Information processing system, and information processing method

Abstract

To enhance the utilization efficiency of the whole of an incineration facility while suppressing the interference of the holding work by a crane and the receiving work by a carry-in vehicle.SOLUTION: The information processing system which is a control system for an incineration facility including a pit in which an incineration object is deposited, comprises: an information acquiring unit for acquiring receiving end information indicating a place, i.e., a place in the pit used as the receiving end of the incineration object supplied from a carry-in vehicle carrying in the incineration object, and acquiring information on the destination of a crane holding an incineration object, indicating a place, i.e., a place in the pit used as the destination of the crane holding the incineration object; a receiving end determining unit for determining the receiving end according to the information on the destination of the crane holding the incineration object, when the time of determining the receiving end comes; and a determining unit for determining the destination of the crane holding the incineration object according to the receiving end information when the time of determining the destination of the crane holding the incineration object comes.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present disclosure relates to an information processing system and an information processing method. [Background technology]

[0002] Patent Document 1 discloses a computing device that creates an operation schedule for a crane that transports garbage in a pit (garbage pit). This computing device generates a gene group consisting of genes that indicate the movement and opening / closing operation patterns of the crane over a predetermined period of time, and repeatedly evaluates the fitness of each gene included in the gene group and updates the gene group based on the evaluation. With this configuration, a crane operation schedule that can bring the state of garbage in the pit to a predetermined state or close to the predetermined state is automatically created without relying on the experience or intuition of the crane operator. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6632490 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in an incineration facility that includes a pit where the materials to be incinerated are piled up, the materials are dumped into the pit from a delivery vehicle that delivers the materials to be incinerated. If the materials to be incinerated are received from the delivery vehicle at a location where a crane is performing a gripping operation, the materials received from the delivery vehicle may collide with the crane, hindering the work by the crane. For this reason, in an incineration facility, it is preferable to prevent interference between the gripping operation by the crane and the receiving operation of the materials to be incinerated by the delivery vehicle.

[0005] In this case, it is conceivable to obtain an allocation of destinations for the incineration materials from the delivery vehicles and determine the destination where the crane will pick up the materials based on this allocation. However, in such a configuration, if there are a large number of delivery vehicles, the crane may not be able to smoothly pick up the materials, which may reduce the operating efficiency of the entire incineration facility.

[0006] The present disclosure has been made to solve the above-mentioned problems, and aims to provide an information processing system and information processing method that can increase the operating efficiency of the entire incineration facility while minimizing interference between the gripping operation by the crane and the receiving operation by the delivery vehicle. [Means for solving the problem]

[0007] In order to solve the above problems, the information processing system disclosed herein is an information processing system for an incineration facility including a pit in which materials to be incinerated are piled up, and includes an information acquisition unit that acquires receiving destination information indicating a location within the pit that will be the receiving destination of the materials to be incinerated from a delivery vehicle that transports the materials to be incinerated, and grasping destination information indicating a location within the pit that will be the grasping destination of a crane that grasps the materials to be incinerated, a receiving destination determination unit that determines the receiving destination based on the grasping destination information when the time to determine the receiving destination arrives, and a grasping destination determination unit that determines the grasping destination based on the receiving destination information when the time to determine the grasping destination arrives.

[0008] The control method disclosed herein is a control method for an incineration facility including a pit in which materials to be incinerated are piled up, in which one or more computers acquire receiving destination information indicating a location within the pit that will be the receiving destination of the materials to be incinerated from an input vehicle that transports the materials to be incinerated, acquire grasping destination information indicating a location within the pit that will be the grasping destination of a crane that grasps the materials to be incinerated, and when the time to determine the receiving destination arrives, determine the receiving destination based on the grasping destination information, and when the time to determine the grasping destination arrives, determine the grasping destination based on the receiving destination information. Effect of the Invention

[0009] According to the information processing system and information processing method disclosed herein, it is possible to increase the operating efficiency of the entire incineration facility while minimizing interference between the gripping operation by the crane and the receiving operation by the delivery vehicle. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic diagram for explaining an incineration facility according to an embodiment of the present disclosure. [Diagram 2] FIG. 2 is a vertical cross-sectional view showing the incineration facility shown in FIG. [Diagram 3] FIG. 1 is a diagram illustrating a configuration of a control system according to an embodiment of the present disclosure. [Figure 4] 11A and 11B are diagrams for explaining an example of a process performed by a gripping target determination unit of the present disclosure. [Figure 5A] FIG. 1 is a diagram illustrating an example of a work plan according to an embodiment of the present disclosure. [Figure 5B] FIG. 1 is a diagram illustrating an example of a work plan according to an embodiment of the present disclosure. [Figure 5C] FIG. 1 is a diagram illustrating an example of a work plan according to an embodiment of the present disclosure. [Figure 5D] FIG. 1 is a diagram illustrating an example of a work plan according to an embodiment of the present disclosure. [Figure 5E] FIG. 1 is a diagram illustrating an example of a work plan according to an embodiment of the present disclosure. [Figure 5F] FIG. 1 is a diagram illustrating an example of a work plan according to an embodiment of the present disclosure. [Figure 6] 1 is a flowchart illustrating a process of a control method according to an embodiment of the present disclosure. [Figure 7] 10 is a flowchart illustrating another process of a control method according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, an information processing system and an information processing method according to an embodiment of the present disclosure will be described with reference to the drawings. In the following description, the same reference numerals are used for configurations having the same or similar functions. Then, duplicated descriptions of those configurations may be omitted. In this disclosure, "based on XX" means "based on at least XX" and may include cases where the configuration is based on another element in addition to XX. Furthermore, "based on XX" is not limited to cases where XX is directly used, but may also include cases where XX is based on an element that has been subjected to calculation or processing. In this disclosure, "XX or YY" is not limited to either one of XX and YY, but may include both XX and YY. This also applies when there are three or more selective elements. "XX" and "YY" are any element (for example, any information).

[0012] In this disclosure, "obtain" is not limited to actively obtaining information by sending a transmission request, but may also include passively receiving information transmitted from another device. Also, "obtain" is not limited to directly obtaining target information (information to be obtained) from outside, but may also include generating and obtaining target information by performing calculations or processing on information obtained from outside.

[0013] Here, the +X direction, the -X direction, the +Y direction, the -Y direction, and the Z direction are defined first. The +X direction, the -X direction, the +Y direction, and the -Y direction are directions along a horizontal plane. The +X direction is a direction from the pit 21 to the hopper 31, which will be described later (see FIG. 1). The -X direction is the opposite direction to the +X direction. When the +X direction and the -X direction are not distinguished, they are simply referred to as the "X direction". The +Y direction and the -Y direction are directions that cross (for example, are perpendicular to) the X direction. The +Y direction is a direction from the first hopper 31A to the second hopper 31B, which will be described later (see FIG. 1). The -Y direction is the opposite direction to the +Y direction. When the +Y direction and the -Y direction are not distinguished, they are simply referred to as the "Y direction". The Z direction is a direction that crosses (for example, is perpendicular to) the X direction and the Y direction. The Z direction is, for example, a vertical direction (see FIG. 2).

[0014] <Overall configuration of incineration facility> FIG. 1 is a schematic diagram for explaining an incineration facility 1 according to an embodiment of the present disclosure. FIG. 2 is a vertical cross-sectional view of the incineration facility 1 of FIG. 1. As shown in FIGS. 1 and 2, the incineration facility 1 is a facility for incinerating, for example, urban waste, industrial waste, or biomass as incineration materials G. Materials G collected from outside are carried into the incineration facility 1 by a carrying-in vehicle P. For convenience of explanation, the "materials to be incinerated" may be referred to as "garbage" below. The incineration facility 1 includes, for example, a storage section 2, an incinerator 3, a platform 5, and a control system 100 (see FIG. 3). The control system 100 is an example of an "information processing system."

