Crane operation system and refuse disposal method

Abstract

To efficiently operate a crane according to work content.SOLUTION: A crane operation system comprises a crane 10 which can transfer refuse D accumulated in a refuse pit 1, and a control part which controls the crane 10. The control part controls the crane 10 so that when an arrangement state changing work for the refuse D is executed by the crane 10 in the refuse pit 1, the refuse D is picked up and moved, and thereafter, the refuse is released at a first release height. The control part controls the crane so that when breakage of a bag of the refuse D is executed by the crane 10 in the refuse pit 1, the refuse D is picked up and moved, and thereafter, the refuse is released at a second release height. The second release height is so set as to be higher than the first release height.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a crane operation system for controlling a crane capable of transporting garbage in a garbage pit, and also to a garbage disposal method using the crane. [Background technology]

[0002] Conventionally, waste treatment facilities have temporarily stored waste brought in from collection trucks in a waste pit, then used a crane to lift the stored waste into a hopper, from which it is dumped into an incinerator. Furthermore, at waste treatment facilities, operators of the waste crane visually inspect the inside of the waste pit and perform tasks such as transferring waste within the pit to ensure that the types and properties of the waste are uniform, or breaking open bags of waste (by lifting up and dropping the waste and breaking the garbage bags).

[0003] With regard to such waste treatment facilities, the applicant has proposed a crane operation system that can automatically and accurately determine the type of waste and perform appropriate operations depending on the type of waste (Patent Document 1). Specifically, the crane operation system in Patent Document 1 is primarily characterized by including a waste crane that transfers waste stored in a waste pit to a hopper, an imaging unit that captures images of the inside of the waste pit, and a waste type determination unit that determines the type of waste based on the images captured by the imaging unit. Furthermore, this crane operation system can cause the crane to perform a selected one of multiple tasks, including transport, bag breaking, mixing, preparing waste for storage, transferring, avoiding approach, and re-grabbing. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-46288 Summary of the Invention [Problem to be solved by the invention]

[0005] Incidentally, in the crane operation system described in Patent Document 1, in addition to breaking bags, the crane can also perform tasks that change the arrangement of waste within the waste pit, such as transporting, stirring, preparing waste in advance, and transferring the waste. However, Patent Document 1 does not mention the height to which the crane moves when breaking bags or performing other tasks that change the arrangement, called the "moving height," or the height to which the waste is released after the crane moves, and these details have not been examined.

[0006] If the crane's release height is insufficient when breaking a bag, even if the garbage bag is picked up and dropped into the garbage pit, there is a possibility that the garbage bag will not be broken because the impact will not be sufficient. Therefore, increasing the crane's overall travel height and release height to ensure that the garbage bag is broken is considered, but in that case, it will be necessary to raise the crane unnecessarily high for other tasks aimed at changing the garbage arrangement, such as transferring or preparing garbage for storage. Raising the crane high requires time to reel in the wire rope, so if the crane's travel height and release height are increased overall, another problem can arise: reduced work efficiency for tasks other than breaking the bag.

[0007] Therefore, a main object of the present invention is to enable a crane to be operated efficiently according to the type of work. [Means for solving the problem]

[0008] The inventor of the present invention has thoroughly investigated means for solving the problems of the above-mentioned conventional inventions, and has found that, compared to using a crane to change the arrangement of waste in a waste pit (transferring, preparing waste, etc.), setting the height at which the crane releases the waste when breaking a bag higher increases the reliability of breaking the waste bag and also enables the waste to be transported efficiently in a short time when changing the arrangement of the waste. Based on this finding, the inventor has come to the realization that the problems of the conventional inventions can be solved, and has completed the present invention. Specifically, the present invention has the following configuration or steps.

[0009] A first aspect of the present invention relates to a crane operation system. The crane operation system according to the present invention includes a crane and a control unit. The crane is configured to transfer waste stored in a waste pit. The control unit controls the crane. The control unit may be implemented as a single device, or may be implemented by distributing functions among multiple devices, such as a computing device and a control device. When the crane is used to change the waste arrangement in the waste pit, the control unit controls the crane to lift up and move the waste and then release the waste at a first release height. In this specification, the term "arrangement change operation" refers to an operation other than bag breaking. When the crane is used to break bags in the waste pit, the control unit controls the crane to lift up and move the waste and then release the waste at a second release height. The second release height during bag breaking is set higher than the first release height during the arrangement change operation. By setting the second release height during bag breaking relatively high, the waste bags can be more reliably broken. On the other hand, by making the first release height relatively low during the positioning state change work, the time required to hoist the crane up high can be eliminated, thereby improving the efficiency of waste transportation.

