156] (Import Job)

[0157] like Fig.14 As shown, when the import operation is performed, the selection unit 145 determines whether there is a zone R whose garbage pile height is greater than or equal to a preset threshold value T1 among a plurality of zones R included in the import source area (for example, the exclusive import source area associated with the input crane 30T) (S301). When the determination result of S301 is negative (S301; No), the selection unit 145 determines that the import operation is not necessary and proceeds to the processing related to the rearrangement operation.

[0158] On the other hand, when the result of determination in S301 is positive (S301; Yes), the selection unit 145 performs the import operation. In this case, the selection unit 145 selects one of the multiple sections R determined in the process of S301, which has the highest garbage pile height (S302). It should be noted that, when there are multiple sections R with the same and highest garbage pile height, the section R closest to the input crane 30T is selected from the multiple sections R.

[0159] Next, the selection unit 145 selects a column including the partition R with the lowest garbage height in the import destination area (S303). Next, the action control unit 146 sends an instruction to execute the "movement, dispersion and mixing" corresponding to the rearrangement operation of the input mode to the input crane 30T (S304). As a result, the section R selected in the process of S302 grasps the incineration object G, and the grasped incineration object G is moved, dispersed and mixed along the column selected in S303. It should be noted that in this embodiment, when the incineration object G is moved from the exclusive import source area of ​​the input crane 30T to the import destination area, the import crane 30U is retreated. That is, the input crane 30T that performs the "import operation" included in the input mode takes priority over the import crane 30U that performs any operation included in the import mode.

[0160] (Reorganization work)

[0161] like Fig.15 As shown, when the reorganization operation is performed, the selection unit 145 determines whether there is a zone R whose garbage mountain height is greater than or equal to a preset threshold value T2 among the multiple zones R in the input area (S401). If there is no zone R whose garbage mountain height is greater than or equal to the threshold value T2 among the multiple zones R in the input area (S401; No), the selection unit 145 returns to the process of S201.

[0162] On the other hand, when there is a partition R with a garbage mountain height greater than or equal to the threshold value T2 among the multiple partitions R in the input area (S401; Yes), the selection unit 145 selects the partition R with the highest garbage mountain height from the multiple partitions R as a reorganization source candidate (S402). It should be noted that, when multiple partitions R with the same garbage mountain height are detected, the selection unit 145 selects one partition R with the highest comprehensive evaluation value from the multiple partitions R. It should be noted that, when multiple partitions R with the same and highest comprehensive evaluation values ​​are detected among the multiple partitions R, the selection unit 145 selects the partition R closest to the input crane 30T from the multiple partitions R with the same and highest comprehensive evaluation values.

[0163] Next, the selection unit 145 selects the partition R with the lowest garbage pile height from among the multiple partitions R in the loading area as a candidate for the reorganization destination (S403). It should be noted that, when multiple partitions R with the same garbage pile height are detected, the selection unit 145 selects one partition R with the lowest comprehensive evaluation value from the multiple partitions R. It should be noted that, when multiple partitions R with the same and lowest comprehensive evaluation values ​​are detected among the multiple partitions R, the selection unit 145 selects the partition R closest to the loading crane 30T from among the multiple partitions R with the same and lowest comprehensive evaluation values.

[0164] Here, when the introduction crane 30U is present in a predetermined area near the boundary between the introduction destination area and the delivery area (e.g., a partition R within 2 columns close to the boundary between the introduction area and the delivery area), the selection unit 145 selects the partition R of the rearrangement source candidate and the partition R of the rearrangement destination candidate from the plurality of partitions R in the delivery area excluding the predetermined area near the boundary between the introduction destination area and the delivery area (e.g., a partition R within 2 columns close to the boundary between the introduction area and the delivery area). In other words, the introduction crane 30U that performs any operation included in the introduction mode is given priority over the delivery crane 30T that performs the "rearrangement operation" included in the delivery mode.

[0165] Next, the motion control unit 146 sends an instruction for executing the "moving and mixing" operation corresponding to the rearrangement operation of the input mode to the input crane 30T (S404). As a result, the section R selected in the process of S402 grasps the incineration object G, and the grasped incineration object G is rearranged to the section R selected in the process of S403 by moving and mixing.

[0166] <5.2 Control of crane in import mode>

[0167] Next, the control of the introduction crane 30U will be described.