[0015] The storage section 2 stores the incineration materials G received from the delivery vehicle P that delivers the incineration materials G to the incineration facility 1. The storage section 2 stacks the incineration materials G received sequentially from the multiple delivery vehicles P. The incineration materials G stored in the storage section 2 are fed into the incinerator 3 by a crane 25 described later. The storage section 2 will be described in detail later.

[0016] The incinerator 3 incinerates the material to be incinerated G. The incinerator 3 includes, for example, a hopper 31 and a furnace body (not shown). The hopper 31 is a temporary storage section provided to supply the material to be incinerated G to the inside of the furnace body. The hopper 31 opens upward. The material to be incinerated G is fed into the hopper 31 by a crane 25 of the storage section 2 described later. The hopper 31 is provided with a feeder (not shown). The feeder moves the material to be incinerated G stored inside the hopper 31 toward the inside of the furnace body. The furnace body is a furnace that combusts the material to be incinerated G supplied from the hopper 31 while transporting it. The furnace body is, for example, a stoker furnace. Note that the furnace body is not limited to a stoker furnace, and may be another type of incineration equipment.

[0017] In this embodiment, the incinerator 3 includes a plurality of hoppers 31 and furnace bodies. As shown in Fig. 1, for example, the incinerator 3 includes a first incinerator 3A arranged on the -Y direction side and a second incinerator 3B arranged on the +Y direction side as the plurality of incinerators 3. The number of incinerators 3 is not limited to two, and may be one, or three or more.

[0018] <Storage section configuration> The storage section 2 includes, for example, a pit 21, a plurality of receiving doors 23, and a plurality of cranes 25.

[0019] The pit 21 is a storage section in which the material to be incinerated G is stored before being fed into the incinerator 3. In this embodiment, the pit 21 is provided adjacent to the incinerator 3 in the -X direction. In other words, the hopper 31 (first hopper 31A) of the first incinerator 3A and the hopper 31 (second hopper 31B) of the second incinerator 3B open outward in the +X direction relative to the pit 21. When viewed from above, the pit 21 is, for example, rectangular in shape with long sides along the Y direction and short sides along the X direction.

[0020] The multiple receiving doors 23 are provided adjacent to the end of the pit 21 in the -X direction. The multiple receiving doors 23 are provided between the pit 21 and a platform 5 described below. The multiple receiving doors 23 are arranged side by side in the Y direction. In this embodiment, for example, five receiving doors 23 are provided. Here, the number of receiving doors 23 is not limited to five, and may be any other number as appropriate. Each of the receiving doors 23 can be opened and closed independently. The receiving doors 23 are opened when the delivery vehicle P carrying the incineration material G arrives at a predetermined position on the -X direction side of the receiving doors 23.

[0021] The pit 21 is provided with a measuring device 27 that measures the height of the incineration materials G piled up in the pit 21. The measuring device 27 is, for example, a LiDAR (Light Detection And Ranging) device that irradiates a laser beam onto the surface of the incineration materials G piled up in the pit 21 and detects the height of the incineration materials G based on the reflected light. The measuring device 27 transmits the detection result to the control system 100 described later. Note that the measuring device 27 is not limited to a LiDAR, and other measuring devices may be used as appropriate.

[0022] The crane 25 is a so-called overhead crane provided above the pit 21. The crane 25 grasps a part of the incineration material G stored in the pit 21, carries the grasped incineration material G to the hopper 31 of the incinerator 3, and throws it into the hopper 31. As shown in Fig. 2, the crane 25 is configured to be movable to any position within the space above the pit 21 by rails 26X extending in the X direction and rails 26Y extending in the Y direction provided below the ceiling, for example.

[0023] As shown in Fig. 1, in this embodiment, the multiple cranes 25 include a first crane 25A arranged on the -Y direction side and a second crane 25B arranged on the +Y direction side. The first crane 25A and the second crane 25B operate independently of each other. The number of multiple cranes 25 provided in the storage section 2 is not limited to two, and may be only one, or may be three or more.

[0024] <Platform configuration> The platform 5 is an area where the delivery vehicle P arrives to bring in the incineration material G collected outside. The platform 5 is provided adjacent to the pit 21 on the -X direction side. The platform 5 includes an inlet path 51, an outlet path 52, a plurality of receiving sections 53, a weight measuring section 55, and a guide device 56.

[0025] The entrance path 51 is a passageway through which the entrance vehicle P carrying the incineration material G passes when heading to one of the multiple receiving sections 53. The exit path 52 is a passageway through which the entrance vehicle P passes after depositing the incineration material G into the pit 21 when exiting one of the multiple receiving sections 53. The multiple receiving sections 53 are provided adjacent to the storage section 2 on the -X direction side. Each of the multiple receiving sections 53 is provided adjacent to each of the multiple receiving doors 23 of the storage section 2 on the -X direction side. The multiple receiving sections 53 are arranged side by side in the Y direction. In this embodiment, five receiving sections 53 are provided.

[0026] A delivery vehicle P arrives at each of the multiple receiving sections 53 by traveling along the delivery path 51. Each delivery vehicle P, while parked in one of the multiple receiving sections 53, deposits the incineration material G carried thereon into the pit 21 when the receiving door 23 provided in that receiving section 53 opens. After depositing the incineration material G into the pit 21, the delivery vehicle P travels along the delivery path 52 and exits to the outside of the incineration facility 1.

[0027] The weight measuring unit 55 is provided on the delivery path 51. The weight measuring unit 55 measures the total weight of the delivery vehicle P. The weight measuring unit 55 measures the total weight W of the delivery vehicle P as the sum of the vehicle weight Wp of the delivery vehicle P and the weight Wg of the incineration material G loaded on the delivery vehicle P.

[0028] In one embodiment, the weight measurement unit 55 calculates the weight Wg of the incineration material G loaded on the delivery vehicle P from the measured total weight W of the delivery vehicle P based on the pre-registered data of the vehicle weight Wp of the delivery vehicle P based on the following formula (1), and outputs the calculated weight Wg of the incineration material G to the control system 100 described below.

[0029] Wg = W - Wp … (1)

[0030] In another embodiment, an approximation equation is generated from the correlation between the measurement results of the total weight W by the weight measurement unit 55 for multiple input vehicles P that have been brought into the incineration facility 1 in the past and the weight Wg of the material to be incinerated G actually received from each input vehicle P, and the weight Wg of the material to be incinerated G is calculated based on the measured total weight W of the input vehicles P and the above approximation equation, and the calculated weight Wg of the material to be incinerated G is output to the control system 100 described below.

[0031] The guidance device 56 is a device that guides the driver of the delivery vehicle P to the receiving section 53 assigned to that delivery vehicle P. For example, the guidance device 56 is a display device that displays the number of the receiving door 23 corresponding to the receiving section 53 assigned to each delivery vehicle P. The allocation of the receiving section 53 to each delivery vehicle P is based on the determination content of the receiving destination determination unit 130 of the control system 100, which will be described later.

