Refuse crane control device and refuse crane control method

Abstract

To provide a refuse crane control device and a refuse crane control method which are capable of enhancing the efficiency of refuse reception and agitation within a refuse pit.SOLUTION: This refuse crane control device controls the operation of a refuse crane that carries refuse within a refuse pit. The refuse crane control device comprises: a first determination unit that determines whether garden waste to be evacuated has been carried into an acceptance area for accepting refuse at the refuse pit; and a crane control unit that, if the first determination unit determines that the garden waste to be evacuated has been carried in, controls the refuse crane to carry the garden waste to be evacuated to a predetermined garden-waste evacuation area.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] One aspect of the present invention relates to a garbage crane control device and a garbage crane control method. [Background technology]

[0002] Patent documents 1 to 3 describe systems that control the operation of a garbage crane that transports garbage in a garbage treatment facility. In such technologies, for example, the agitation state of garbage in a garbage pit is grasped, and the operation of the garbage crane is controlled to improve the agitation state. The agitation state in the garbage pit is determined, for example, based on image data of the inside of the garbage pit. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6731680 [Patent Document 2] Patent No. 6651309 [Patent Document 3] Patent No. 6659474 Summary of the Invention [Problem to be solved by the invention]

[0004] Here, the waste may contain vegetation. Vegetation may contain long, thin, and hard pruning branches compared to normal waste, so the amount of vegetation that falls varies when the waste crane is opened and closed during normal opening and closing operations. For this reason, it takes time to mix waste that contains vegetation. If the vegetation is not mixed well and a lot of vegetation is thrown into the furnace (incinerator or melting furnace) at once, the operation of the furnace may deteriorate, and there may also be a risk of problems such as clogging of the vegetation in the furnace. For this reason, the required mixing state of the vegetation is higher than that of normal waste. The need to achieve such a high mixing state is also a factor in the time required to mix waste that contains vegetation. The time required to mix waste that contains vegetation reduces the efficiency of waste acceptance and mixing in the waste pit.

[0005] One aspect of the present invention has been made in consideration of the above-mentioned circumstances, and relates to a garbage crane control device and a garbage crane control method that can improve the efficiency of receiving and mixing garbage in a garbage pit. [Means for solving the problem]

[0006] A garbage crane control device according to one embodiment of the present invention is a garbage crane control device that controls the operation of a garbage crane that transports garbage within a garbage pit, and includes a first judgment unit that judges whether garbage including vegetation to be evacuated has been brought into a receiving area in the garbage pit that accepts garbage, and a crane control unit that controls the garbage crane so that the garbage including vegetation to be evacuated is evacuated to a specified vegetation evacuation area when the first judgment unit determines that garbage including vegetation to be evacuated has been brought in.

[0007] In the garbage crane control device according to one aspect of the present invention, when it is determined that garbage including vegetation to be evacuated has been carried in, the garbage crane is controlled so that the garbage including vegetation to be evacuated to a specified vegetation evacuation area. In this way, the garbage including vegetation is evacuated to a specified vegetation evacuation area, so that the garbage including vegetation can be collected in the vegetation evacuation area. This makes it possible, for example, to perform a stirring operation on the garbage including vegetation collected in the vegetation evacuation area all at once when there is sufficient time for the garbage crane operation (for example, at night, etc.). In other words, in a situation where there is not enough time for the garbage crane operation, it is possible to perform a stirring operation on normal garbage (garbage not including vegetation to be evacuated) that does not require a relatively long time for stirring, and to perform a stirring operation on the garbage including vegetation when there is sufficient time. With this configuration, it is possible to prevent the efficiency of receiving and stirring the garbage in the garbage pit from deteriorating due to the influence of the garbage including vegetation that requires a long time for stirring. As described above, the garbage crane control device according to one aspect of the present invention can improve the efficiency of receiving and stirring the garbage in the garbage pit.

[0008] The vegetation evacuation area may be set to an area that does not interfere with the operation of the garbage crane. This prevents the operation of the garbage crane from being hindered by evacuating garbage including vegetation to the vegetation evacuation area, and allows the garbage crane to operate smoothly within the garbage pit.

[0009] The waste pit may have a receiving pit in which a receiving area is set, and a waste input / mixing pit in which a waste crane performs an input operation to input the waste into the furnace and an input / mixing operation to mix the waste, and the vegetation evacuation area may be set at an end of the input / mixing pit that is separated from the input area in which the waste crane performs the input operation. With this configuration, waste including vegetation before mixing is prevented from being erroneously input into the furnace.

[0010] The first determination unit may determine that the waste including vegetation to be evacuated has been brought in when the amount of waste including vegetation in a predetermined range of the receiving area exceeds a predetermined receiving capacity based on an image captured inside the waste pit. According to this configuration, by setting the amount of vegetation that may affect the mixing operation as the receiving capacity, the waste including vegetation that may affect the mixing operation can be appropriately evacuated to the vegetation evacuation area. This makes it possible to appropriately improve the efficiency of receiving and mixing the waste in the waste pit.

[0011] The acceptable amount of waste may be set according to the day of the week and the time of day. With this configuration, for example, the criteria for determining whether or not to evacuate can be changed between a time period when a certain amount of time can be spent on stirring operations, etc. (for example, a time period when little waste is received) and a time period when little time can be spent on stirring operations, etc. (for example, a time period when a lot of waste is received), and the efficiency of receiving and stirring the waste in the waste pit can be further improved according to the condition of the waste brought into the waste pit.

[0012] When the first determination unit determines that waste including vegetation to be evacuated has been brought in, the crane control unit may control the waste crane to evacuate the waste including vegetation to be evacuated to a vegetation evacuation area in priority to the transportation of other waste. When other waste is piled on top of the vegetation, the vegetation is compacted and becomes less likely to be scattered by the stirring operation. In this regard, by preferentially evacuating the waste including vegetation to be evacuated to the vegetation evacuation area, the vegetation is prevented from being compacted by new waste brought in, and the stirring operation can be prevented from being hindered.

