Control device and control method

Abstract

A crane control device capable of reducing standby time while enabling a crane to perform a high-priority job. The control device performs the following processing: acquires a state signal indicating the state of refuse in a pit and a hopper; refers to a table in which the action that the first crane should perform is associated with the action of the second crane that can interfere with the first crane as a determination target, and is arranged in priority order according to the state of the refuse in the pit and the hopper, based on the action of the second crane and the state signal; sequentially selects the action that the first crane should perform from the higher priority; and determines whether the selected action interferes with the second crane, and determines the action as the action of the first crane in the case where there is no interference.

Description

Technical Field

[0001] This invention relates to a control device and control method for a crane. The invention claims priority to Japanese Patent Application No. 2024-013365, filed January 31, 2024, the contents of which are incorporated herein by reference. Background Technology

[0002] Patent document 1 discloses a crane operation control device that, for multiple cranes located on the same track, generates a scheduling scheme that minimizes crane downtime while achieving non-interference actions between cranes based on the handling command data of each crane. If this technology is applied to a waste treatment plant to control multiple cranes feeding waste into the incinerator, the crane operating rate can be improved by minimizing downtime. However, minimizing only the downtime of cranes may require postponing tasks that need to be prioritized.

[0003] Previous technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 8-282968 Summary of the Invention

[0006] The technical problem to be solved by the invention

[0007] This invention provides a crane control method that enables the crane to perform high-priority tasks as much as possible while reducing the crane's standby time.

[0008] The present invention provides a control device and control method that can solve the above-mentioned problems.

[0009] means for solving technical problems

[0010] According to one aspect of the present invention, a control device is provided for controlling multiple cranes for feeding waste stored in a pit into a hopper of an incinerator. The control device comprises: a table that establishes a correspondence between actions to be performed by a first crane and actions of a second crane that may interfere with the first crane, which is the object of action determination, and arranges them in priority order according to the state of the waste in the pit and the hopper; an acquisition unit that acquires state signals indicating the state of the waste in the pit and the hopper; and an action determination unit that, based on the action of the second crane and the state signals, refers to the table, sequentially selects the action to be performed by the first crane from the highest priority, determines whether the selected action interferes with the second crane, and, if no interference occurs, determines the selected action as the action of the first crane.

[0011] According to one aspect of the present invention, a control method is provided for multiple cranes that feed waste stored in a pit into a hopper of an incinerator. The control method includes the following steps: acquiring a status signal indicating the state of the waste in the pit and the hopper; referring to a table that establishes a correspondence between the actions of the first crane and the actions of the second crane, based on the actions of a second crane that may interfere with the actions of a first crane (as the object of action determination), and the status signal, and arranging them in priority order according to the state of the waste in the pit and the hopper; sequentially selecting the actions to be performed by the first crane from the highest priority; and determining whether the selected action interferes with the second crane, and if no interference occurs, determining the action as the action of the first crane.

[0012] Invention Effects

[0013] Based on the control device and control method described above, it is possible to enable the crane to perform high-priority operations as much as possible while reducing the crane's standby time. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of a waste treatment plant involved in the implementation method.

[0015] Figure 2 This is a diagram illustrating an example of an action determination table involved in an implementation method.

[0016] Figure 3 Figure 1 illustrates an example of crane operation according to the implementation method.

[0017] Figure 4 Figure 2 illustrates an example of crane operation involved in the implementation method.

[0018] Figure 5 Figure 3 illustrates an example of crane operation involved in the implementation method.

[0019] Figure 6 Figure 4 illustrates an example of crane operation involved in the implementation method.

[0020] Figure 7 This is a flowchart illustrating an example of the crane operation determination process involved in the implementation method.

[0021] Figure 8 This is a diagram illustrating an example of the hardware structure of the control device in an implementation method. Detailed Implementation

[0022] <Implementation Method>

[0023] The following is for reference Figures 1 to 8 The control method for the crane in the waste treatment plant of the present invention will be described.

[0024] (structure)

[0025] Figure 1 This is a schematic diagram of a waste treatment plant involved in the implementation method.