[0032] <Area inside the pit> In such an incineration facility 1, the location in the pit 21 where the crane 25 performs the gripping operation (the location to be gripped) and the location to receive the incineration material G put into the pit 21 from the delivery vehicle P (the location to be received) are automatically assigned by processing of the control system 100 described later. In order to perform such processing by the control system 100, the inside of the pit 21 is divided into a plurality of virtual sections R that are set in advance. The plurality of sections R are arranged, for example, in a lattice shape when viewed from above. Each section R is not limited to a square, and may be rectangular. In addition, the size of the sections R does not need to be the same in all areas of the pit 21, and sections R of different sizes may exist. In addition, the size and number of sections R set in the pit 21 are not limited in any way. In addition, the sections R may be set for each of one or more coordinates set in the pit 21 in order to move the crane 25.

[0033] In this disclosure, the "location to be grasped" and the "location to be received" are not limited to section R. For example, the "location to be grasped" may be specified by coordinates instead of section R. In this disclosure, "determining a certain section R as the grasped location" is not limited to determining section R itself as the grasped location, but may also include determining certain coordinates included in section R as the grasped location.

[0034] In the incineration facility 1, the incineration materials G are sequentially delivered by a plurality of delivery vehicles P and dumped into the pit 21 from each delivery vehicle P. In other words, the pit 21 receives the incineration materials G delivered by a plurality of delivery vehicles P. The incineration materials G received in the pit 21 are grasped by the crane 25 and moved to another location within the pit 21. The movement of the incineration materials G by the crane 25 within the pit 21 is performed to prevent the incineration materials G from piling up high in a specific location and to level the incineration materials G, and to stir the incineration materials G, etc. Furthermore, the incineration materials G within the pit 21 are grasped by the crane 25 and dumped into the hopper 31.

[0035] Accordingly, a receiving area A1, a destination area A2, and a throw-in area A3 are set in the pit 21. The receiving area A1 is set in some of the sections R included in the above-mentioned multiple sections R, the destination area A2 is set in another part of the sections R, and the throw-in area A3 is set in yet another part of the sections R.

[0036] The receiving area A1 is an area for receiving materials G to be incinerated that are thrown in from the delivery vehicle P. The receiving area A1 is set in the pit 21 across multiple sections R adjacent to the +X direction side of multiple receiving compartments 53 (receiving doors 23). In this embodiment, the receiving area A1 is set across ten sections R01 to R10 adjacent to the +X direction side of multiple receiving compartments 53 (receiving doors 23). In the embodiment of the present disclosure, two sections R aligned in the Y direction are set on the +X direction side of each receiving door 23.

[0037] The destination area A2 is an area that is the destination (movement) of the incineration materials G moved from the receiving area A1 by the crane 25. The input area A3 is an area where the incineration materials G are input into the hopper 31 when the amount of incineration materials G in the hopper 31 decreases. The destination area A2 and the input area A3 are set in a section R at a different position from the receiving area A1.

[0038] In this embodiment, the destination area A2 and the input area A3 are arranged side by side in the Y direction. The destination area A2 and the input area A3 are set, for example, across a plurality of sections R that are arranged in the X direction and the Y direction, respectively. The functions assigned to the destination area A2 and the input area A3 are alternated at predetermined times (for example, daily) while the incineration materials G stored in each area A2, A3 remain as they are.

[0039] <Control system configuration> FIG. 3 is a block diagram showing the functional configuration of the control system 100. The control system 100 shown in Fig. 3 automatically assigns a receiving destination, which indicates the location where the incineration material G loaded from the delivery vehicle P is received, and a gripping destination, which indicates the location where the gripping work is performed by the crane 25. The control system 100 assigns the receiving destination and the gripping destination so that the section R that is the receiving destination of the incineration material G from the delivery vehicle P and the section R that is the gripping destination of the crane 25 do not overlap at the same time. Here, in this embodiment, the sections R01 to R10 in the receiving area A1 are sections where the section R that is the receiving destination of the incineration material G from the delivery vehicle P and the section R that is the gripping destination of the crane 25 may overlap.

[0040] The control system 100 automatically assigns at least a receiving destination indicating a location for receiving the incineration material G loaded from the delivery vehicle P and a gripping destination indicating a location for the gripping work to be performed by the crane 25, thereby generating an operation plan for multiple delivery vehicles P and the crane 25. In addition to generating an operation plan for multiple delivery vehicles P and the crane 25, the control system 100 may also open and close the receiving door 23, control the operation of the crane 25, and further control the incinerator 3.

[0041] The control system 100 can be configured using a computer such as a microcomputer or a CPU (Central Processing Unit), and hardware such as computer peripheral circuits and devices. The control system 100 may be configured using a custom LSI (Large Scale Integrated Circuit) such as a PLD (Programmable Logic Device). Examples of PLDs include PAL (Programmable Array Logic), GAL (Generic Array Logic), CPLD (Complex Programmable Logic Device), and FPGA (Field Programmable Gate Array). In this case, some or all of the functions realized by the processor may be realized by the integrated circuit.

[0042] The control system 100 has, as a functional configuration formed by a combination of hardware and software such as a program executed by a computer, an information acquisition unit 110, a storage unit 120, a recipient determination unit 130, a gripping destination determination unit 140, a plan generation unit 150, and a control unit 160. The functional units included in the control system 100 may be provided separately in multiple devices.

[0043] The information acquisition unit 110 acquires various information necessary for the control system 100. Based on the work plan for the multiple delivery vehicles P and the crane 25 generated by the plan generation unit 150 described later, the information acquisition unit 110 acquires destination information indicating the destination of the incineration material G from the delivery vehicle P (for example, the section R that will be the destination) and gripping destination information indicating the destination of the crane 25 that grips the incineration material G (for example, the section R that will be the gripping destination). The destination is determined by the destination determination unit 130 described later. The destination information is information indicating the destination (scheduled destination) that has already been determined from the present time into the future. The gripping destination is determined by the gripping destination determination unit 140 described later. The gripping destination information is information indicating the destination (scheduled destination) that has already been determined from the present time into the future.

[0044] In this embodiment, one information acquisition unit 110 that acquires the above-mentioned destination information and the above-mentioned handling destination information has been described, but an information acquisition unit (first information acquisition unit 110a) that acquires the above-mentioned destination information and an information acquisition unit (second information acquisition unit 110b) that acquires the above-mentioned handling destination information may be provided separately. Also, for example, the information acquisition unit 110 acquires the measurement results in the weight measurement unit 55, height information indicating the height of the incineration target G at each location in the pit 21 by the measurement device 27, and the like.

[0045] The memory unit 120 stores various information necessary for the control system 100. For example, the memory unit 120 stores the vehicle weights Wp of a plurality of delivery vehicles P. The memory unit 120 also stores constraints and the like when determining the destination of the incineration material G from the delivery vehicle P.

[0046] (Configuration of the Acceptance Decision Department) When the time to determine the destination arrives, the destination determination unit 130 determines, from among the multiple sections R, the section R that will be the destination for the incineration materials G from the delivery vehicle P. The destination determination unit 130 determines that the time to determine the destination has arrived, for example, when the delivery vehicle P loaded with the incineration materials G reaches a predetermined position. An example of this predetermined position is the weight measurement unit 55. The predetermined position may be a position other than the weight measurement unit 55, so long as it is located before the multiple receiving sections 53.

[0047] The receiving destination determination unit 130 determines the section R to be the receiving destination based on the gripping destination information, acquired by the information acquisition unit 110, indicating the section R to be gripped by the crane 25 that has been determined at that time. More specifically, the receiving destination determination unit 130 identifies, from among the sections R (R01 to R10) in the receiving area A1, a section R that is different from the section R to be gripped by the crane 25 that has already been determined in the pit 21 at that time. For example, if, among the sections R (R01 to R10) in the receiving area A1, there is a section R that has already been determined as the gripping destination of the crane 25, the receiving destination determination unit 130 identifies another section R other than the section R that has already been determined, and determines one of these other sections R as the receiving destination section R. Also, for example, if there is no section R (R01-R10) in the receiving area A1 that has already been determined as the receiving destination of the crane 25, the receiving destination determination unit 130 determines one of the sections R in the receiving area A1 as the receiving destination section R. Also, if there is a section R (R01-R10) in the receiving area A1 that has already been determined as the receiving destination of another delivery vehicle P at that time, the receiving destination determination unit 130 determines one of the sections R other than the section R that has already been determined as the receiving destination section R.