[0013] The crane control device may further include a second determination unit that determines whether there is slack time for the operation of the garbage crane, and the crane control unit may control the garbage crane to perform an agitation operation to mix garbage including vegetation present in the vegetation evacuation area when the second determination unit determines that there is slack time. According to this configuration, when there is slack time for the operation of the garbage crane, an agitation operation of garbage including vegetation, which takes time to agitate, is performed, so that a deterioration in the garbage receiving and agitation efficiency in the garbage pit due to the influence of the agitation operation of garbage including vegetation is suppressed.

[0014] The second determination unit may determine that there is spare time when the time required for the agitation operation of the waste including vegetation falls within the operation interval between the current operation and the next operation of the waste crane. With this configuration, the agitation operation of the waste including vegetation can be completed between the operations of the waste crane, so that the efficiency of receiving and agitating the waste in the waste pit is prevented from being deteriorated due to the influence of the agitation operation of the waste including vegetation.

[0015] The crane control device may further include an area setting unit that sets at least one of the following for the input / mixing pit: a transfer area where the garbage crane transfers garbage from the receiving pit to the input / mixing pit, a mixing area where the garbage crane mixes the garbage, a loading area where the garbage crane loads the garbage into the furnace, and a vegetation evacuation area. For example, the operation of the garbage crane required in the input / mixing pit differs depending on whether garbage is being received or not. In this regard, by providing a configuration for setting each area, each area can be appropriately set according to the condition of the garbage being brought into the garbage pit, and the operating efficiency of the garbage crane in the input / mixing pit can be improved.

[0016] A garbage crane control method according to one embodiment of the present invention is a garbage crane control method performed by a garbage crane control device that controls the operation of a garbage crane that transports garbage within a garbage pit, and includes the steps of: determining whether garbage including vegetation to be evacuated has been brought into a receiving area in the garbage pit that receives garbage; and, if it is determined in the determining step that garbage including vegetation to be evacuated has been brought in, controlling the garbage crane so that the garbage including vegetation to be evacuated is evacuated to a specified vegetation evacuation area. Effect of the Invention

[0017] According to one aspect of the present invention, the efficiency of receiving and mixing garbage in a garbage pit can be improved. [Brief description of the drawings]

[0018] [Figure 1] FIG. 1 is a diagram showing a schematic diagram of a waste treatment facility including a waste crane control device according to this embodiment. [Diagram 2] FIG. 2 is a diagram illustrating an example of area setting in a garbage pit. [Diagram 3] FIG. 3 is a schematic diagram of a garbage crane. [Figure 4] FIG. 4 is a block diagram showing the functions of the garbage crane control device. [Diagram 5] FIG. 5 is a diagram for explaining the removal of vegetation according to the area setting. [Figure 6] FIG. 6 is a diagram for explaining vegetation determination based on a captured image. [Figure 7] FIG. 7 is a flowchart showing the procedure of the plant evacuation process. [Figure 8] FIG. 8 is a flowchart showing the procedure of the plant mixing process. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0019] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In each drawing, the same or corresponding parts are denoted by the same reference numerals, and duplicated explanations will be omitted.

[0020] Fig. 1 is a diagram showing a schematic diagram of a waste treatment facility 100 including a waste crane control device 1 according to this embodiment. The waste treatment facility 100 includes a waste crane 110, a waste pit 130, a platform 150, a waste input section 180, a furnace (not shown), and the waste crane control device 1. Note that Fig. 1 omits the illustration of a partition wall 133 (see Figs. 2(a) and (b)), which will be described later.

[0021] The furnace (not shown) processes the garbage G in the garbage pit 130 that is input through the garbage input section 180. The furnace may be, for example, a melting furnace such as a shaft-type gasification melting furnace, or an incinerator such as a stoker-type incinerator. The melting furnace is configured to stably and reliably process the garbage G by high-temperature melting (for example, 1,700 to 1,800°C) and to recycle the garbage as harmless molten material. The incinerator is configured to process the garbage G by incinerating it. The garbage treatment facility 100 may further include a boiler and a steam turbine generator, and may be a power generation plant that generates electricity by processing the garbage G.

[0022] The platform 150 is provided adjacent to the garbage pit 130, and is an area where garbage trucks C that transport garbage to be brought into the garbage pit 130 run. A wall 160 is provided at the boundary between the platform 150 and the garbage pit 130. The wall 160 is provided with a plurality of receiving doors 161-166. The number of receiving doors is not limited to the above (six). The garbage truck C runs on the running path 151 on the platform 150 and stops in front of any of the receiving doors 161-166. The garbage truck C stops in front of any of the receiving doors 161-166 where no other garbage truck C is stopped. The garbage truck C may also stop in front of any of the receiving doors 161-166 that are determined in consideration of the state of the garbage G in the garbage pit 130 (such as the amount of garbage G). The receiving doors 161 to 166 at which the garbage collection truck C is parked are opened, and garbage is dropped from the garbage collection truck C into the garbage pit 130, whereby the garbage G is carried into the garbage pit 130.

[0023] The garbage input section 180 is a section that connects the garbage pit 130 and the furnace (not shown), and supplies garbage G input from the garbage pit 130 to the inside of the furnace (not shown). The garbage input section 180 is located at the top of the furnace, and can be considered as one of the components of the furnace. The garbage input section 180 has multiple hoppers 181, 182 (two in this example). Garbage in the garbage pit 130 is input into the hoppers 181, 182, and is sent through the hoppers 181, 182 to the furnace (not shown). The hoppers 181, 182 may supply garbage G to the same furnace (not shown), or may supply garbage G to different furnaces (not shown).