[0026] like Figure 1 As shown, the waste treatment plant 100 includes a crane system 1, a pit 2, a hopper 3, and a control device 10. Waste transported to the waste treatment plant 100 is put into the pit 2 and stored in the pit 2. Figure 1 This is a schematic diagram of the hopper 2 viewed from above. Cranes C1 and C2 are installed in the crane system 1 to perform actions such as mixing or transporting waste. Cranes C1 and C2 are configured to move on tracks R1 and R2, but cannot move to the right of the paper by moving crane C1 past crane C2, or move crane C2 to the left of crane C1. The various actions of the crane system 1 are controlled by a control device 10. The control device 10 enables cranes C1 and C2 to move in the left-right, up-down, and depth directions of the paper, and to perform various actions as shown below. Cranes C1 and C2 include buckets for grabbing waste. By using the buckets to grab waste from the hopper 2 and drop it down to mix the waste, the quality or state of the waste is homogenized. If the waste becomes suitable for incineration through mixing, cranes C1 and C2 use their buckets to grab the waste and transport it to hoppers 3a and 3b, and then put the grabbed waste into hoppers 3a and 3b. Hoppers 3a and 3b temporarily store the garbage that is fed into the incinerator and supply garbage to the incinerator (not shown).

[0027] More specifically, waste transported by a transport vehicle is deposited into area 2c of pit 2, and then transported to area 2a or area 2b by cranes C1 and C2. Doors 4a to 4d are installed on the wall near area 2c, allowing waste to be deposited into area 2c from the transport vehicle only when doors 4a to 4d are open. Areas 2a and 2b alternate their functions daily; for example, on one day, area 2a serves as the source of waste to be deposited into hoppers 3a and 3b, while area 2b receives waste from the transport vehicle. On the next day, waste deposited into area 2c is transported to area 2a, and waste from area 2b is deposited into hoppers 3a and 3b. To prevent interference from cranes C1 and C2 when waste is being deposited into hoppers 3a and 3b, it is stipulated that crane C1 deposits waste into hopper 3a, and crane C2 deposits waste into hopper 3b. Interference between cranes C1 and C2 is determined by the lateral distance between their respective planes. The horizontal axis of the paper is designated as rows, and the vertical axis as columns. For example, if the material pit 2 is divided into 8 rows (A to H) and 14 columns (1 to 14), the control device moves the cranes C1 and C2 until the interval between their columns is two columns. If they move any closer, interference is considered to have occurred. The control device 10 controls the cranes C1 and C2 such that the interval between them is more than two columns. Each area of ​​the material pit 2 divided into 8 rows and 14 columns is called a cell. For example, the cell in row A, column 1 is recorded as cell (A, 1). Figure 1 In the example of material pit 2, area 2a is defined as a range of 5 cells x 5 cells in rows A to E and columns 9 to 13, and area 2b is defined as a range of 5 cells x 5 cells in rows A to E and columns 3 to 7. However, these are just examples, and the positions or ranges of areas 2a and 2b can be arbitrarily set by the user. Next, the main operations of cranes C1 and C2 will be explained.

[0028] (Input)

[0029] Sensors measuring the height of waste in hoppers 3a and 3b are installed to indicate the amount of waste remaining in the hoppers. If the waste height falls below a certain level, the amount of waste supplied to the incinerator (not shown) becomes insufficient. This level is called Level 1. Level 1 indicates a state where waste must be added. For example, if the waste height in hopper 3a reaches Level 1, control device 10 controls crane C1 to add waste from pit 2 into hopper 3a. The same applies to hopper 3b. If the waste height in the hopper reaches a certain level or higher, no more waste needs to be added. This height is called Level 3. Level 3 indicates a state where no waste needs to be added. For example, if the waste height in hoppers 3a and 3b reaches Level 3, control device 10 does not add waste to hoppers 3a and 3b. If the waste height in the hopper falls below a predetermined height that is higher than Level 1 but lower than Level 3, waste can be added. This height is called Level 2. Level 2 indicates a state where waste can be added. For example, if the waste height in hopper 3a reaches level 2, then control device 10 may add waste to hopper 3a if there are no other high-priority actions. Regarding which cell in area 2a, etc., to add waste to hopper 3a, etc., the selection is made from cells whose comprehensive evaluation point, calculated and managed on a per-cell basis, is higher than a predetermined threshold. This selection considers factors such as minimal interference, short addition time, and highest comprehensive evaluation point. The waste from the selected cell is then added to hopper 3a, etc.