[0048] Furthermore, the destination determination unit 130 determines a destination section R based on the height information of the incineration materials G of each section R acquired by the information acquisition unit 110, among locations different from the already determined destination. When there are multiple sections R that can be destinations identified based on the destination information, the destination determination unit 130 determines the destination section R from among the sections R (R01 to R10) in the receiving area A1, based on the height information of the incineration materials G of each section R.

[0049] For example, the receiving destination determination unit 130 may determine, from among the sections R (R01 to R10) in the receiving area A1, the section R in which the height of the incineration material G is equal to or less than a preset upper limit height, as the receiving section R. The receiving destination determination unit 130 may also determine, from among the sections R (R01 to R10) in the receiving area A1, the section R in which the height of the incineration material G is the smallest, as the receiving section R.

[0050] The receiving destination determination unit 130 may determine, as a receiving destination, a section R (R01-R10) in the receiving area A1 in which the height of the incineration materials G between adjacent sections R is reduced by receiving the incineration materials G loaded from the delivery vehicle P. For example, the receiving destination determination unit 130 may determine, as a receiving destination, a section R (R01-R10) in the receiving area A1 in which the difference in height of the incineration materials G between adjacent sections R is less than a certain standard by receiving the incineration materials G loaded from the delivery vehicle P. For example, the receiving destination determination unit 130 may determine, as a receiving destination, a section R (R01-R10) in the receiving area A1 in which the difference in height of the incineration materials G between adjacent sections R is reduced the most by receiving the incineration materials G loaded from the delivery vehicle P. In this embodiment, based on the above-mentioned grasping destination information and the above-mentioned height information, the receiving destination determination unit 130 determines as the receiving destination a location other than the planned grasping destination where receiving the incineration material G will reduce the difference in height of the incineration material G between adjacent locations (for example, adjacent sections R).

[0051] In this case, when the destination determination unit 130 receives the incineration material G delivered from the delivery vehicle P in each of the sections R (R01 to R10) of the receiving area A1, it calculates the height H of the incineration material G after reception using the following formulas (2) and (3).

[0052] H = H0 + ΔH1 … (2) ΔH1=Wg / (d×S) …(3)

[0053] Here, H0 is the height of the incineration material G in each section R before receiving the incineration material G from the delivery vehicle P, which is acquired by the information acquisition unit 110. H0 is, for example, information indicating the height of the incineration material G measured by the measurement device 27. ΔH1 is the increase in the height of the incineration material G in each section R by receiving the incineration material G from the delivery vehicle P. ΔH1 is the increase in the height of the incineration material G by another delivery vehicle P (another delivery vehicle P whose destination has already been determined) that delivers the incineration material G between the time of measurement by the measurement device 27 and the time of delivery of the incineration material G by the delivery vehicle P when determining the destination of the delivery vehicle P. In addition, Wg is the weight of the incineration material G calculated by the above formula (1). In addition, d is the density of the incineration material G. In addition, S is the area of ​​each section R.

[0054] The density d of the incineration material G can be calculated based on, for example, the weight Wc of the incineration material G when the crane 25 grasps the incineration material G once, the amount of reduction in the height of the incineration material G when the crane 25 grasps the incineration material G once and moves the incineration material G from one section R, and the area S of each section R. In addition, the density d of the incineration material G may be calculated based on, for example, a numerical value obtained statistically in the incineration facility 1.

[0055] In addition, when the incineration material G is grasped by the crane 25 in a section R (R01 to R10) in the receiving area A1 that has been determined as the grasping destination and moved to another section R, the receiving destination determination unit 130 calculates the height H of the incineration material G in that section R using the following equations (4) and (5).

[0056] H = H0 - ΔH2 … (4) ΔH2=Wc / (d×S) …(5)

[0057] Here, ΔH2 is the amount of decrease in the height of the incineration material G in each section R due to the incineration material G held by the crane 25 being moved to another section R. ΔH2 is the amount of decrease in the height of the incineration material G held by the crane 25 (the crane 25 whose holding destination has already been determined) between the time of measurement by the measuring device 27 and the time of the incineration material G being put in by the delivery vehicle P when the destination of the delivery vehicle P is being determined.

[0058] Meanwhile, the minimum difference Hm of the height H of the incineration materials G between adjacent sections R (locations) in the sections R (R01 to R10) of the receiving area A1 is expressed by the following formula (6). Here, the height H of the incineration materials G in each of the sections R01 to R10 of the receiving area A1 is R01(t), R02(t), R03(t), R04(t), R05(t), R06(t), R07(t), R08(t), R09(t), and R10(t). t is a variable indicating time. t may be the present time or a future time when the incineration materials G are placed at the receiving site.

[0059] Hm=|R01(t)-R02(t)|+|R02(t)-R03(t)| +|R03(t)-R04(t)|+|R04(t)-R05(t)| +|R05(t)-R06(t)|+|R06(t)-R07(t)| +|R07(t)-R08(t)|+|R08(t)-R09(t)| +|R09(t)-R10(t)|+|R10(t)-R01(t)|+Pe …(6)

[0060] In this embodiment, the receiving destination determination unit 130 selects the section R in which Hm in the above formula (6) is smallest from among the sections R01 to R10 in the receiving area A1.

[0061] In the above formula (6), Pe is a penalty term. The penalty term Pe can be based on the difference between the start time (Tui) at which the receiving door 23 of the receiving section 53, which is the receiving destination of the delivery vehicle P, becomes available for delivery and the waiting start time (ts) of the delivery vehicle P, as shown in the following formula (7). By minimizing such a penalty term Pe, the waiting time of the delivery vehicle P can be shortened. In addition, the coefficient ap in formula (7) is a coefficient that can adjust the magnitude of the penalty term Pe. The coefficient ap is, for example, 0.05, but is not limited to this. The coefficient ap can be determined arbitrarily. For example, the coefficient ap can be determined arbitrarily depending on the status of the combustion equipment 1, etc.

[0062] Pe(m)=ap(m / s)*(Tui(s)-ts(s)) …(7)

[0063] Furthermore, the penalty term Pe may be calculated, for example, based on the presence or absence of an input vehicle P bringing in incinerated materials G collected in the same area during a certain period of time. For example, in the case of an input vehicle P bringing in incinerated materials G collected in the same area as the input vehicle P that previously input into the same receiving section 53, Pe(m) may be set to "1". This is because it is assumed that incinerated materials G collected in the same area are of similar waste quality, and incinerated materials G of the same waste quality are not concentrated in a specific section R.

[0064] As described above, the receiving destination determination unit 130 determines the section R that will be the receiving destination based on the information on the location to be grasped, the height information of the incineration material G, and information indicating the length of waiting time for the delivery vehicle P. The receiving destination determination unit 130 then determines the receiving section 53 located on the -X direction side of the determined receiving destination section R as the receiving destination for the delivery vehicle P.