[0024] The garbage pit 130 temporarily stores garbage G brought in by the garbage truck C. The garbage pit 130 has a receiving pit 131 and an input / mixing pit 132 (see Figs. 2(a) and (b)). Figs. 2(a) and (b) are plan views of the garbage pit 130, and are diagrams for explaining an example of area setting within the garbage pit 130. The receiving pit 131 is a portion of the garbage pit 130 that receives garbage. The receiving pit 131 is provided in a position near the platform 150 in the garbage pit 130. The input / mixing pit 132 is a portion where the garbage crane 110 performs an input operation of inputting garbage G into a furnace (not shown) via hoppers 181 and 182, and an agitation operation of mixing the garbage G. The input / mixing pit 132 is provided in a position near the garbage input section 180 in the garbage pit 130. The receiving pit 131 and the charging / mixing pit 132 are adjacent to each other via a partition wall 133. The partition wall 133 does not necessarily have to be provided.

[0025] In the garbage pit 130, the garbage crane control device 1 described below (or manual operation by the crane operator) sets areas related to the operations performed by the garbage crane 110. As shown in FIG. 2(a), each area in a plan view of the garbage pit 130 is divided into 36 addresses: 9 (1-9) x 4 (A-D). The size of each address may be set, for example, according to the size of the bucket 111 of the garbage crane 110 (see FIG. 3, described later). The number of addresses may also be determined according to the size of the garbage pit 130. The number of addresses and the way of dividing them may also be determined according to other methods or concepts.

[0026] For example, in the example shown in FIG. 2(a), the area 1-9×A of the receiving pit 131 is set as the receiving area 131a. The area 2-9×D of the input / agitation pit 132 is set as the combined area of ​​the input area 132a and the agitation area 132b. The area 2-9×B, C of the input / agitation pit 132 is set as the transfer area 132c. The area 1×B-D of the input / agitation pit 132 is set as the grass / tree shelter area 132d. The receiving area 131a is an area where the garbage G is received in the garbage pit 130. The input area 132a is an area where the garbage crane 110 performs the input operation of inputting garbage into the furnace through the hoppers 181, 182. The agitation area 132b is an area where the garbage crane 110 performs the agitation operation of mixing the garbage. The transfer area 132c is an area where the waste crane 110 performs a transfer operation to move waste from the receiving pit 131 to the input / mixing pit 132. The vegetation evacuation area 132d will be described later.

[0027] The area setting in the garbage pit 130 is not limited to the above, and for example, during a time period when garbage is not received from the garbage truck C, as shown in FIG. 2(b), the receiving area 131a, the transfer area 132c, and the grass and tree evacuation area 132d may not be set, and only the input area 132a and the mixing area 132b may be set. In the example shown in FIG. 2(b), the area 1-9×C,D of the input and mixing pit 132 is set as the input area 132a, and the area 1-9×B-D of the input and mixing pit 132 is set as the mixing area 132b. The area 1-9×C,D is set as a shared area for the input area 132a and the mixing area 132b. Note that the area setting shown in FIG. 2(a)(b) is merely an example, and the area setting in the garbage pit 130 is not limited to this.

[0028] Returning to FIG. 1, the garbage crane 110 is a crane that transports garbage G within the garbage pit 130. The garbage crane 110 performs the above-mentioned dumping operation, stirring operation, and loading / unloading operation in accordance with the control of the garbage crane control device 1. Note that while only one garbage crane 110 is shown in FIG. 1, multiple garbage cranes 110 may be provided. Details of the garbage crane 110 will be described with reference to FIG. 3.

[0029] Fig. 3 is a schematic diagram of a garbage crane 110. As shown in Fig. 3, the garbage crane 110 includes a bucket 111, a motor 112, a bucket opening / closing mechanism 113, a wire 114, a casing 115, a motor 116, a casing 117, motors 118 and 119, and wheels 120.

[0030] The wire 114 extends in the vertical direction, with its upper end connected to a motor 116 housed in a casing 115 and its lower end connected to a bucket opening and closing mechanism 113. The bucket opening and closing mechanism 113 is a mechanism that opens and closes the bucket 111 in response to power from the motor 112. The motor 112 is a hydraulic motor that provides power to the bucket opening and closing mechanism 113. The bucket 111 holds the waste G by clamping it therebetween.

[0031] The casing 115 is a casing that houses the motor 116. The motor 116 is a motor that winds up and down the wire 114. The casing 117 is a casing that houses the casing 115 and the load cell 400. Four wheels 120, for example, are provided on the bottom surface of the casing 117 on the front, rear, left and right sides.

[0032] The motor 118 is a travel motor that applies power to the wheels 120 to rotate the wheels 120. The wheels 120 rotate on the rails 500. As a result, the casing 117 (and the bucket 111 connected via the wires 114) with the wheels 120 attached to the lower surface thereof moves in the travel direction along the rails 500.

[0033] Motor 119 is a traverse motor that provides power to move casing 117 (and bucket 111 connected via wire 114) in a direction intersecting the above-mentioned traveling direction. In Fig. 3, rails related to traverse movement according to the power of motor 119 are not shown. In this way, bucket 111 moves in the up and down direction based on motor 116, moves in the traveling direction based on motor 118, and moves in a direction intersecting the traveling direction based on motor 119.

[0034] The load cell 400 measures the weight of the casing 115, motor 116, wire 114, motor 112, bucket opening / closing mechanism 113, bucket 111, and the waste G held by the bucket 111. By measuring the weight, the load cell 400 can determine whether or not the waste G is being held by the bucket 111. A load cell 400 is provided, for example, for each wheel 120. That is, four load cells 400 are provided for each waste crane 110.