[0010] In the crane operation system according to the present invention, the waste pit preferably includes a receiving pit, a storage pit, and a partition wall. The receiving pit is located near the waste entrance. Waste introduced through the entrance is first stored in the receiving pit. The storage pit is located farther from the entrance than the receiving pit. Waste stored in the receiving pit is transferred to the storage pit by a crane. The partition wall is located between the receiving pit and the storage pit. In this case, when performing a position change operation (other than bag breaking) to transfer waste picked up by the crane in the receiving pit to the storage pit, the control unit controls the crane to pick up the waste, move it at a first moving height higher than the partition wall, and then release the waste at a first release height. Furthermore, when performing bag breaking for the waste picked up by the crane in the receiving pit to transfer the waste to the storage pit, the control unit controls the crane to pick up the waste, move it at a second moving height higher than the partition wall, and then release the waste at the second release height. The second moving height when the bag is broken is preferably set higher than the first moving height when other tasks are performed to change the waste arrangement. By setting the first moving height relatively low when performing tasks to change the waste arrangement, the time required to hoist the crane up high can be reduced, further improving the efficiency of waste transportation.

[0011] In the crane operation system according to the present invention, when performing a position change operation (other than bag breaking) in which the crane lifts up waste in one section of the storage pit and transfers it to another section of the storage pit, the control unit controls the crane to lift up the waste, move it at a first travel height, and then release it at a first release height. Furthermore, when performing bag breaking for waste when transferring waste lifted up in one section of the storage pit to another section of the storage pit, the control unit controls the crane to lift up the waste, move it at a second travel height, and then release it at a second release height. Even in this case, the second travel height for the position change operation is preferably set higher than the first travel height for bag breaking. In this way, the system is not limited to transferring waste from a receiving pit to a storage pit; bag breaking and other position change operations can also be performed by transferring waste from one section of the storage pit to another section within the same storage pit. This allows for effective use of the space within the storage pit.

[0012] In the crane operation system according to the present invention, the second travel height and the second release height during bag breaking may be substantially the same height. Note that "substantially the same height" here means that the difference between the second travel height and the second release height is within 1 m. Thus, when breaking a bag, it is preferable to use the crane to lift and move the waste up to the second travel height, and then release the waste at substantially the same height after the movement is complete. This reduces the time required to raise and lower the crane, allowing for efficient bag breaking operations.

[0013] In the crane operation system according to the present invention, when the crane is used to break bags of waste in a waste pit and the location where the crane releases the waste is other than the area near the control room, the control unit controls the crane to lift up and move the waste and then release the waste at a second release height. On the other hand, when the crane is used to break bags of waste in a waste pit and the location where the crane releases the waste is in the area near the control room, the control unit controls the crane to lift up and move the waste and then release the waste at a release height for the control room area. In this case, the release height for the control room area is preferably set lower than the second release height. In the area near the control room, if the crane releases the waste from a high height, there is a concern that, for example, waste falling from the crane may collide with the control room or that waste may fall on an operator seated in the control room. For this reason, it is preferable to set the height at which the crane releases the waste relatively low in the area near the control room to prevent harm to the control room or the operator. It is more preferable that the clearance height for the control room section is equal to or lower than the height at which the control room is provided.

[0014] In the crane operation system according to the present invention, the arrangement state change work may be any one of relocation, spreading, preparing in advance, or digging out. Note that the arrangement state change work may be a concept that includes all or a combination of relocation, spreading, preparing in advance, and digging out.

[0015] In the crane operation system according to the present invention, the control unit may control the crane to pick up and move the waste and then release it at a first release height when the crane is to transfer, spread, prepare, or dig up waste within the waste pit. Also, when the crane is to break bags of waste within the waste pit, the control unit may control the crane to pick up and move the waste and then release it at a second release height. In this case, the second release height is set higher than the first release height.

[0016] A second aspect of the present invention relates to a waste disposal method. The waste disposal according to the second aspect can be carried out by the crane operation system according to the first aspect. That is, the waste disposal method according to the present invention is a method of transferring waste stored in a waste pit using a crane. When the crane is used to change the arrangement of waste in the waste pit, the waste disposal method according to the present invention controls the crane to pick up and move the waste and then release the waste at a first release height. Also, when the crane is used to break bags of waste in the waste pit, the crane controls the crane to pick up and move the waste and then release the waste at a second release height. In this case, the second release height is higher than the first release height.