[0030] (take over)

[0031] The height of the waste in each cell of the pit 2 is managed. For example, sensors measuring the height of the waste in each cell are installed on the walls, ceiling, and overhead space of the pit 2. The height can be measured by these sensors or estimated based on the amount of waste transported by cranes C1 and C2. If the height of the waste in zone 2c (or the height of the waste in row H of zone 2c) exceeds a predetermined threshold, it will affect the input of waste from the transport vehicle, so it needs to be quickly moved to another location within the pit 2. For example, when the height of the waste in cell (H, 8) exceeds the threshold, and zone 2b serves as the receiving destination for waste input from the transport vehicle, the control device 10 moves crane C1 or crane C2 to cell (H, 8) to transport the waste from cell (H, 8) to zone 2 (only when doors 4a to 4d are closed). This action is called "receiving". Receiving is not performed when doors 4a to 4d are open and waste can be input; therefore, receiving is only performed when the waste height exceeds the threshold and doors 4a to 4d are closed. Upon receiving waste, for example, control device 10 calculates the average height of waste in each column of region 2b based on the height of waste in each cell of region 2b, selects the column with the lowest average waste height, and evenly pours the waste transported from cell (H, 8) into the entire selected column. The height of waste in each cell after pouring is determined by measurement or calculation and managed. A comprehensive evaluation point representing the agitation state of waste in each cell after pouring is calculated, and the comprehensive evaluation point is managed for each cell. Any method can be applied to calculate the comprehensive evaluation point. For example, it can be calculated using a formula that assigns a higher comprehensive evaluation point based on the number of agitations.

[0032] (Stirring)

[0033] Waste stored in zones 2a and 2b is agitated to make each cell uniformly suitable for combustion. Agitation is performed, for example, by cranes C1 and C2 grabbing waste from a cell and dropping it into the same cell, or by moving it to another cell and dropping it. Each time agitation occurs, the overall evaluation point of that cell is updated. Agitation is prioritized for cells with low overall evaluation points; cells with overall evaluation points above a predetermined threshold indicating a state suitable for feeding into hoppers 3a and 3b are not agitated. Compared to feeding or receiving, agitation is generally considered a lower priority action. When feeding or receiving is not required, the control device 10 searches for cells in zones 2a and 2b with overall evaluation points below the threshold and agitates them.

[0034] The control device 10 includes a signal acquisition unit 11, an action determination unit 12, a control unit 13, and a storage unit 14. The signal acquisition unit 11 acquires signals including the waste height of hoppers 3a and 3b, the waste height of area 2c, and the waste height of each cell in the pit 2. The signal acquisition unit 11 receives signals including the latest waste height in real time and records the waste height information included in the received signals to the storage unit 14. The action determination unit 12 determines the actions ("feeding," "receiving," "stirring," etc.) assigned to cranes C1 and C2 respectively. The action determination unit 12 determines the highest priority action among the actions that can be performed without interference from cranes C1 and C2. The action determination unit 12 calculates the comprehensive evaluation point of each cell using a prescribed method and records the calculation results to the storage unit 14. The control unit 13 controls cranes C1 and C2 according to the actions determined by the action determination unit 12. The storage unit 14 stores the information acquired by the signal acquisition unit 11 (the height of garbage in the hopper, the height of garbage in each cell), the comprehensive evaluation points of each cell, the priority of the actions to be explained next, and the "action determination table" that takes into account interference with other cranes.

[0035] Figure 2An example of an action determination table is shown. The action determination unit 12 refers to the action determination table 200 to determine the actions of cranes C1 and C2. As shown, the action determination table 200 has items such as "serial number", "other crane actions", "priority order of crane actions as objects", and "conditions". Other cranes refer to cranes that may interfere with the cranes as objects of the determined actions (called object cranes). When determining the action of crane C1, the other crane is crane C2, and when determining the action of crane C2, the other crane is crane C1. Conditions refer to the conditions used to determine the actions of object cranes. For example, in the scenario of determining the action of crane C1, if crane C2 performs an input action, then actions numbered 1 to 5, namely, input (continuous), input (segmented), receiving (continuous), receiving (segmented), and stirring, become candidates for actions assigned to crane C1. The priority of actions numbered 1 to 5 is set in the value set in the left column of "priority order of crane actions as objects". In this example, input (continuous) has the highest priority, and stirring has the lowest priority. However, if the conditions set in the "Conditions" are not met, then regardless of the priority of the action, it will not be selected as the action for crane C1. For example, if the current waste height in hopper 3a is level 3, then input (continuous) and input (segmentation) at sequence numbers 1 and 2 are excluded from the candidates for actions assigned to crane C1. If the conditions for sequences 3 to 5 are met, then the actions assigned to crane C1 are studied from sequences 3 to 5 in order of priority. Specifically, the study refers to whether there is interference with crane C2. (Refer to...) Figure 3 The interference between cranes C1 and C2 will be explained. For example, suppose crane C2 performs the action of feeding garbage from cell (A, 9) into hopper 3b. At this time, if the garbage height in hopper 3a is level 3, the garbage height in cell (H, 9) is above the threshold, and doors 4a-4d are closed, then the action determination unit 12, referring to the action determination table 200, intends to assign the received action to crane C1. However, if crane C1 is moved to cell (H, 9), the distance between crane C2 and crane C1, which exist in the same 9 columns, is less than 2 columns, causing interference. In this case, the action determination unit 12 does not select the receiving (continuous) of sequence number 3 or the receiving (segmented) of sequence number 4. If there is a cell with a comprehensive evaluation point below the threshold, then the stirring of that cell will be determined as the action of crane C1. (If there is no such cell, crane C1 will not act.)