[0035] Returning to FIG. 1, the garbage crane control device 1 is a device that controls the operation of the garbage crane 110 that transports garbage G within the garbage pit 130. The garbage crane control device 1 is an electronic control unit that has a microcomputer (CPU) as well as memory elements (storage media) such as RAM and ROM. The garbage crane control device 1 automatically controls the operation of the garbage crane 110. Note that the garbage crane control device 1 may be switched to a manual operation mode so that the operation of the garbage crane 110 can be manually controlled by the operation of a crane operator.

[0036] The garbage crane control device 1 employs a garbage pit MAP system that makes it possible to grasp the garbage properties inside the garbage pit 130. The garbage pit MAP system is a technology that numerically models the inside of the garbage pit 130, traces the loading and movement (receiving, transferring, mixing) (transporting and conveying) of garbage G, and records the storage status of the garbage G. By utilizing this system, it is possible to continuously grasp the accumulation status and properties of garbage G throughout the entire garbage pit 130.

[0037] As shown in Fig. 1, in the garbage pit MAP system, the space within the garbage pit 130 is divided into rectangular parallelepiped meshes, and the entire garbage pit 130 is modeled. Each mesh (block) manages three pieces of data as parameters representing the pile-up status and properties of the garbage G: (1) garbage level, (2) number of mixing times, and (3) garbage type.

[0038] The garbage level is an index that represents the garbage pile height in the garbage pit 130. The garbage level is added or subtracted for the target mesh in the garbage pit MAP system according to the operation of the garbage crane 110, such as dumping, transferring, stirring, etc. The actual garbage pile height may be estimated from the measurement results of a level sensor, such as an electromagnetic wave level meter, installed near the garbage pit 130, height information when the garbage crane 110 touches down, etc., and the garbage level in the garbage pit MAP system may be corrected based on the estimation result.

[0039] The number of mixing times is an index that indicates the degree of mixing of the garbage, and depending on the operation of the garbage crane 110, the number of mixing times is added to the target mesh in the garbage pit MAP system.

[0040] The waste type is classified into normal waste and waste containing vegetation by using image recognition technology, and recorded in the corresponding mesh. When the waste crane 110 moves or throws waste G into the furnace, the movement of the waste, which records the number of times it has been stirred and the type of waste, is traced, and the information in the corresponding mesh is updated. A wide range of waste can be processed in the melting furnace, and a wide variety of waste, such as incineration ash and excavated waste, is thrown into the furnace. Therefore, in order to operate the melting furnace stably, in addition to stirring the waste, it is important that the most suitable type of waste according to the conditions inside the furnace is thrown into the furnace. Such selection of waste types usually requires a high level of experience in operation. Therefore, depending on the conditions inside the furnace, selective throwing of waste may be performed by manual operation of the crane operator. In this regard, since the waste type is managed in the waste pit MAP system, the melting furnace can be operated stably even by automatic control.

[0041] Such a garbage pit MAP system makes it possible to quantitatively grasp the accumulation status and properties of garbage G, and for example, realize optimal mixing according to the conditions inside the garbage pit 130. In particular, when the furnace (not shown) is a melting furnace, it becomes possible to select the garbage to be put in according to the conditions inside the furnace.

[0042] As described above, waste may contain vegetation. Here, vegetation may include, for example, tree branches. Such vegetation (vegetation waste) is long and hard compared to normal waste, and the branches may become entangled and integrated, so that the amount of waste that falls may vary during normal opening and closing operations of the waste crane 110. For this reason, it takes time to agitate waste containing vegetation. If the vegetation is not agitated well and a lot of vegetation is thrown into the furnace at once, the operation of the furnace may deteriorate, and there may also be a risk of problems such as clogging of the vegetation in the furnace. For this reason, the required value of the agitation state of the vegetation is higher than that of normal waste. The need to achieve such a high agitation state is also a factor that it takes time to agitate waste containing vegetation. It is considered that the time required to agitate waste containing vegetation may deteriorate the efficiency of receiving and agitating the waste in the waste pit 130.

[0043] Therefore, the garbage crane control device 1 according to this embodiment judges whether garbage including vegetation has been brought in, and if so, evacuates the garbage including vegetation to a specified vegetation evacuation area. Then, when the garbage crane 110 has sufficient operating time, the garbage crane control device 1 performs an agitation operation of the evacuated garbage including vegetation. This prevents the garbage receiving and agitation efficiency in the garbage pit 130 from deteriorating due to the influence of the garbage including vegetation that requires time for the agitation operation. Below, detailed functions of the garbage crane control device 1 related to the above-mentioned vegetation evacuation process and vegetation agitation process will be described with reference to Figs. 4 to 6.

[0044] Fig. 4 is a block diagram showing functions (functions related to the vegetation evacuation process and the vegetation mixing process) of the garbage crane control device 1. As shown in Fig. 4, the garbage crane control device 1 includes an area setting unit 11, an acquisition unit 12, a first determination unit 13, a second determination unit 14, and a crane control unit 15.

[0045] The area setting unit 11 sets each area in the input / agitation pit 132. Specifically, the area setting unit 11 sets at least one of the transfer area 132c, the agitation area 132b, the input area 132a, and the grass / tree evacuation area 132d in the input / agitation pit 132. For example, in the example shown in FIG. 2(a), all of the above areas are set. Also, in the example shown in FIG. 2(b), only the input area 132a and the agitation area 132b are set. The area setting unit 11 may set the receiving area 131a in the receiving pit 131. The receiving area 131a has two options: it is either set in the receiving pit 131 or not, and it is not set in the input / agitation pit 132.

[0046] Fig. 5 is a diagram for explaining the evacuation of vegetation according to area setting. Assume that the area setting unit 11 sets a throw-in area 132a, a mixing area 132b, and a vegetation evacuation area 132d in the throw-in / mixing pit 132 during a time period when garbage is received from a garbage collection truck C, as shown in Fig. 5.