[0017] In the waste disposal method according to the present invention, when a crane is used to transfer, spread, prepare, or excavate waste within a waste pit, the crane may be controlled to pick up and move the waste and then release it at a first release height. Also, when a crane is used to break bags of waste within the waste pit, the crane may be controlled to pick up and move the waste and then release it at a second release height. In this case, the second release height is higher than the first release height. [Effects of the Invention]

[0018] According to the present invention, the crane can be operated efficiently according to the work content. [Brief explanation of the drawings]

[0019] [Figure 1] FIG. 1 is a schematic diagram showing an example of the overall configuration of a waste treatment facility including a crane operation system. [Figure 2] FIG. 2 is a plan view showing an example of the compartments included in the garbage pit. [Figure 3] FIG. 3 is a block diagram showing an example of the functional configuration of the crane operation system. [Figure 4] FIG. 4 shows an example of the type of work performed by a crane. [Figure 5]Figure 5 shows an overview of the crane's free height when performing each task. [Figure 6] FIG. 6 is a flow diagram showing an example of a method for calculating the moving height and the releasing height when performing bag breaking. [Figure 7] FIG. 7 is a flow diagram showing an example of a method for calculating the moving height and the releasing height when transferring. [Figure 8] FIG. 8 is a flow diagram showing an example of a method for calculating the moving height and the releasing height when preparing in advance. DETAILED DESCRIPTION OF THE INVENTION

[0020] Hereinafter, embodiments of the present invention will be described with reference to the drawings. The present invention is not limited to the embodiments described below, and includes appropriate modifications of the embodiments described below within the scope obvious to those skilled in the art. The drawings in this application are provided with three-dimensional coordinate axes of XYZ, where the X axis indicates the horizontal direction, the Y axis indicates the depth direction, and the Z axis indicates the height direction.

[0021] FIG. 1 shows an overview of a crane operation system 100 according to one embodiment of the present invention and a waste treatment facility equipped with the system. As shown in FIG. 1, waste transported by a collection truck C is dumped into a waste pit 1 and stored therein. The waste pit 1 is separated into a receiving pit 1a and a storage pit 1b by a partition wall 2, and waste from the collection truck C is first transported to the receiving pit 1a. The waste D stored in the receiving pit 1a is picked up by a crane 10 and transferred to the storage pit 1b. The waste D stored in the storage pit 1b is then picked up by the crane 10 and transferred to a hopper 3, from which it is supplied to an incinerator 4. Note that although the partition wall 2 is used in this embodiment, the partition wall 2 is not an essential element.

[0022] The crane 10 is a so-called overhead crane. There are no particular restrictions on the type of crane 10, and known suspended or rail-type crane types can be used. The crane 10 has a traveling mechanism 11 mounted near the ceiling, which includes a traveling rail, a saddle, a girder, and a club trolley. A wire rope 12 hangs from the traveling mechanism 11, and a bucket 13 is attached to the lower end of the wire rope 12. The bucket 13 can move horizontally within the garbage pit 1 in the lateral direction (X-axis direction) and depth direction (Y-axis direction) via the traveling mechanism 11, and can also move vertically (Z-axis direction) by winding up the wire rope 12 with the traveling mechanism 11. The bucket 13 is also configured to be openable and closable, allowing it to grab and release garbage D.

[0023] The garbage D transferred to the hopper 3 by the crane 10 moves downward by its own weight and is pushed into the incinerator 4 by a dust feeder 5 installed at the bottom of the hopper 3. A stoker 6 is installed inside the incinerator 4, and the garbage D supplied to the incinerator 4 is mixed with air and burned while being transported inside the incinerator 4 by the stoker 6. It is also possible to install multiple hoppers 3 for the garbage pit 1.

[0024] A platform 7 that can be accessed by collection vehicles C is provided adjacent to the receiving pit 1a of the garbage pit 1, and a delivery entrance 8 is provided on the side of the garbage pit 1 at a position facing the platform 7. Collection vehicles C stopped at the platform 7 deliver garbage D into the receiving pit 1a of the garbage pit 1 through the delivery entrance 8. Multiple platforms 7 and delivery entrances 8 may be provided for each garbage pit 1. Note that traffic lights may be provided on the platform 7 at positions corresponding to each delivery entrance 8 to indicate whether or not garbage D can be delivered to each delivery entrance 8.

[0025] An operation room 9 for the crane 10 is provided at a position above the platform 7 on the side of the garbage pit 1. In particular, this operation room 9 is installed at a position higher than the partition wall 2 between the receiving pit 1a and the storage pit 1b. From the operation room 9, the receiving pit 1a and the storage pit 1b of the garbage pit 1 can be seen from above through a transparent window. Inside the operation room 9, for example, an operation device 52 for inputting operation commands for the crane 10 to the control device 30 that controls the operation of the crane 10, a display device 53 for displaying operation information of the control device 30, and an input device 51 for inputting operating conditions of the crane 10 to the computing device 20 connected to the control device 30 are provided (see FIG. 3). As a result, an operator in the operation room 9 can operate the crane 10 using the operation device 52, display device 53, and input device 51 while visually checking the state of the garbage D in the garbage pit 1 and the operation of the crane 10.