[0065] (Configuration of gripping target determination unit) When the time to determine the destination arrives, the destination determination unit 140 determines, from among the multiple sections R in the pit 21, the section R that will be the destination for grasping the incineration object G accumulated in the pit 21 by the crane 25. The destination determination unit 140 determines that the time to determine the destination has arrived, for example, when the crane 25 that grasped the incineration object G at the previously determined destination and moved there arrives at the destination (e.g., the destination area A2). However, the time to determine the destination is not limited to the above example, and may be the time when the incineration object G is grasped at the previously determined destination, or the time when the incineration object G is dropped into the destination area A2.

[0066] The destination determination unit 140 determines the section R to be the destination based on the destination information indicating the section R to be the destination of the delivery vehicle P that has already been determined at that time, which is acquired by the information acquisition unit 110. More specifically, the destination determination unit 140 identifies a section R from among the sections R (R01 to R10) in the receiving area A1 that is different from the section R to be the destination of the delivery vehicle P that has already been determined in the pit 21 at that time. For example, if there is a section R that has already been determined as the destination of the delivery vehicle P among the sections R (R01 to R10) in the receiving area A1, the destination determination unit 140 identifies another section R other than the section R that has already been determined, and determines one of these other sections R as the section R to be the destination. Also, for example, if there is no section R (R01 to R10) in the receiving area A1 that has already been determined as the receiving destination of the delivery vehicle P, the destination determination unit 140 determines one of the sections R in the receiving area A1 as the section R that will be the receiving destination. Also, if there is a section R (R01 to R10) in the receiving area A1 that has already been determined as the receiving destination of another crane 25 at that time, the destination determination unit 140 determines one of the sections R other than the section R that has already been determined as the section R that will be the receiving destination.

[0067] Here, the gripping destination determination unit 140 determines that the time to determine the gripping destination has arrived when the crane 25 satisfies a predetermined condition, independently of the arrival of the time to determine the receiving destination of the delivery vehicle P. For example, when the gripping operation by the crane 25 in the section R that is the previously determined gripping destination has been completed, the gripping destination determination unit 140 determines that the time to determine the gripping destination has arrived in order to perform the gripping operation in another section R next.

[0068] Furthermore, the destination determining unit 140 determines a section R to be a destination based on the height information of the incineration material G of each section R acquired by the information acquiring unit 110, among other places different from the already determined receiving destination. The height information used by the destination determining unit 140 is, for example, the measurement result by the measuring device 27 itself.

[0069] When there are multiple sections R that can be the receiving destination, which are identified based on the receiving destination information, the receiving destination determining unit 140 determines the section R to be the receiving destination from among the sections R (R01 to R10) in the receiving area A1, based on the height information of the incinerated material G of each section R. For example, the receiving destination determining unit 140 may determine the section R with the largest height H of the incinerated material G as the receiving destination from among the sections R other than the receiving destination already determined in the pit 21. In this embodiment, the receiving destination determining unit 140 determines, based on the receiving destination information and the height information, a place other than the planned receiving destination where the difference in height of the incinerated material G between adjacent places (for example, adjacent sections R) is small by gripping the incinerated material G with the crane 25, as the receiving destination.

[0070] The gripping destination determination unit 140 may also determine two sections R in which gripping work is performed consecutively by one crane 25 (each of the first crane 25A and the second crane 25B) as gripping destinations together. That is, when the time to determine the gripping destination arrives, the gripping destination determination unit 140 determines a first gripping destination where the crane 25 grips the incineration target G as the first operation and a second gripping destination where the crane 25 grips the incineration target G as the second operation performed after the first operation together (for example, determine them as one set) from among the sections R different from the section R that is the already determined receiving destination in the pit 21 based on the receiving destination information of the delivery vehicle P. In this case, the gripping destination determination unit 140 determines that the time to determine the next gripping destination has arrived, for example, when the gripping work by the first operation and the second operation by the crane 25 in the two sections R that are the previously determined gripping destinations is completed. Alternatively, the gripping target determining unit 140 may determine only one operation (first turn) of the crane 25 to be performed next when the time to determine the gripping target arrives.

[0071] In addition, when the time to determine the target is reached, the target section R for the first crane 25A to perform the gripping operation and the target section R for the second crane 25B to perform the gripping operation may be determined together. That is, based on the destination information of the delivery vehicle P, the target section R for the first crane 25A to grip the incineration target G and the target section R for the second crane 25B to grip the incineration target G are determined together from among the sections R different from the section R that is the destination already determined in the pit 21 (for example, determined as one set). In this case, the target section R for the first crane 25A to grip the incineration target G is different from the target section R for the second crane 25B to grip the incineration target G. In this case, the gripping target determination unit 140 judges that the time has come to determine the gripping target when the first crane 25A satisfies a predetermined condition and the second crane 25B satisfies a predetermined condition. Note that the gripping target determination unit 140 is not limited to determining the operations of a plurality of cranes 25 collectively. For example, the gripping target determination unit 140 may determine only the operation of one crane 25 when the time has come to determine the gripping target. For example, the gripping target determination unit 140 may determine only one operation (one turn) of one crane 25 when the time has come to determine the gripping target.

[0072] 4 is a diagram for explaining an example of processing by the gripping target determination unit 140. In this embodiment, the gripping target determination unit 140 determines the section R of the gripping target of the first operation (first turn) of the first crane 25A and the section R of the gripping target of the second operation (second turn) at a certain time t1. Also, the gripping target determination unit 140 determines the section R of the gripping target of the first operation (first turn) of the second crane 25B and the section R of the gripping target of the second operation (second turn) at the same time t1. Then, the gripping target determination unit 140 waits until the later of the second operation of the first crane 25A and the second operation of the second crane 25B is completed. Then, at time t2 when the second operation of the first crane 25A and the second operation of the second crane 25B are completed, the gripping target determination unit 140 again determines the section R to be gripped by the first operation (first turn) and the section R to be gripped by the second operation (second turn) of the first crane 25A, and determines the section R to be gripped by the first operation (first turn) and the section R to be gripped by the second operation (second turn) of the second crane 25B. Then, the gripping target determination unit 140 repeats this operation.

[0073] (Configuration of the plan generation unit) 5A to 5F are diagrams showing an example of a work plan generated by the control system 100 according to an embodiment of the present disclosure. When the receiving destination determination unit 130 and the pick-up destination determination unit 140 have determined the section R to be the receiving destination and the section R to be the pick-up destination, respectively, the plan generation unit 150 generates a table 200 showing a work plan for a plurality of delivery vehicles P and a crane 25 in the section R (sections R01 to R10) of the receiving area A1, as shown in FIG. 5A to 5F.

[0074] For example, Figure 5A shows the state where the time for determining the gripping target has arrived at time t11, and the gripping target for the first operation (first turn) and second operation (second turn) of the first crane 25A, and the gripping target for the first operation (first turn) and second operation (second turn) of the second crane 25B have been determined.

[0075] FIG. 5B shows a state in which one delivery vehicle (No. 3456) arrives at time t12, which is later than time t11, and a destination for the delivery vehicle has been determined.

[0076] FIG. 5C shows a state in which three delivery vehicles (No. 1234, No. 6768, and No. 3155) arrive at time t13, which is later than time t12, and destinations for the three delivery vehicles are determined.

[0077] FIG. 5D shows the state where two delivery vehicles (No. 9899, ​​No. 7759) arrive at time t14, which is later than time t13, and the destinations for the two delivery vehicles are decided.

[0078] FIG. 5E shows a state in which three delivery vehicles (No. 1159, No. 3985, and No. 1389) arrive at time t15, which is later than time t14, and destinations for the three delivery vehicles are determined.