[0036] The continuity or segmentation of input or reception refers to whether these actions are performed continuously or separately. Figure 4 The image shows an example of a continuous (engagement) action. For ease of explanation, in... Figure 4In this context, region 2a is defined as rows A to E and columns 7 to 13, and region 2b is defined as rows A to E and columns 3 to 5. Region 2a is the area for input, and region 2b is the area for receiving. Assume that crane C2 performs the receiving action of transporting waste from cell (H, 2) to column 4. At this time, the movement range of crane C2 is columns 2 to 4. On the other hand, if the waste height in hopper 3a reaches level 1, and there is a cell (E, 7) with the highest comprehensive evaluation point within the range that does not interfere with crane C2, the action determination unit 12 refers to action determination table 200, and from numbers 6-12, first selects input (continuous) at number 6 as the action assigned to crane C1, and studies whether there is interference with crane C2. Assume that the current crane C1 is located in cell (B, 12). In order to dispose of the waste in cell (E, 7) into hopper 3a, crane C1 must move from column 12 to column 7 to grab the waste in cell (E, 7) and transport it to hopper 3a. However, during this period, the movement range of crane C1 is from column 7 to column 12, and even when it is closest to crane C2, it is still more than two columns away from crane C2. Therefore, the action determination unit 12 determines to assign the highest priority action number 6 to crane C1. The control unit 13 moves crane C1 from cell (B, 12) to cell (E, 7), grabs the waste in cell (E, 7) and transports it to hopper 3a, and continuously performs the action of disposing of the grabbed waste into hopper 3a. This is the disposing (continuous) action. The same applies to the receiving (continuous) action. For example, in this case, crane C2 performs the following actions in a continuous sequence: moving from cell (A, 4) to cell (H, 2) to grab the garbage, then carrying the garbage to cell (E, 4), and simultaneously dumping the garbage evenly while moving from cell (E, 4) to cell (A, 4). This action is called receiving (continuous).

[0037] Next, refer to Figure 5 The receiving (segmentation) process will be explained. This time, we assume a scenario where crane C1 is in the process of being put into operation and the motion determination unit 12 determines the motion of crane C2. Specifically, assume that crane 1 performs the following actions: moves from cell (B, 12) to cell (E, 7), grabs the waste from cell (E, 7) and puts it into hopper 3a, and returns to the original cell (B, 12). In this case, the motion determination unit 12 also refers to... Figure 2The action determination table 200 determines the action of crane C2. In this example, the other crane is crane C1. Since crane C1 is in operation, the action determination unit 12 determines the action of crane C2 from numbers 1 to 5 according to priority. Now, assume that hopper 3b is level 3. Assume that the garbage height of cell (H, 2) is above the threshold and doors 4a to 4d are closed, and area 2a is the garbage receiving destination, in which the average garbage height in column 9 is relatively lower than that of other columns. Therefore, the action determination unit 12 selects the receiving (continuous) of garbage in cell (H, 2) in column 9 as a candidate for the action of crane 2, and determines whether there is any interference. Figure 5 As shown, if crane 2 performs the aforementioned receiving action, it interferes with crane 1 when moving the waste from cell (H, 2) to column 9 and when importing the waste into column 9. Therefore, the action determination unit 12 determines whether interference occurs if it abandons receiving sequence number 3 (continuous) and instead receives sequence number 4 (segmented), which has the next higher priority. Here, segmentation means that, regardless of whether it is receiving or loading, the first half of the action is defined as moving from the current position to the cell where the waste is grabbed and picking up the waste in that cell, and the second half of the action is defined as moving the grabbed waste to the destination and performing the target action (e.g., loading it into hopper 3a or scattering it into the column where the receiving destination is located). A standby time is set between the first and second halves of the action to prevent interference. Figure 5 In the example case, crane C2 moves from cell (A, 4) to cell (H, 2) and remains idle while picking up trash from cell (H, 2) (first half). If crane C1 feeds trash into hopper 3a and returns to cell (B, 12), even if crane 2C moves to column 9, the distance between it and crane C1 can be separated by two columns, so no interference occurs. Therefore, the action determination unit 12 will receive (segment) the action determined as that of crane C2. More specifically, the action determination unit 12 determines the action of crane C2 as follows: remaining idle while moving from cell (A, 4) to cell (H, 2) and picking up trash; and performing the second half of the action, such as transporting the picked-up trash to column 4 and scattering it, after crane C1 returns to cell (B, 12).