[0168] Fig.16This is a flowchart showing the control flow of the import crane 30U, and shows the flow of the "import operation" included in the import mode. The import operation performed by the import crane 30U is the same as the import operation performed by the input crane 30T, except that the incineration material G is moved from the partition R (partition R of the specific area) other than the exclusive import source area dedicated to the crane 30 set in the input mode in the import source area to the import destination area. Therefore, the description of the import operation performed by the import crane 30U only requires that "input crane 30T" be replaced with "import crane 30U" in the above description related to the import operation performed by the input crane 30T, and "the exclusive import source area corresponding to the input crane 30T" be replaced with "partition R of the specific area in the import source area".

[0169] In addition, regarding the description of the rearrangement work performed by the import crane 30U, it is only necessary to replace "entry crane 30T" with "import crane 30U" and replace "entry area" with "import destination area" in the above description related to the rearrangement work performed by the entry crane 30T.

[0170] The threshold values ​​T1 and T2 mentioned in the above description are threshold values ​​included in any one of the threshold values ​​Ta, Tb, Tc, and Td described above, and can be changed according to the facility contents or operation policy of the incineration facility 1 .

[0171] <5. Advantages>

[0172] In recent years, garbage pits are often horizontally long due to the placement of the rear-stage incinerators on the left and right. Multiple cranes are used to introduce, mix, and put in the incinerated materials G according to the amount of garbage introduced and the size of the incinerator. However, when multiple cranes are operated at the same time, there is a risk of interference between the cranes, making it difficult to automate the operation. In addition, the logic of controlling the automatic operation of the cranes, such as the amount of garbage introduced into the incineration facility, the furnace processing capacity, the furnace configuration, the number of furnaces, the size of the garbage pit, and the number of cranes, needs to be planned, studied, and changed for each incineration facility.

[0173] On the other hand, in this embodiment, the control device 100 includes an area function setting unit 120, an operation setting unit 130, and a control unit 140. The area function setting unit 120 sets an area utilization method within a predetermined time for each of the plurality of areas in the garbage pit 21 where the incineration objects G are stored. The operation setting unit 130 sets an operation mode for each of the plurality of cranes 30. The control unit 140 controls each of the plurality of cranes 30 based on a combination of the area utilization method set by the area function setting unit 120 and the operation mode set by the operation setting unit 130.

[0174] According to such a configuration, by predefining a plurality of area utilization methods and a plurality of operation modes, modularizing the control logic that becomes complicated each time depending on the scale of the target equipment, the number of equipment, etc., and deriving an operation plan by appropriately combining them, it is possible to easily automate the operation of a plurality of cranes 30. For example, by limiting the crane 30 that mainly operates in each area (or limiting the moving range of each crane 30) by the area utilization method and the operation mode, it is possible to reduce the risk of interference between the cranes 30. Thus, it is possible to easily automate the operation of a plurality of cranes 30.

[0175] As mentioned above, although the embodiment of the present invention is described in detail with reference to the drawings, the specific structure is not limited to this embodiment, and design changes and the like within the scope not departing from the gist of the present invention are also included.

[0176] Fig.17 11 is a hardware configuration diagram showing the configuration of a computer 1100 according to the present embodiment. The computer 1100 includes, for example, a processor 1110 , a main memory 1120 , an external memory (storage) 1130 , and an interface 1140 .

[0177] The functional units of the control device 100 are installed in the computer 1100. The operations of the functional units are stored in the form of programs in the external memory 1130. The processor 1110 reads the program from the external memory 1130 and expands it in the main memory 1120, and executes the above-mentioned processing according to the program. In addition, the processor 1110 ensures the storage area used by the functional units in the main memory 1120 according to the program.

[0178] The program may also be a program for realizing a part of the functions performed by the computer 1100. For example, the program may also perform functions by combining with other programs already stored in the external memory 1130, or by combining with other programs installed in other devices. In addition, the computer 1100 may also have a customized LSI (Large Scale Integrated Circuit) such as PLD (Programmable Logic Device) on the basis of the above structure or instead of the above structure. Examples of PLD include PAL (Programmable Array Logic), GAL (Generic Array Logic), CPLD (Complex Programmable Logic Device), and FPGA (Field Programmable Gate Array). In this case, part or all of the functions implemented by the processor 1110 may be implemented by the integrated circuit.

[0179] Examples of the external memory 1130 include a magnetic disk, a magneto-optical disk, and a semiconductor memory. The external memory 1130 may be an internal medium directly connected to the bus of the computer 1100, or an external medium connected to the computer 1100 via the interface 1140 or a communication line. In addition, when the program is sent to the computer 1100 via the communication line, the computer 1100 that receives the sent information may also expand the program in the main memory 1120 and execute the above-mentioned processing. In addition, the program may also be a program for realizing a part of the aforementioned functions. Moreover, the program may also be a program that realizes the aforementioned functions by combining with other programs already stored in the external memory 1130, that is, a so-called difference file (difference program).