[0079] Figure 5F shows the state where the time to determine the gripping target has arrived at time t16, which is later than time t15, and the gripping target for the first operation (first turn) and second operation (second turn) of the first crane 25A, and the gripping target for the first operation (first turn) and second operation (second turn) of the second crane 25B have been determined.

[0080] As shown in Figures 5A to 5F, this table 200 includes receiving destination information Ip indicating the position of the receiving section 53 that receives the incineration material G from the delivery vehicle P from one of the five receiving sections 53, and gripping destination information Ic indicating the section R where gripping work by the crane 25 will be performed, among the sections R01 to R10 located below the receiving doors 23 of the five receiving sections 53.

[0081] The receiving destination information Ip, which indicates the location of the receiving section 53 where the incineration material G is received from the delivery vehicle P, includes the location of the receiving section 53 where the incineration material G is received from the delivery vehicle P (e.g., No. 1 to No. 5), identification information of the delivery vehicle P assigned to that receiving section 53 (e.g., an identification number assigned to each delivery vehicle P), and time information (start time, end time, etc.) for the receiving work. Here, the time information for the receiving work to be performed by each delivery vehicle P is set based on, for example, the standard time required for movement from the weight measurement unit 55 to each delivery section 53 (e.g., 60 seconds) and the standard time required for each delivery section 53 to throw the incineration material G from the delivery vehicle P into the pit 21 (e.g., 250 seconds).

[0082] In addition, the gripping destination information Ic indicating the section R where the gripping operation by the crane 25 will be performed includes position information indicating the section R where the gripping operation will be performed by each crane 25, and time information for the gripping operation (start time, end time, etc.).

[0083] (Control Unit Configuration) The control unit 160 controls the crane 25. In this embodiment, the control unit 160 controls the operations of the first crane 25A and the second crane 25B based on the work plan (for example, the table 200) created by the plan generating unit 150.

[0084] (Configuration of information output section) The information output unit 170 transmits information indicating the receiving area 53 assigned to the delivery vehicle P to the guidance device 56 in order to cause the guidance device 56 to display the receiving area 53 assigned to the delivery vehicle P. For example, the information output unit 170 transmits information indicating the receiving area 53 assigned to the delivery vehicle P to the guidance device 56 based on the work plan (e.g., table 200) created by the plan generation unit 150.

[0085] Alternatively, instead of the above configuration, the control unit 160 may be omitted. In this case, a guide device for an operator may be provided that guides an operator who manually operates the crane 25 to the object to be grasped by the crane 25. In this case, the information output unit 170 may output information indicating the object to be grasped by the first crane 25A and the second crane 25B to the above-mentioned guide device for an operator based on the work plan (e.g., table 200) created by the plan generation unit 150.

[0086] <Control method processing flow> Fig. 6 is a flowchart showing the process of the control method in the embodiment of the present disclosure. Fig. 7 is a flowchart showing another process of the control method in the embodiment of the present disclosure. As shown in Figs. 6 and 7, in the control method in the embodiment of the present disclosure, the control system 100 executes in parallel a process S10 for determining a destination of the delivery vehicle P and a process S20 for determining a destination of the crane 25.

[0087] 6, in process S10 for determining a destination of the delivery vehicle P, the process is started when the time to determine the destination arrives. In the embodiment of the present disclosure, for example, the process is started when the delivery vehicle P arrives at the weight measuring unit 55 and the total weight W of the delivery vehicle P is measured.

[0088] First, the information acquisition unit 110 acquires the weight Wg of the incineration material G that has been brought in based on the total weight W of the delivery vehicle P measured by the weight measurement unit 55 (S11). Next, the information acquisition unit 110 refers to the table 200 to check whether there is gripping destination information Ic of the crane 25 for the sections R (R01 to R10) in the receiving area A1, and whether there is receiving destination information Ip by other delivery vehicles P (S12). In addition, the information acquisition unit 110 acquires height information of the incineration material G in each section R in the receiving area A1 (S13). In this case, it is preferable that the information acquisition unit 110 acquires the latest height information of the incineration material G using the above formulas (2) and (4).

[0089] Next, the receiving destination determination unit 130 performs optimization calculations for the section R that will receive the incineration material G from the delivery vehicle P (S14). To do this, the receiving destination determination unit 130 extracts sections R (R01-R10) in the receiving area A1 that do not have the crane 25's gripping destination information Ic and the receiving destination information Ip from other delivery vehicles P registered. Furthermore, in the embodiment of the present disclosure, as described above, the receiving destination determination unit 130 selects sections R from the sections R01-R10 in the receiving area A1 in which the height H of the incineration material G is equal to or less than the preset upper limit height and the difference in the height H of the incineration material G between adjacent sections R is minimal. The receiving destination determination unit 130 determines the section R selected in this manner as the receiving destination that will receive the incineration material G from the delivery vehicle P (S15).

[0090] Thereafter, the plan generating unit 150 registers the determined receiving section R in the table 200 showing the work plan (S16). In addition, the control system 100 notifies the delivery vehicle P of the receiving section 53 corresponding to the determined section R (S17). As a method of notifying the delivery vehicle P of the receiving section 53, for example, information may be displayed on the guide device 56, and information may be displayed on the display screen of a communication terminal mounted on the delivery vehicle P via a communication network such as wireless LAN, Wi-Fi, or a public wireless communication network, or information may be displayed on an information display device or the like installed on the platform 5. As a result, the driver of the delivery vehicle P visually confirms the notification content, moves to the determined receiving section 53, and performs the work of putting the incineration target G into the pit 21.

[0091] 7, in process S20 for determining a target to be grasped by the crane 25, the process is started when the time to determine the target to be grasped has arrived. In the embodiment of the present disclosure, for example, when the crane 25 has completed a gripping operation registered in the table 200, it is determined that the time to determine the target to be grasped has arrived, and the process is started.

[0092] First, the information acquisition unit 110 refers to the table 200 to check whether or not there is any receiving destination information Ip for the section R (R01 to R10) in the receiving area A1 by the delivery vehicle P (S21). Furthermore, the information acquisition unit 110 acquires height information of the materials to be incinerated G in each section R within the receiving area A1 (S22).

[0093] Next, the destination determination unit 140 performs optimization calculations for the section R where the crane 25 will grasp the incineration material G (S23). To do this, the destination determination unit 140 selects a section R that does not have destination information Ip for the delivery vehicle P from among the sections R (R01-R10) in the receiving area A1. The destination determination unit 140 determines the section R selected in this manner as the destination where the crane 25 will grasp the incineration material G (S24).

[0094] Thereafter, the plan generating unit 150 registers the section R that has been determined to be the gripping destination in the table 200 that indicates the work plan (S25). The control system 100 also notifies the control unit 160 of the crane 25 of the section R that has been determined to be the gripping destination as an operation instruction to the crane 25 (S26). The crane 25 that has received the operation instruction performs the gripping operation of the material to be incinerated G in the notified section R.

[0095] <Action and effect> In the embodiment described above, when the time arrives to determine the destination of the incineration material G from the delivery vehicle P, the control system 100 and the control method determine the destination from among the locations already determined in the pit 21 that are different from the destination of the crane 25, based on the destination information acquired by the information acquisition unit 110. With this configuration, it is possible to receive the incineration material G from the delivery vehicle P while avoiding interference with the destination where the crane 25 is performing the grasping operation.

[0096] Furthermore, when it is time to determine the destination of the crane 25, the control system 100 determines the destination from among locations already determined in the pit 21 that are different from the destination of the delivery vehicle P, based on the destination information acquired by the information acquisition unit 110. With this configuration, the crane 25 can grasp the material G to be incinerated while avoiding interference with the destination of the delivery vehicle P. In this way, the operating efficiency of the entire incineration facility 1 can be improved while minimizing interference between the grasping operation by the crane 25 and the receiving operation by the delivery vehicle P.