[0047] The vegetation evacuation area 132d is an area for evacuating the "garbage including vegetation" (hereinafter, may be simply referred to as "vegetation G1"). By evacuating the vegetation G1 to be evacuated to the vegetation evacuation area 132d, the vegetation G1 that takes time to mix is ​​separated from normal garbage. Note that the vegetation G1 is, for example, pruning waste such as pruning branches.

[0048] As shown in FIG. 5, the grass and tree evacuation area 132d may be set at an end of the input / agitation pit 132 away from the input area 132a where the garbage crane 110 performs the input operation. The grass and tree evacuation area 132d may be set in an area near the wall of the input / agitation pit 132, at least one of the two ends facing the furnace. The grass and tree evacuation area 132d may also be set at an end that does not overlap with the agitation area 132b. In this way, the grass and tree evacuation area 132d is preferably set in an area that does not interfere with the operation of the garbage crane 110, specifically, the input operation, the agitation operation, the loading operation, and the like. The grass and tree evacuation area 132d may be set at a location other than the end as long as it does not interfere with the operation of the garbage crane 110 in the input / agitation pit 132. The grass and tree evacuation area 132d may be set at a position adjacent to the input area 132a (a position not separated from the input area 132a). The vegetation evacuation area 132d may be provided in the receiving pit 131. The size (area) of the vegetation evacuation area 132d may be set to 1 / 100 or more and 1 / 5 or less, for example 1 / 9, of the total area of ​​the input / mixing pit 132. The area setting unit 11 may change the area of ​​the vegetation evacuation area 132d depending on the level of the garbage piled up in the vegetation evacuation area 132d or the amount of vegetation brought into the receiving area 131a. The vegetation evacuation area 132d may be equal to or larger than the area of ​​one handful of garbage in the bucket 111. The vegetation evacuation area 132d may be set in an area that does not interfere with the operation of the garbage crane 110, and may be set in a position separated from the input area 132a and adjacent to the mixing area 132b.

[0049] Returning to Fig. 4, the acquisition unit 12 acquires an image captured within the receiving area 131a of the receiving pit 131 of the garbage pit 130. The captured image is an image that at least enables the characteristics of the garbage within the receiving area 131a to be determined, and more specifically, an image that enables the determination of whether the garbage includes vegetation G1. The acquisition unit 12 acquires the captured image from the camera 300 that is provided at a position that enables the inside of the garbage pit 130 to be photographed.

[0050] The first determination unit 13 determines whether or not the vegetation G1 to be evacuated has been brought into the receiving area 131a (determining step). The first determination unit 13 determines whether or not the vegetation G1 to be evacuated has been brought into the receiving area 131a based on a captured image captured inside the receiving area 131a of the garbage pit 130.

[0051] FIG. 6 is a diagram for explaining vegetation determination based on the captured image P. The first determination unit 13 detects vegetation G1 from among the garbage G in the receiving area 131a of the garbage pit 130 shown in the captured image P using a conventionally known image recognition technique. The first determination unit 13 may determine that the "evacuation target" vegetation G1 has been carried in when the vegetation G1 in a predetermined range of the receiving area 131a exceeds a predetermined acceptance capacity based on the captured image P. From the captured image P, it is possible to determine that the vegetation G1 is vegetation G1 when the amount of the vegetation G1 is equivalent to about 1 / 6 of the cross-sectional area of ​​the bucket 111. Alternatively, from the captured image P, it is possible to determine that the vegetation G1 is vegetation G1 when the weight of the vegetation G1 is approximately 100 to 200 kg. In this case, the acceptance capacity may be, for example, approximately 30% of the amount of one handful of the bucket 111, that is, approximately 0.3 tons. In this way, the first judgment unit 13 may determine that the “evacuation target” vegetation G1 has been brought in only when the vegetation G1 is detected based on the captured image P and the vegetation G1 exceeds the acceptance capacity.

[0052] The allowable amount of garbage may be set according to the day of the week and the time period. For example, the allowable amount of garbage may be set large during a time period when a certain amount of time can be spent on the stirring operation, etc. (e.g., a time period when little garbage is received), and the allowable amount of garbage may be set small during a time period when little time can be spent on the stirring operation, etc. (e.g., a time period when a lot of garbage is received).

[0053] Returning to Fig. 4, when the first determination unit 13 determines that the vegetation G1 to be evacuated has been carried in, the crane control unit 15 controls the garbage crane 110 so that the vegetation G1 to be evacuated to a predetermined vegetation evacuation area 132d (control step). In detail, the crane control unit 15 controls the motors 116, 118, 119 to move the bucket 111 to the position of the vegetation G1 to be evacuated, controls the motor 112 to make the bucket 111 hold the vegetation G1, controls the motors 116, 118, 119 to move the bucket 111 to the vegetation evacuation area 132d, and controls the motor 112 to drop the vegetation G1 from the bucket 111 into the vegetation evacuation area 132d.

[0054] Note that even when it is determined that the vegetation G1 to be evacuated has been brought in, if there is sufficient time to perform the stirring operation, etc., the crane control unit 15 may continue stirring without transporting the vegetation G1 to the vegetation evacuation area 132d. In the following, it is assumed that there is not enough time when the vegetation G1 to be evacuated has been brought in, and therefore the vegetation G1 is first transported to the vegetation evacuation area 132d.

[0055] When the first judgment unit 13 determines that vegetation G1 to be evacuated has been brought in, the crane control unit 15 may control the garbage crane 110 so that the vegetation G1 to be evacuated is evacuated to the vegetation evacuation area 132d, taking priority over the transportation of other normal garbage.