[0180] <Note>

[0181] The control system and the operation planning method described in each embodiment can be understood as follows, for example.

[0182] (1) The control system of the first embodiment includes: an area function setting unit 120 that sets an area utilization method within a predetermined time for each of the plurality of areas in a pit (e.g., a garbage pit 21) where the incineration material G is stored; an operation setting unit 130 that sets an operation mode for each of the plurality of cranes 30; and a control unit 140 that controls each of the plurality of cranes 30 based on a combination of the area utilization method set by the area function setting unit 120 and the operation mode set by the operation setting unit 130. According to such a configuration, an operation plan is derived by combining the area utilization method and the operation mode, and the operation automation of the plurality of cranes 30 can be easily performed. For example, by limiting the crane 30 that mainly operates in each area (or limiting the movement range of each crane 30) using the area utilization method and the operation mode, the risk of interference between the cranes 30 can be reduced.

[0183] (2) Control system of the second scheme Based on the control system of the first scheme, the plurality of areas include at least the first area A1 and the second area A2, and as a method of using the areas in the first time, the area function setting unit 120 sets the import destination area for suppressing the introduction of the incineration material G into the hopper 11 and introducing the incineration material G to the first area A1, and sets the input area for the incineration material G into the hopper 11 to the second area A2, and as a method of using the areas in the second time different from the first time, the area function setting unit 120 sets the input area to the first area A1, and sets the import destination area to the second area A2. According to such a structure, the operation of the crane 30 can be distinguished and managed in the area related to the introduction and the area related to the input. As a result, the operation automation of the plurality of cranes 30 can be more easily performed. For example, the risk of interference between the cranes 30 can be further reduced.

[0184] (3) Control system of the third embodiment In the control system of the first embodiment or the second embodiment, the plurality of cranes 30 include at least a first crane 30A and a second crane 30B. As the operation mode in the first time, the operation setting unit 130 sets an introduction mode for suppressing the introduction of the incineration material G into the hopper 11 and introducing the incineration material G to the first crane 30A, and sets a delivery mode for the second crane 30B to deliver the incineration material G into the hopper 11. As the operation mode in the second time, the operation setting unit 130 sets the delivery mode for the first crane 30A and sets the introduction mode for the second crane 30B. According to such a configuration, the operation of the crane 30 can be managed by distinguishing between the crane responsible for introduction and the crane responsible for delivery. As a result, the operation automation of the plurality of cranes 30 can be performed more easily. For example, the risk of interference between the cranes 30 can be further reduced.

[0185] (4) The control system of the fourth embodiment is based on the control system of the third embodiment, wherein a plurality of operations including an introduction operation of introducing the incineration material G and a reforming operation of reforming the incineration material G in the introduction destination area are associated with the introduction mode, a plurality of operations including an introduction operation of introducing the incineration material G into the hopper 11 and a reforming operation of reforming the incineration material G in the introduction area are associated with the introduction mode, and the control unit 140 switches the operation to be executed among the plurality of operations associated with the introduction mode based on a request from the incinerator 3 or a detection result of one or more sensors for the crane 30 set to the introduction mode, and the control unit 140 switches the operation to be executed among the plurality of operations associated with the introduction mode based on a request from the incinerator 3 or a detection result of one or more sensors for the crane 30 set to the introduction mode. According to such a configuration, a plurality of operations are defined corresponding to the operation mode, and the control to be actually executed is switched based on a request from the incinerator 3 or a detection result of one or more sensors. Thereby, the crane 30 can be more easily automated.

[0186] (5) The control system of the fifth scheme is based on the control system of the fourth scheme, and further includes a setting receiving unit 150 capable of receiving settings made by an operator, and for at least one of the plurality of operations corresponding to the above-mentioned introduction mode or the above-mentioned input mode, based on the setting received by the setting receiving unit 150 or the detection results of the above-mentioned one or more sensors, one or more of vertical stirring, mobile stirring, and mobile dispersion stirring are performed as stirring methods of the incineration material G. According to such a structure, it is possible to perform a combination (for example, appropriately reorganized) of any predefined stirring methods for the above-mentioned at least one operation. As a result, the automatic operation of the crane 30 can be performed more easily.