[0038] The same applies to the input (segmentation) process. Assume it is done through segmentation. Figure 5The deployment of crane C1 creates a situation where interference with crane C2 can be avoided. In this case, crane C1 moves from cell (B, 12) to cell (E, 7), picks up the waste and waits. Once interference with crane C2 is no longer present, it moves from cell (E, 7) to hopper 3a and dumps the waste into hopper 3a. While this segmentation increases the total operation time, compared to performing the same action continuously from waiting until interference is completely eliminated, performing a portion of the action first reduces waiting time and allows the receiving or dumping operation to end earlier. If interference can be avoided by waiting in the first half of the action, higher-priority tasks can be prioritized, rather than performing lower-priority tasks to avoid interference.

[0039] When garbage is fed into the incinerator (not shown), the motion determination unit 12 determines the cell of the input source to ensure uniform garbage quality. This is done to prevent the next layer of garbage from being grabbed until an entire layer in the garbage-grabbing area (area 2a or area 2b, for example, rotated daily) is completely removed. Figure 6 The image shows an example of a method for disposing of waste. Figure 6 (a) is a diagram of cells (A, 9) to (A, 13) of region 2a viewed from the side. For example, as shown in the diagram, cells (A, 9) to (A, 13) consist of three layers in the vertical direction, with the top layer designated as layer 1, the next layer as layer 2, and so on. As waste accumulates, the properties of the waste will vary depending on each layer. By feeding waste into each layer, the waste supplied to the incinerator can be homogenized, and the combustion of waste in the incinerator can be stabilized. The action determination unit 12 selects, for example, layer 1 ("(A, 13)-1") of cell (A, 13) as the input source based on a comprehensive evaluation point. Figure 6 (b) Even when the overall evaluation point of cell (A, 13) in the second layer ("(A, 13)-2") is higher than that of other cells in the first layer, such as Figure 6 As shown in (c), the motion determination unit 12 also selects the next input source from the first layer of cells (A, 9) to (A, 12). Figure 6 As shown in (d), if all the waste in the first layer is put in, the action determination unit 12 selects, for example, the cell with the highest comprehensive evaluation point from the second layer, and determines that the waste in the selected cell will be put into the hopper 3a, etc. Regarding the layer of each cell, the action determination unit 12 calculates based on the information of the waste height of each cell obtained by the signal acquisition unit 11.

[0040] (action)

[0041] Next, use Figure 7 The operation of the control device 10 will be explained.

[0042] Figure 7 This is a flowchart illustrating an example of the crane operation determination process according to the embodiment. As a prerequisite, the storage unit 14 stores an operation determination table 200 and comprehensive evaluation points for each cell of the material pit 2. The signal acquisition unit 11 acquires information on the waste height of hoppers 3a and 3b and the waste height of each cell of the material pit 2 at predetermined time intervals. The crane for which the operation is to be determined is designated as crane C1, and other cranes are designated as crane C2. The operation determination unit 12 confirms the operation of crane C2 (step S1). For example, the operation determination unit 12 reads the operation of crane C2, which it determined one control step prior, from the storage unit 14. Next, the operation determination unit 12 confirms the state of waste in the material pit 2 or hoppers 3a and 3b (step S2). For example, the operation determination unit 12 reads the latest information on the waste height of hoppers 3a and 3b and the waste height of area 2c acquired by the signal acquisition unit 11 from the storage unit 14. The operation determination unit 12 reads the comprehensive evaluation points for each cell of the material pit 2 from the storage unit 14. Information indicating the status of this waste is used when referring to the action determination table 200. Next, the action determination unit 12 refers to the action determination table 200 and selects one candidate action for crane C1 in priority order (step S3). For example, if the action of crane C2 is to feed, the waste height of hopper 3a is level 2, the waste height of any cell in area 2c is above the threshold and doors 4a-4d are closed, and the comprehensive evaluation point of any cell in areas 2a and 2b is below the threshold, then... Figure 2 Numbers 1 to 5 become candidates for actions assigned to crane C1. The action determination unit 12 selects the highest priority number 1 for input (continuous). Next, the action determination unit 12 determines whether the selected action interferes with the input action of crane 2 (step S4). For example, the action determination unit 12 selects all cells in region 2a or region 2b that are sources of waste input, where the comprehensive evaluation point is above the threshold, and calculates the movement range when inputting waste from the selected cells into hopper 3a for each cell. The action determination unit 12 compares the movement range of crane 1 with that of crane 2, calculating whether the distance between the columns where crane 1 and crane 2 are closest is less than 2 columns. If it is less than 2 columns, interference is determined; if it is 2 columns or more, interference is determined not to occur. For example, the action determination unit 12 makes the same judgment on all cells with a comprehensive evaluation point above the threshold. If there are fewer than 2 columns in all cells, it is determined that interference has occurred. If there is only one cell with more than 2 columns, it is determined that no interference has occurred. In the next step S6, the input of garbage from that cell to the hopper 3a can be allocated to the crane 1.