[0056] The second determination unit 14 determines whether there is a slack time for the operation of the garbage crane 110 in a situation where the grass G1 is present in the grass evacuation area 132d. Whether the grass G1 is present in the grass evacuation area 132d may be determined based on, for example, an image captured inside the input / agitation pit 132 of the garbage pit 130. The second determination unit 14 may determine that there is the slack time when the time required for the agitation operation for the grass G1 falls within the operation interval between the current operation and the next operation of the garbage crane 110. The second determination unit 14 may determine that there is a slack time when, for example, the time required for the agitation operation for the grass G1 falls within the time interval between the most recent garbage input operation and the next garbage input operation. The second determination unit 14 may determine that there is a slack time when, for example, the time required for the agitation operation for the grass G1 falls within the time interval between the input operation and the reloading operation that are successive to each other. The time required for the stirring operation of the vegetation G1 is expected to be three times or more longer than the time required for stirring normal waste, and may be estimated to be, for example, about 180 seconds.

[0057] When the second determination unit 14 determines that there is sufficient time, the crane control unit 15 controls the garbage crane 110 to perform an agitation operation for the vegetation G1 present in the vegetation evacuation area 132d. In detail, the crane control unit 15 controls the motors 116, 118, and 119 to move the bucket 111 to the position of the vegetation G1 in the vegetation evacuation area 132d, controls the motors 112 to make the bucket 111 hold the vegetation G1, controls the motors 116, 118, and 119 to move the bucket 111 to the agitation area 132b, and controls the motor 112 to open the bucket 111, and performs scattering and agitation in the agitation area 132b. Note that when it is determined that there is sufficient time, instead of the automatic agitation operation, an alarm may be issued to prompt the crane operator to perform manual agitation.

[0058] When the second determination unit 14 determines that there is sufficient time, the crane control unit 15 controls the waste crane 110 to perform an agitation operation for normal waste in the agitation area 132b. As a result, waste in which vegetation G1 and normal waste are layered is generated in the agitation area 132b. If this waste meets the requirement of a vegetation content rate of 20% or less, which is a prescribed value for the agitation degree (degree of agitation), the waste is deemed to be sufficiently agitated. In that case, the crane control unit 15 may control the waste crane 110 to move the waste to the throw-in area 132a. As a result, the waste is thrown into the throw-in area 132a.

[0059] Next, a procedure for the vegetation evacuation process executed by the garbage crane control device 1 will be described with reference to Fig. 7. Fig. 7 is a flow chart showing the procedure for the vegetation evacuation process.

[0060] As shown in FIG. 7, in the garbage crane control device 1, first, a captured image of the inside of the receiving area 131a of the receiving pit 131 of the garbage pit 130 is acquired (step S1).

[0061] Next, based on the captured image, it is determined whether or not there is a mesh in which the number of plants G1 in a predetermined range of the receiving area 131a exceeds a predetermined receiving capacity (step S2).

[0062] If there is no mesh (block) in which the amount of vegetation G1 exceeds the acceptance capacity, the garbage in the acceptance area 131a is transported (conveyed) according to the normal rules (step S3). For example, it is preferable that the garbage in the mesh with the highest garbage level is transported preferentially.

[0063] On the other hand, if there is a mesh in which the number of plants G1 exceeds the allowable capacity, the waste in that mesh is preferentially transported to the plant evacuation area 132d (step S4).

[0064] Next, the procedure of the vegetation stirring process executed by the garbage crane control device 1 will be described with reference to Fig. 8. Fig. 8 is a flow chart showing the procedure of the vegetation stirring process.

[0065] As shown in FIG. 8, in the garbage crane control device 1, first, a captured image of the inside of the input / mixing pit 132 of the garbage pit 130 is acquired (step S11).

[0066] Next, it is determined whether or not there is any plant G1 in the plant shelter area 132d based on the captured image (step S12).

[0067] If there is grass G1 in the grass / tree shelter area 132d, it is then determined whether there is a time leeway (step S13). Specifically, it is determined whether the time required for the agitation operation for the grass / tree G1 fits within the time interval between the most recent garbage dump operation and the next garbage dump operation.

[0068] If it is determined that there is sufficient time, the plants G1 present in the plant evacuation area 132d are scattered and stirred (step S14).

[0069] Next, the effects of the garbage crane control device 1 according to this embodiment will be described.

[0070] The garbage crane control device 1 is a garbage crane control device that controls the operation of a garbage crane 110 that transports garbage within a garbage pit 130, and is equipped with a first judgment unit 13 that judges whether or not vegetation G1 to be evacuated has been brought into a receiving area 131a that receives garbage in the garbage pit 130, and a crane control unit 15 that controls the garbage crane 110 so that the vegetation G1 to be evacuated is evacuated to a specified vegetation evacuation area 132d when the first judgment unit 13 judges that the vegetation G1 to be evacuated has been brought into the garbage pit 130.

[0071] In the garbage crane control device 1 according to the present embodiment, when it is determined that the vegetation G1 to be evacuated has been carried in, the garbage crane 110 is controlled so that the vegetation G1 to be evacuated to a predetermined vegetation evacuation area 132d is evacuated. In this way, the vegetation G1 is evacuated to the predetermined vegetation evacuation area 132d, so that the vegetation G1 can be collected in the vegetation evacuation area 132d. This makes it possible to perform agitation operations for the vegetation G1 collected in the vegetation evacuation area 132d collectively when there is sufficient time for the operation of the garbage crane 110 (for example, at night, etc.). In other words, when there is not enough time for the operation of the garbage crane 110, it is possible to perform agitation operations for normal garbage (garbage that does not include the vegetation G1 to be evacuated) that does not require a relatively long time for agitation operations, and when there is sufficient time, it is possible to perform agitation operations for the vegetation G1. With this configuration, the efficiency of receiving and agitating the garbage in the garbage pit 130 is prevented from being deteriorated due to the influence of the vegetation G1 that requires a long time for agitation operations. As described above, the garbage crane control device 1 according to this embodiment can improve the efficiency of receiving and mixing garbage in the garbage pit 130. Furthermore, according to the above-mentioned embodiment, it is possible to prevent a large amount of vegetation G1 from being thrown into the furnace, and to avoid problems such as clogging of the furnace due to vegetation G1.