[0187] (6) The operation planning method involved in the sixth aspect is an operation planning method for a plurality of cranes 30 operating in a storage unit 2 for incineration materials G, wherein the operation planning method includes causing a computer to perform the following steps: recording a plurality of area utilization methods that can be set for a plurality of areas in a pit (e.g., a garbage pit 21) of the storage unit 2; recording a plurality of action patterns that can be set for the plurality of cranes 30; and deriving an operation plan for the plurality of cranes 30 by selectively combining the plurality of area utilization methods and the plurality of action patterns according to the equipment content or operation policy of the storage unit 2. According to such a structure, the operation plan can be derived by combining the area utilization method and the action pattern, and the operation automation of the plurality of cranes 30 can be easily performed. For example, by limiting the crane 30 that mainly operates in each area using the area utilization method and the action pattern, the risk of interference between the cranes 30 can be reduced.

[0188] Industrial Applicability

[0189] According to the present invention, the operation automation of a plurality of cranes can be easily performed.

[0190] Description of Reference Numerals

[0191] 1…Incineration equipment

[0192] 2…Storage

[0193] 3…Incinerator

[0194] 11…Hopper

[0195] 11A…First Hopper

[0196] 11B…Second hopper

[0197] 21…Garbage Pit

[0198] 30…Crane

[0199] 30A…First Crane

[0200] 30B…Second crane

[0201] 100…Control device (control system)

[0202] 110…Information Acquisition Department

[0203] 120…Regional function setting unit

[0204] 130…Action setting unit

[0205] 140…Control Department

[0206] 141…Garbage Height Calculation Department

[0207] 142…Stirring frequency calculation unit

[0208] 143…Volume specific gravity calculation section

[0209] 144…Evaluation value calculation unit

[0210] 145…Selection Department

[0211] 146…Motion Control Department

[0212] 150 ...Setting receiving unit.

Claims

1. A control system, wherein: The control system comprises: An area function setting unit for setting area utilization methods within a predetermined time for each of a plurality of areas in a pit where the incinerated material is stored; an action setting unit for setting action modes for each of the plurality of cranes; as well as a control unit that controls each of the plurality of cranes based on a combination of the area utilization method set by the area function setting unit and the operation mode set by the operation setting unit, The plurality of regions include at least a first region and a second region, As the area utilization method in the first time, the area function setting unit sets the introduction destination area for suppressing the incineration material from being put into the hopper of the incinerator and introducing the incineration material in the first area, and sets the input area for inputting the incineration material into the hopper in the second area, As the area utilization method in a second time period different from the first time period, the area function setting unit sets the entry area in the first area and sets the introduction destination area in the second area.

2. The control system according to claim 1, wherein: The plurality of cranes include at least a first crane and a second crane, As the operation mode during the first time, the operation setting unit sets an introduction mode for suppressing the introduction of the incineration object into the hopper and introducing the incineration object for the first crane, and sets a loading mode for loading the incineration object into the hopper for the second crane, The operation setting unit sets the input mode for the first crane and sets the introduction mode for the second crane as the operation mode during the second time.

3. The control system according to claim 2, wherein: A plurality of operations including an import operation for importing the incineration object and a reforming operation for reforming the incineration object are associated with the import mode. A plurality of operations including an operation of feeding the incineration material into the hopper and an operation of reforming the incineration material are associated with the feeding pattern. Regarding the crane set in the introduction mode among the plurality of cranes, the control unit switches the operation to be performed among the plurality of operations corresponding to the introduction mode based on a request from the incinerator or a detection result of one or more sensors, Regarding the crane for which the input mode is set among the plurality of cranes, the control unit switches the work to be performed among the plurality of works associated with the input mode based on a request from the incinerator or a detection result of the one or more sensors.

4. The control system according to claim 3, wherein: The control system further includes a setting receiving unit capable of receiving settings made by an operator. For at least one of the multiple operations that have established a correspondence with the import mode or the input mode, based on the setting received by the setting receiving unit or the detection results of the one or more sensors, one or more of vertical stirring, moving stirring, and moving dispersed stirring are performed as the stirring method of the incinerated object.

5. An operation planning method for a plurality of cranes operating in a storage unit for incinerated materials, wherein: The operation planning method includes causing a computer to execute the following steps: recording a plurality of area utilization methods capable of setting a plurality of areas within the pit of the storage portion; recording a plurality of action modes that can be set for the plurality of cranes; as well as According to the equipment content or operation policy of the storage unit, the plurality of area utilization methods and the plurality of action patterns are selectively combined to derive the operation plans of the plurality of cranes, The plurality of regions include at least a first region and a second region, The multiple area utilization method includes the following processing: As a method of utilizing the area in the first time, setting the introduction destination area for suppressing the introduction of the incineration material into the hopper of the incinerator and introducing the incineration material in the first area, and setting the introduction area for introducing the incineration material into the hopper in the second area; as well as As the area utilization method in a second time period different from the first time period, the entry area is set in the first area, and the introduction destination area is set in the second area.

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