[0043] Without interference (step S4; none), the motion determination unit 12 determines the motion selected in step S3 as the motion of crane 1 (step S6). For example, the motion determination unit 12 determines the cell of the waste input source and the motion "input (continuous)". The motion determination unit 12 instructs the determined motion to the control unit 13 (step S7). The control unit 13 controls crane C1 according to the determined motion.

[0044] In the event of interference (step S4; yes), the motion determination unit 12 determines whether all candidate actions have been selected (whether all candidate actions have been selected in step S3) (step S5). If all have been selected (step S5; yes), the motion determination unit 12 determines not to move the crane C1. In this case, the process ends. Figure 7 The flowchart.

[0045] If not all are selected (step S5; no), the action determination unit 12 repeats the processing that started from step S3. For example, the action determination unit 12 selects the second highest priority "input (segmentation)" (step S3), divides the input into a first half of the action and a second half of the action, and determines whether it is possible to avoid interference with crane C2 by keeping crane C1 stationary after the first half of the action is completed (step S4). Similarly, the action determination unit 12 determines whether the actions up to number 6 can be performed in priority order. If an action that does not interfere with crane C2 is found, it determines that crane C1 should be moved by that action (step S6). Specifically, if interference can be avoided by input (segmentation), the action determination unit 12 assigns the input (segmentation) to the action of crane 1. If interference cannot be avoided, the action determination unit 12 determines whether there is interference with reception (continuity). If there is no interference, reception (continuity) is assigned to the action of crane 1. In the event of interference, the action determination unit 12 determines whether there is interference with receiving (splitting). If there is no interference, the receiving (splitting) is assigned as the action of the crane 1. If interference cannot be avoided even during receiving (splitting), the action determination unit 12 determines whether there is interference with stirring. If there is no interference, the stirring is assigned as the action of the crane 1. If interference occurs, it is determined to be "no action".

[0046] (Effect)

[0047] As explained above, according to this embodiment, candidate actions for the target crane to perform, representing the state of the waste in the pit 2 or hoppers 3a and 3b, are selected. Referring to the action determination table 200, priority is assigned to the selected action candidates. This action determination table 200 establishes a correspondence between the actions of other cranes according to the priority order to determine the target crane's action. Then, it is determined whether there is interference with other cranes according to the priority order. If there is no interference, the action is assigned to the target crane. Thus, among actions that can avoid interference with other cranes, higher priority actions are assigned to the target crane. Therefore, according to this embodiment, the crane can perform higher priority operations as much as possible, and the crane's standby time is reduced.

[0048] For example, in Figure 3 In the example, if the level of hopper 3a is 2, and the garbage height of cells (H, 9) is above the threshold and doors 4a-4d are closed, then conventionally, garbage reception of cells (H, 9) of crane C1 would be assigned to crane C1 as a high-priority action. However, due to interference with the deployment of crane C2, it is necessary to wait until the deployment of crane C2 is completed. In contrast, in this embodiment, if the garbage height of hopper 3a, etc., becomes level 2 when other cranes are deployed, the target crane is set to perform deployment (…). Figure 2 (Item numbers 1-2). Therefore, whereas previously crane C1 needed to be idle, in this embodiment, crane C1 can be used to feed waste from cells (A, 12) into hopper 3a. Depending on the condition of the pit or hopper, the priority of feeding waste into hopper 3a (where waste height is level 2) may not necessarily be higher than receiving waste from area 2c (where waste height exceeds a threshold). However, by feeding waste into hopper 3a, the idle time of crane C1 can be reduced, and the operating rate of crane C1 can be increased. By feeding waste into hopper 3a during this opportunity, subsequent waste feeding operations can be performed earlier during idle time. By reducing subsequent waste feeding operations, it is expected that operational efficiency can be improved in the long run.