[0072] The vegetation evacuation area 132d may be set to an area that does not interfere with the operation of the garbage crane 110. This prevents the operation of the garbage crane 110 from being hindered by evacuating the vegetation G1 to the vegetation evacuation area 132d, and allows the garbage crane 110 to operate smoothly within the garbage pit 130.

[0073] The garbage pit 130 has a receiving pit 131 in which a receiving area 131a is set, and an input / mixing pit 132 in which the garbage crane 110 performs an input operation to input garbage into the furnace and an agitation operation to mix the garbage, and the grass / tree evacuation area 132d may be set at an end of the input / mixing pit 132 that is separated from the input area 132a in which the garbage crane 110 performs an input operation. With this configuration, it is possible to prevent unmixed grass / trees G1 from being mistakenly input into the furnace.

[0074] The first determination unit 13 may determine that the vegetation G1 to be evacuated has been brought in when the amount of vegetation G1 in a predetermined range of the receiving area 131a exceeds a predetermined receiving capacity based on an image captured inside the garbage pit 130. With this configuration, the amount of vegetation that may affect the agitation operation is set as the receiving capacity, so that the vegetation G1 that may affect the agitation operation can be appropriately evacuated to the vegetation evacuation area 132d. This makes it possible to appropriately improve the efficiency of receiving and agitating garbage in the garbage pit 130.

[0075] The allowable amount of waste to be accepted may be set according to the day of the week and the time period. With this configuration, for example, the criteria for deciding whether or not to evacuate can be changed depending on the time period when it is possible to spend a certain amount of time on stirring operations, etc. (for example, the time period when little waste is accepted) and the time period when it is not possible to spend much time on stirring operations, etc. (for example, the time period when a lot of waste is accepted). This makes it possible to further improve the efficiency of accepting and stirring waste in the waste pit 130 according to the condition of the waste brought into the waste pit 130.

[0076] When the first determination unit 13 determines that the vegetation G1 to be evacuated has been brought in, the crane control unit 15 may control the garbage crane 110 to evacuate the vegetation G1 to the vegetation evacuation area 132d in preference to the transportation of other garbage. If other garbage is piled on top of the vegetation G1, the vegetation G1 is compacted and is less likely to be scattered by the stirring operation. In this regard, by preferentially evacuating the vegetation G1 to be evacuated to the vegetation evacuation area 132d, the vegetation G1 is prevented from being compacted by new garbage brought in, and the stirring operation is prevented from being hindered.

[0077] The above-mentioned garbage crane control device 1 further includes a second determination unit 14 that determines whether there is a margin of time for the operation of the garbage crane 110, and the crane control unit 15 may control the garbage crane 110 to perform an agitation operation to mix garbage with the vegetation G1 present in the vegetation evacuation area 132d when the second determination unit 14 determines that there is a margin of time. According to this configuration, when there is a margin of time for the operation of the garbage crane 110, an agitation operation of the vegetation G1 that requires time is performed, so that the efficiency of garbage reception and agitation in the garbage pit 130 is prevented from being deteriorated due to the influence of the agitation operation of the vegetation G1.

[0078] The second determination unit 14 may determine that there is spare time if the time required for the agitation operation of the vegetation G1 falls within the operation interval between the current operation and the next operation of the garbage crane 110. With this configuration, the agitation operation of the vegetation G1 can be completed between operations of the garbage crane 110, so that the efficiency of receiving and agitating the garbage in the garbage pit 130 is prevented from being adversely affected by the agitation operation of the vegetation G1.

[0079] The waste crane control device 1 may further include an area setting unit 11 that sets at least one of the following for the input / mixing pit 132: a transfer area 132c where the waste crane 110 transfers waste from the receiving pit 131 to the input / mixing pit 132, a mixing area 132b where the waste crane 110 mixes the waste, a feed area 132a where the waste crane 110 feeds the waste into the furnace, and a grass and tree evacuation area 132d. For example, the operation of the waste crane 110 required in the input / mixing pit 132 differs depending on whether or not the waste is being received. In this regard, by providing a configuration for setting each area, each area can be appropriately set according to the state of the waste carried into the waste pit 130, and the operating efficiency of the waste crane 110 in the input / mixing pit 132 can be improved.

[0080] The area setting unit 11 may change the area of ​​the vegetation evacuation area 132d depending on the level of the garbage piled up in the vegetation evacuation area 132d or the amount of vegetation brought into the receiving area 131a, within the range of 1 / 100 to 1 / 5 of the total area of ​​the input / mixing pit 132. With this configuration, it is possible to ensure that the vegetation evacuation area 132d is sufficiently large depending on the situation, taking into consideration the sizes of the other areas.

[0081] The vegetation evacuation area 132d is set in an area that does not interfere with the operation of the waste crane 110, and may be set at a position separated from the input area 132a and adjacent to the mixing area 132b. With this configuration, vegetation before mixing can be smoothly moved to the mixing area 132b during mixing, making it easier to mix, while preventing vegetation before mixing from being mistakenly input into the furnace.

[0082] The waste crane control device 1 may include one level sensor that measures the height of the waste piled up in the input / agitation pit 132, and the grass / tree evacuation area 132d may be set at a position far from the installation position of the level sensor or at the end of the input / agitation pit 132. In the case of a configuration in which the height of the waste piled up in the input / agitation pit 132 is measured with one level sensor (for example, a laser sensor, a camera, etc.), it may be difficult to grasp the pile height of the entire area of ​​the input / agitation pit 132 depending on the piled up state of the waste. For example, in a state in which the waste protrudes and piles up high in the input / agitation pit 132, the high garbage may become a barrier and it may not be possible to recognize (measure) the waste that is far from the level sensor. However, if the grass / tree evacuation area 132d is at a position far from the installation position of the level sensor or at the end of the input / agitation pit 132, even if a large amount of grass is piled up in the grass / tree evacuation area 132d, the grass / tree will not obstruct the measurement of the level sensor, and the measurement by the level sensor can be performed appropriately. In addition, a position far from the installation position of the level sensor may be a position that is longer than the distance from the installation position of the level sensor to the center of the input mixing pit 132, for example.