[0097] In this embodiment, the information acquisition unit 110 acquires height information of the incineration material G at each location in the pit 21. The destination determination unit 130 determines the destination based on the destination information and the height information. With this configuration, for example, the destination can be determined by selecting a location where the crane 25 is not performing a gripping operation and where the height of the incineration material G is low. Furthermore, the destination determination unit 140 can determine the destination by selecting a location where the delivery vehicle P is not performing a gripping operation and where the height of the incineration material G is high, by determining the destination based on the destination information and the height information.

[0098] Furthermore, in this embodiment, the destination determination unit 130 determines, based on the gripping destination information and the height information, as a destination a location that is different from the already determined gripping destination and that will reduce the difference in height of the incineration material G between adjacent locations by receiving the incineration material G. With this configuration, by receiving the incineration material G from the delivery vehicle P at the determined destination, the difference in height of the incineration material G between adjacent locations is reduced, so that when the crane 25 subsequently performs gripping work at that location, it becomes easier to grip the incineration material G.

[0099] In this embodiment, the height of the incineration object G measured by the measuring device 27 installed in the incineration facility 1 is used as the height information. This corrects the height information to reflect the increase in the height of the incineration object G due to the acceptance of the incineration object G at the determined receiving destination, or the decrease in the height of the incineration object G due to the acceptance of the incineration object G at the determined receiving destination. With this configuration, the latest height information of the incineration object G can be obtained. Therefore, the receiving destination or the receiving destination can be appropriately determined based on the latest height information of the incineration object G.

[0100] Furthermore, in this embodiment, the receiving destination determination unit 130 determines a receiving destination based on the gripping destination information and information indicating the length of waiting time occurring for the delivery vehicle P. With this configuration, it is possible to receive the incineration materials G from the delivery vehicle P at a location that avoids interference with the gripping destination where the crane 25 is performing the gripping operation and where the delivery vehicle P will have little waiting time.

[0101] In this embodiment, when the delivery vehicle P loaded with the materials to be incinerated G reaches a predetermined position, it is determined that the time has come to decide on a destination, and based on the destination information acquired by the information acquisition unit 110, a destination is decided from among locations in the pit 21 that are different from the destination of the crane 25 that has already been decided. With this configuration, the destination can be decided in accordance with the timing when the delivery vehicle P reaches the predetermined position.

[0102] In addition, when the crane 25 satisfies a predetermined condition, it is determined that the time has come to determine the destination of the crane 25, and the destination is determined from among the locations already determined in the pit 21 that are different from the destination of the delivery vehicle P, based on the destination information acquired by the information acquisition unit 110. This allows the destination of the crane 25 to be determined according to the timing at which the crane 25 satisfies the predetermined condition, regardless of the timing at which the delivery vehicle P reaches the predetermined position. In this way, for example, in a time period when the number of delivery vehicles P is large, more destinations are assigned to the delivery vehicles P, while in a time period when the number of delivery vehicles P is small, more destinations are assigned to the crane 25. Therefore, the operating efficiency of the entire incineration facility 1 can be improved.

[0103] In this embodiment, the gripping destinations where the crane 25 grips the incineration target G are determined collectively as a first gripping destination that performs a first operation and a second gripping destination that performs a second operation that is performed after the first operation. With this configuration, it is possible to prevent the crane 25 from being unable to perform the gripping operation due to the receipt of the incineration target G from the delivery vehicles P that arrive at the incineration facility 1 one after another.

[0104] (Modification) In the above-described embodiment, in the process of determining the destination of the delivery vehicle P, the measurement results by the measuring device 27 are corrected to reflect the increase or decrease due to ΔH1 and the decrease due to ΔH2, and the destination of the delivery vehicle P is determined based on the corrected height information. On the other hand, in the process of determining the destination of the crane 25, the measurement results by the measuring device 27 are used as is. Alternatively, in the process of determining the destination of the crane 25, the measurement results by the measuring device 27 may be corrected to reflect the increase or decrease equivalent to ΔH1 and ΔH2, and the destination of the crane 25 may be determined based on the corrected height information. In this case, in the process of determining the destination of the delivery vehicle P, the measurement results by the measuring device 27 are used as is.

[0105] (Other embodiments) Although the embodiment of the present disclosure has been described in detail above with reference to the drawings, the specific configuration is not limited to this embodiment, and design changes and the like within the scope of the gist of the present disclosure are also included. For example, although the procedure of the control method is shown in the above embodiment, the procedure can be appropriately changed. In addition, a part or all of the program executed by the computer in the above embodiment can be distributed via a computer-readable recording medium or a communication line.

[0106] <Additional Notes> The control system 100 and the control method described in the embodiment can be understood, for example, as follows.

[0107] (1) The control system 100 of the first embodiment is a control system 100 for an incineration facility 1 including a pit 21 in which the incineration material G is piled up, and includes an information acquisition unit 110 that acquires destination information indicating a location in the pit 21 where the incineration material G is to be received from a delivery vehicle P that delivers the incineration material G, and a gripping destination information indicating a location in the pit 21 where the crane 25 grips the incineration material G, a destination determination unit 130 that determines the destination based on the gripping destination information when the time to determine the destination arrives, and a gripping destination determination unit 140 that determines the destination based on the destination information when the time to determine the destination arrives. With this configuration, when the time to determine the destination of the incineration material G from the delivery vehicle P arrives, the destination is determined based on the gripping destination information acquired by the information acquisition unit 110. In addition, when it is time to determine the destination of the incineration target G by the crane 25, the destination is determined based on the destination information acquired by the information acquisition unit 110. This makes it possible to increase the operating efficiency of the entire incineration facility 1 while avoiding interference with the destination currently being grasped by the crane 25.

[0108] (2) The control system 100 of the second embodiment is the control system 100 of (1), in which the information acquisition unit 110 further has height information indicating the height of the incineration material G at each location in the pit 21. The destination determination unit 130 determines, based on the destination information and the height information, as the destination, among locations other than the planned destination, a location where the difference in height of the incineration material G between adjacent locations will be reduced by receiving the incineration material G. With this configuration, it is possible to determine the destination by selecting a location where the height of the incineration material G is low while minimizing interference with the crane 25.

[0109] (3) A third embodiment of the control system 100 is the control system 100 of (2), in which the destination determination unit 140 determines, based on the destination information and the height information, as the destination, among locations other than the planned destination, a location where the difference in height of the incineration material G between adjacent locations will be small by gripping the incineration material G with the crane 25. With this configuration, it is possible to select a location where the height of the incineration material G is high while minimizing interference with the delivery vehicle P, and determine the destination.

[0110] (4) The control system 100 of the fourth aspect is the control system 100 of (2) or (3), in which the height information is information indicating the height of the incineration object G measured by the measuring device 27 installed in the incineration facility 1, and at least one of the receiving destination determination unit 130 and the holding destination determination unit 140 corrects the height information to reflect the height of the incineration object G that increases by receiving the incineration object G at the determined receiving destination, or the height of the incineration object G that decreases by holding the incineration object G at the determined holding destination, and determines the receiving destination or the holding destination based on the corrected height information. According to this configuration, the latest height information of the incineration object G can be obtained by correcting the height information to reflect the height of the incineration object G that increases by receiving the incineration object G at the determined receiving destination, or the height of the incineration object G that decreases by holding the incineration object G at the determined holding destination. Therefore, the receiving or grabbing destination can be appropriately determined based on the latest height information of the incineration target material G.