[0049] In the above embodiment, a structure with two cranes was illustrated, but the number of cranes can also be three or more. In this case, for example, the combination of the actions of two cranes other than the action determination object can be registered in the column of other crane actions in the action determination table 200.

[0050] Figure 8This diagram illustrates an example of the hardware structure of the control device. The computer 900 includes a CPU 901, main storage 902, auxiliary storage 903, input / output interface 904, and communication interface 905. The control device 10 is installed in the computer 900. Furthermore, each of the aforementioned functions is stored as a program in the auxiliary storage 903. The CPU 901 reads the program from the auxiliary storage 903, expands it into the main storage 902, and executes the aforementioned processing according to the program. The CPU 901 secures a storage area in the main storage 902 according to the program. The CPU 901 also secures a storage area in the auxiliary storage 903 for the data being processed according to the program.

[0051] A program for implementing all or part of the functions of the control device 10 can be recorded on a computer-readable recording medium. The computer reads and executes the program recorded on the recording medium to perform processing based on each functional unit. Here, the term "computer system" includes hardware such as an operating system and supporting devices. In the case of using a WWW system, the "computer system" also includes a webpage providing environment (or display environment). "Computer-readable recording medium" refers to portable media such as CDs, DVDs, and USB drives, and storage devices such as hard drives built into the computer system. When the program is transmitted to the computer 900 via a communication line, the receiving computer 900 can expand the program into the main storage device 902 and execute the aforementioned processing. The program can be used to implement a portion of the aforementioned functions, and can also implement the aforementioned functions by combining it with programs already recorded in the computer system.

[0052] As described above, although several embodiments of this disclosure have been illustrated, all of these embodiments are exemplary and not intended to limit the scope of the invention. These embodiments can be implemented in various other ways, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope or spirit of the invention as well as in the scope of the invention and its equivalents as described in the claims.

[0053] <Postscript>

[0054] The control device and control method of the crane described in the embodiments can be understood as follows.

[0055] (1) A control device according to the first method is a control device for controlling multiple cranes that feed garbage stored in a pit into a hopper of an incinerator. The control device includes: a table that establishes a correspondence between the actions to be performed by the first crane and the actions of the second crane that may interfere with the actions of the first crane as the object of action determination, and arranges them in order of priority according to the state of the garbage in the pit and the hopper; an acquisition unit that acquires a state signal indicating the state of the garbage in the pit and the hopper; and an action determination unit that, based on the action of the second crane and the state signal, selects the actions to be performed by the first crane in order of priority from the table, determines whether the selected action interferes with the second crane, and determines the action as the action of the first crane if no interference occurs.

[0056] This allows the crane to perform high-priority tasks as much as possible and reduces the crane's downtime.

[0057] (2) The control device involved in the second method is the control device of (1), wherein, in the case that the selected action interferes with the second crane, the action determination unit performs the following processing until the action of the first crane that does not interfere with the second crane is found: selecting the action with the second highest priority compared with the selected action from the table, determining whether the selected action interferes with the second crane, and determining the selected action as the action of the first crane if no interference occurs, and selecting the action with the second highest priority from the table if interference occurs.

[0058] This allows the crane to avoid interference with other cranes and to perform high-priority tasks as much as possible.

[0059] (3) The control device involved in the third method is the control device of (1) to (2), wherein, in the case that the selected action interferes with the second crane, the action determination unit determines the following situation: the selected action is divided into the first half of the action until the garbage is grabbed and the second half of the action until the grabbed garbage is transported to the destination and the target action is performed, and it is determined whether the interference with the second crane can be avoided by having the first crane stand by at the location after the first half of the action is performed. If it can be avoided, the selected action is divided into the first half of the action and the second half of the action and executed.

[0060] By segmenting the process, the standby time of the crane can be reduced compared to the situation where it is idle for continuous operation.

[0061] (4) The control device involved in the fourth method is the control device of (3), wherein the action determination unit selects the action with the second highest priority compared to the selected action from the table, and determines whether the selected action interferes with the second crane, even if the selected action is divided into the first half of the action and the second half of the action.

[0062] This allows the crane to avoid interference with other cranes and to perform high-priority tasks as much as possible.