[0083] The disclosure in this specification should be considered to be illustrative and not restrictive in all respects. In other words, various omissions, substitutions, modifications, etc. may be made to the above examples without departing from the scope of the claims and the gist thereof. In addition, the above-mentioned "transport" and "conveyance" are synonymous, and transport or conveyance includes the actions of loading, mixing, and throwing. In addition, mixing may include not only the case where the waste is moved to another location, but also the case where the waste is picked up and dropped in the same location, where there is no substantial horizontal movement. [Explanation of symbols]

[0084] 1...crane control device, 11...area setting unit, 13...first judgment unit, 14...second judgment unit, 15...crane control unit, 110...garbage crane, 130...garbage pit, 131...receiving pit, 131a...receiving area, 132...feeding and mixing pit, 132a...feeding area, 132b...mixing area, 132c...transfer area, 132d...vegetation evacuation area.

Claims

1. A garbage crane control device that controls the operation of a garbage crane installed in a garbage pit having a receiving area for receiving garbage and an input / mixing pit for performing an input operation to input at least the garbage into a furnace, a first determination unit that determines whether the waste carried into the receiving area is an evacuation target including vegetation; a crane control unit that controls the garbage crane so as to evacuate the garbage to be evacuated to a predetermined vegetation evacuation area, The crane control unit controls the garbage crane control device to move all garbage except the garbage determined to be evacuated from the receiving area to a designated area in the input mixing pit, and then to perform a mixing operation to mix the garbage.

2. Further comprising a second determination unit that determines whether there is a slack time for the operation of the garbage crane; A garbage crane control device as described in claim 1, wherein the crane control unit controls the garbage crane to move the garbage determined to be subject to evacuation from the grass and tree evacuation area to the specified area when the second judgment unit determines that there is spare time.

3. A garbage crane control device as described in claim 2, wherein the second judgment unit judges that there is spare time when the time required for the stirring operation for the garbage including vegetation falls within the operation interval between the current operation and the next operation of the garbage crane.

4. A garbage crane control device that controls the operation of a crane based on a determination result of whether garbage including vegetation to be evacuated has been carried into a receiving area that receives garbage in a garbage pit, A garbage crane control device that determines that garbage including vegetation to be evacuated has been brought in when the amount of garbage including vegetation within a specified range of the receiving area exceeds a specified acceptance capacity.

5. The garbage crane control device according to claim 4, wherein the acceptance capacity is set according to the day of the week and the time period.

6. A method for controlling the operation of a garbage crane installed in a garbage pit having a receiving area for receiving garbage and an input / agitation pit for performing an input operation to input at least the garbage into a furnace, comprising: Executing a first control to perform an agitation operation to mix the waste determined to be the target of evacuation from the receiving area through the evacuation area; A garbage crane control method comprising: executing a second control to perform the stirring operation on garbage other than the garbage determined to be subject to evacuation without passing through the evacuation area.

7. A control device for a garbage crane as described in claim 6, which executes the first control in priority to the second control.

8. A garbage crane control device that controls the operation of a garbage crane installed in a garbage pit having a receiving area for receiving garbage and a feeding and mixing pit having a predetermined area for performing a mixing operation for mixing the garbage and a feeding operation for feeding the garbage into a furnace, A garbage crane control device in which the grass and tree evacuation area is arranged separately in line with the specified area in the left-right direction at a position opposite the receiving area within the garbage pit.

9. A garbage crane control device as described in Claim 8, wherein the grass and tree evacuation area is set in an area that does not interfere with the operation of the garbage crane.

10. A garbage crane control device for controlling the operation of a garbage crane installed in a garbage pit having a receiving area for receiving garbage and an input / mixing pit for performing at least an agitation operation for mixing the garbage or an input operation for inputting the garbage into a furnace, The input / mixing pit is provided with an area setting unit that sets a plant evacuation area where the waste crane evacuates the waste to be evacuated from the receiving area when waste including plants to be evacuated is carried into the receiving area, and a mixing area where the waste crane performs the mixing operation, The area setting unit is a garbage crane control device that changes the grass evacuation area depending on the level of garbage accumulated in the grass evacuation area or the amount of grass brought into the receiving area.

11. A garbage crane control device as described in Claim 10, wherein the area setting unit changes the area of ​​the grass and tree evacuation area within a range of 1 / 100 to 1 / 5 of the total area of ​​the input mixing pit.

12. A garbage crane control device as described in claim 10 or 11, wherein the area setting unit is further capable of setting a transfer area in which the garbage crane performs a transfer operation of garbage from the receiving pit to the input mixing pit, or a feeding area in which the garbage crane performs a feeding operation of feeding garbage into a furnace.

13. A level sensor is provided to measure the height of the waste piled up in the input mixing pit, The garbage crane control device according to claim 10, wherein the grass and tree evacuation area is set at a position far from the installation position of the level sensor or at an end of the input and mixing pit.

14. A method for controlling a garbage crane, the method comprising: controlling the operation of a garbage crane installed in a garbage pit having a receiving area for receiving garbage and an input / mixing pit for performing a mixing operation to mix at least the garbage; Determining whether the waste brought into the receiving area is an evacuation target including vegetation; Controlling the garbage crane so as to evacuate the garbage to be evacuated to a predetermined vegetation evacuation area; A garbage crane control method comprising: controlling the garbage crane to move other garbage excluding the garbage determined to be subject to evacuation from the receiving area to an input mixing pit.

Images