[0111] (5) A fifth aspect of the control system 100 is any one of the control systems 100 of (2) to (4), and the destination determination unit 130 determines the destination based on the gripping destination information and information indicating the length of waiting time for the delivery vehicle P. With this configuration, it is possible to receive the incineration material G from the delivery vehicle P at a location that avoids interference with the gripping destination where the crane 25 is performing the gripping operation and where the delivery vehicle P will have little waiting time.

[0112] (6) A sixth aspect of the control system 100 is any one of the control systems 100 of (1) to (5), in which the destination determination unit 130 determines that the time to determine the destination has arrived when the delivery vehicle P loaded with the incineration material G reaches a predetermined position, and the destination determination unit 140 determines that the time to determine the destination has arrived when the crane 25 satisfies a predetermined condition, independently of the arrival of the time to determine the destination. With this configuration, the destination of the crane 25 can be determined in accordance with the timing at which the crane 25 satisfies a predetermined condition, regardless of the timing at which the delivery vehicle P reaches the predetermined position.

[0113] In this way, for example, in a time period when the number of delivery vehicles P is large, the delivery vehicles P are assigned to more destinations, while in a time period when the number of delivery vehicles P is small, the crane 25 is assigned to more destinations. Therefore, the operating efficiency of the entire incineration facility 1 can be improved.

[0114] (7) The seventh aspect of the control system 100 is any one of the control systems 100 of (1) to (6), and when the time to determine the destination arrives, the destination determining unit 140 determines, based on the destination information, a first destination where the crane 25 will grasp the incineration material G as a first operation, and a second destination where the crane 25 will grasp the incineration material G as a second operation performed after the first operation. With this configuration, it is possible to prevent the crane 25 from being unable to perform the grasping operation due to the receipt of the incineration material G from the delivery vehicles P that arrive at the incineration facility 1 one after another.

[0115] (8) The control system 100 of the eighth aspect is any one of the control systems 100 of (1) to (7), and when the time to determine the destination arrives, the destination determining unit 140 determines, based on the destination information, the destination where the first crane 25A will hold the incineration material G and the destination where the second crane 25B, which is different from the first crane 25A, will hold the incineration material G. With this configuration, it is possible to prevent the first crane 25A and the second crane 25B from being unable to perform the gripping work due to the receipt of the incineration material G from the delivery vehicles P that arrive at the incineration facility 1 one after another.

[0116] (9) A ninth aspect of the control system 100 is the control system 100 of (8), in which the gripping target determination unit 140 determines that the time has come to determine the gripping target when the first crane 25A and the second crane 25B satisfy a predetermined condition. With this configuration, the gripping target of the first crane 25A gripping the incineration target G and the gripping target of the second crane 25B gripping the incineration target G can be determined together.

[0117] (10) The control method of the tenth aspect is a control method of an incineration facility 1 including a pit 21 in which the incineration materials G are piled up, and includes the steps of: one or more computers acquiring destination information indicating a destination of the incineration materials G from a delivery vehicle P that delivers the incineration materials G at a location in the pit 21; acquiring destination information indicating a destination of a crane 25 that holds the incineration materials G at a location in the pit 21; determining the destination based on the destination information when it is time to determine the destination; and determining the destination based on the destination information when it is time to determine the destination. With this configuration, it is possible to increase the operating efficiency of the entire incineration facility 1 while suppressing interference between the gripping operation by the crane 25 and the receiving operation by the delivery vehicle P. [Explanation of symbols]

[0118] 1. Incineration facility 2. Storage section 3. Incinerator 3A…First incinerator 3B…Second incinerator 5. Platform 21…Pit 23…Receiving door 25…Crane 25A…Crane No. 1 25B…Second crane 26X, 26Y…Rail 27…Measuring device 31…Hopper 31A…First hopper 31B…Second hopper 51...Loading route 52...Export path 53…Reception area 55...Weight measurement section 100…Control system 110...Information acquisition department 120...Storage section 130… Acceptance Decision Department 140...Gripping point determining section 150…Plan Generation Unit 200…Table A1: Reception area A2: Delivery area A3: Insertion area G: Incinerated material H…Height Ic…Grip destination information Ip…Recipient information P... Delivery vehicle R, R01~R10…sections

Claims

1. An information processing system for an incineration facility including a pit in which materials to be incinerated are piled up, An information acquisition unit that acquires receiving destination information indicating a location within the pit that will be a receiving destination of the incineration materials from a delivery vehicle that brings in the incineration materials, and grasping destination information indicating a location within the pit that will be a grasping destination of a crane that grasps the incineration materials; A receiving destination determination unit that determines the receiving destination based on the holding destination information when the time to determine the receiving destination arrives; A receiving destination determination unit that determines the receiving destination based on the receiving destination information when the time to determine the receiving destination arrives; An information processing system comprising:

2. The information acquisition unit further acquires height information indicating the height of the incineration material at each location in the pit, The receiving destination determination unit determines, based on the holding destination information and the height information, a location other than the planned holding destination where the difference in height of the incineration materials between adjacent locations will be reduced by receiving the incineration materials, as the receiving destination. The information processing system according to claim 1 .

3. The destination determination unit determines, based on the destination information and the height information, a location other than the planned destination where the difference in height of the incineration materials between adjacent locations will be reduced by the crane grasping the incineration materials, as the destination. The information processing system according to claim 2 .

4. The height information is information indicating the height of the incineration target measured by a measuring device provided in the incineration facility, At least one of the receiving destination determination unit and the holding destination determination unit modifies the height information to reflect an increase in the height of the incineration object due to the planned receiving destination receiving the incineration object, or a decrease in the height of the incineration object due to the holding of the incineration object at the planned holding destination, and determines the receiving destination or the holding destination based on the modified height information. The information processing system according to claim 3 .

5. The receiving destination determination unit determines the receiving destination based on the receiving destination information and information indicating a length of waiting time caused by the delivery vehicle.

3. The information processing system according to claim 1 or 2.

6. The receiving destination determination unit determines that the time has come to determine the receiving destination when the carrying-in vehicle carrying the incineration materials has reached a predetermined position, The destination determination unit determines that the time to determine the destination has arrived when a condition independent of the arrival of the time to determine the destination is satisfied.

3. The information processing system according to claim 1 or 2.

7. When the time to determine the destination arrives, the destination determination unit determines, based on the destination information, a first destination where the crane will grasp the incineration material as a first operation, and a second destination where the crane will grasp the incineration material as a second operation performed after the first operation, in a location different from the planned destination.

3. The information processing system according to claim 1 or 2.

8. When the time to determine the destination arrives, the destination determination unit determines, based on the destination information, a destination where a first crane will grasp the incineration materials and a destination where a second crane different from the first crane will grasp the incineration materials, among locations different from the planned destination.

3. The information processing system according to claim 1 or 2.

9. the gripping target determination unit determines that the time has come to determine the gripping target when the first crane satisfies a predetermined condition and the second crane satisfies the predetermined condition; The information processing system according to claim 8.

10. An information processing method for an incineration facility including a pit in which materials to be incinerated are piled up, comprising the steps of: One or more computers Acquire destination information indicating a location within the pit that will be a destination for the incineration materials from a delivery vehicle that delivers the incineration materials; Acquire gripping destination information indicating a location within the pit that will be the gripping destination of a crane that grips the incineration target material; When the time to determine the recipient arrives, the recipient is determined based on the receiving destination information; When the time for determining the destination arrives, the destination is determined based on the recipient information. An information processing method comprising the steps of:

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