[0063] (5) The control device involved in the fifth method is the control device of (1) to (4), wherein, when the height direction of the garbage stored in the pit is divided into a predetermined number of layers, the action determination unit determines the action of the first crane so that after all the garbage of a certain layer is put into the hopper, the garbage of the next layer of the layer in which the garbage has been put into the hopper is put into the hopper.

[0064] This allows the waste fed into the hopper to be homogenized.

[0065] (6) A control method involved in the sixth method is a control method for multiple cranes that feed garbage stored in a pit into a hopper of an incinerator. The control method includes the following steps: acquiring a status signal indicating the state of the garbage in the pit and the hopper; referring to a table that establishes a correspondence between the actions of the first crane and the actions of the second crane, which may interfere with the actions of the first crane as the object of action determination, and the status signal, and arranging them in priority order according to the state of the garbage in the pit and the hopper; selecting the actions of the first crane in order of priority from the highest priority; and determining whether the selected actions interfere with the second crane. If no interference occurs, the action is determined as the action of the first crane.

[0066] (7) A procedure according to the seventh method, which causes a computer to perform the following processing: for multiple cranes used to feed garbage stored in a pit into a hopper of an incinerator, determining the action of a certain crane, the processing including: acquiring a status signal indicating the state of the garbage in the pit and the hopper; referring to a table that establishes a correspondence between the actions to be performed by the first crane and the actions of the second crane, and arranging them in priority order according to the state of the garbage in the pit and the hopper, based on the actions of the second crane that may interfere with the first crane as the object of the action determination, and the status signal; selecting the actions to be performed by the first crane in order of priority from the highest priority; and determining whether the selected action interferes with the second crane, and if no interference occurs, determining the action as the action of the first crane.

[0067] Industrial availability

[0068] Based on the control device and control method described above, it is possible to enable the crane to perform high-priority operations as much as possible while reducing the crane's standby time.

[0069] Symbol Explanation

[0070] 10-Control device, 11-Signal acquisition unit, 12-Action determination unit, 13-Control unit, 14-Storage unit, 900-Computer, 901-CPU, 902-Main storage device, 903-Auxiliary storage device, 904-Input / output interface, 905-Communication interface.

Claims

1. A control device for controlling a plurality of cranes used to feed waste stored in a pit into a hopper of an incinerator, the control device comprising: The table establishes a correspondence between the actions that the first crane should perform and the actions of the second crane that may interfere with the first crane, which is the object of the action determination, and arranges them in order of priority according to the state of the garbage in the pit and the hopper. The acquisition unit acquires a status signal indicating the state of the waste in the hopper and the material pit; and The action determination unit, based on the action of the second crane and the status signal, and referring to the table, selects the action that the first crane should perform in order of priority, determines whether the selected action interferes with the second crane, and determines the selected action as the action of the first crane if no interference occurs.

2. The control device according to claim 1, wherein, If the selected action interferes with the second crane, the action determination unit performs the following process until a selected action that does not interfere with the second crane is found: select an action with the second highest priority compared to the selected action from the table, determine whether the selected action interferes with the second crane, if no interference occurs, determine the selected action as the action of the first crane, and if interference occurs, select the action with the second highest priority from the table.

3. The control device according to claim 1 or 2, wherein, If the selected action interferes with the second crane, the action determination unit selects a segmented action that divides the selected action registered in the table into a first half of the action, which involves moving to the location to grab the garbage and grabbing it, and a second half of the action, which involves transporting the grabbed garbage to the destination to perform the target action. The unit then determines whether it is possible to avoid interference with the second crane by having the first crane stand by at the location after performing the first half of the action. If it is possible to avoid interference, the selected segmented action is determined as the action of the first crane.

4. The control device according to claim 3, wherein, After performing the first half of the action, if interference with the second crane cannot be avoided even if the first crane is put on standby, the action determination unit selects the action with the second highest priority compared to the selected segmented action from the table, and determines whether the selected action interferes with the second crane.

5. A control method for controlling multiple cranes that feed waste stored in a pit into a hopper of an incinerator, the control method comprising the following steps: Acquire a status signal indicating the state of the waste in the material pit and the hopper; Based on the actions of the second crane, which may interfere with the actions of the first crane as the object of action determination, and the status signals, refer to the table, which establishes a correspondence between the actions that the first crane should perform and the actions of the second crane, and arranges them in priority order according to the state of the waste in the pit and the hopper; The action to be performed by the first crane is selected sequentially from those with higher priority; and Determine whether the selected action interferes with the second crane. If no interference occurs, the action is identified as the action of the first crane.

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