[0026] In addition, various sensors 40 such as an imaging device 41, a hopper level sensor 42, and a crane weight sensor 43 are installed at various locations in the waste treatment facility, and the information obtained by these sensors 40 is mainly input to the calculation device 20 or the control device 30 and used to control the operation of the crane 10 (see Figure 3).

[0027] As shown in FIG. 1, the imaging devices 41 are installed in positions that allow them to capture images of the receiving pit 1a and the storage pit 1b of the garbage pit 1 from a bird's-eye view. The imaging devices 41 are stereo cameras, and are installed in at least two locations so that they can capture images of the entire garbage pit 1 from different viewpoints. These imaging devices 41 are installed for the purposes of observing the condition and type of garbage D stored in each of the receiving pit 1a and the storage pit 1b of the garbage pit 1, and for the purposes of measuring the height of the garbage D stored in each pit by capturing images of the receiving pit 1a and the storage pit 1b from two or more viewpoints. The images acquired by each imaging device 41 are input to the computing device 20, and are used by the computing device 20 for processing such as determining the type of garbage in the garbage pit 1 and calculating the garbage height (see FIG. 3).

[0028] The hopper level sensor 42 acquires information about the height of the waste D in the hopper 3. For example, the hopper level sensor 42 detects whether the height of the waste D is above a threshold and inputs the detection signal to the arithmetic unit 20. The hopper level sensor 42 may be a known sensor, such as an optical or magnetic sensor, that can detect the height of the waste D in the hopper 3 in a non-contact manner. As described above, the waste D is transported in the hopper 3 by its own weight. If the waste D is not high enough, the dust feeder 5 may idle, which may result in insufficient supply of the waste D to the incinerator 4 or may cause high-temperature gases in the incinerator 4 to backflow into the hopper 3. Therefore, during operation of the incinerator 4, the hopper 3 must always be filled with waste D to a predetermined height or higher. Therefore, the hopper level sensor 42 monitors the height of the waste D. When the height of the waste D falls below the threshold detectable by the sensor, the crane 10 is controlled to dump the waste D in the waste pit 1 into the hopper 3.

[0029] The crane weight sensor 43 is a sensor for measuring the weight of the waste D held in the bucket 13 of the crane 10. The crane weight sensor 43 may be, for example, a tension sensor or load cell that detects the tension of the wire rope 12 that suspends the bucket 13. The measurement information of the crane weight sensor 43 is input to the computing device 20.

[0030] Although not shown in the figure, the waste treatment facility is equipped with well-known equipment such as a boiler that uses the heat of incineration to generate steam, and an ash conveyor that collects ash produced in the incinerator 4.

[0031] FIG. 2 is a schematic diagram of a waste pit 1 and its surrounding facilities, viewed from above. As shown in FIG. 2, the waste pit 1 is divided into a receiving pit 1a and a storage pit 1b by a partition wall 2. The receiving pit 1a is located on the side of the entrance 8, and the storage pit 1b is located on the side of the hopper 3. The receiving pit 1a and the storage pit 1b are separated by the partition wall 2 in the horizontal direction (X-axis direction) of the facility, and each extends longitudinally in the depth direction (Y-axis direction). As shown in FIG. 2, a dumping box 1c may be provided separate from the entrance 8 for dumping brought-in waste into the receiving pit 1a. The operation room 9 is located in front of the receiving pit 1a and the storage pit 1b in the depth direction (Y-axis direction), and the interior space is designed to be wide across the receiving pit 1a and the storage pit 1b in the horizontal direction (X-axis direction). Therefore, from this operation room 9, both the receiving pit 1a and the storage pit 1b can be seen from above.

[0032] As shown in FIG. 2, the receiving pit 1a and the storage pit 1b can each be conceptually divided into multiple compartments. Specifically, in the example shown in FIG. 2, the receiving pit 1a has two columns, A and B, and 12 rows, 1 through 12, forming a total of 24 compartments. The storage pit 1b has three columns, C through D, and 12 rows, 1 through 12, forming a total of 36 compartments. The compartments in the receiving pit 1a and the storage pit 1b are all set to the same area. Since the storage pit 1b generally stores a larger amount of waste D, it is preferable to ensure a larger area than the receiving pit 1a. These compartments are primarily used to control the crane 10. For example, the position where the crane 10 grabs and releases the waste D can be specified by specifying a compartment within the storage pit 1b.

[0033] FIG. 3 shows an example of the functional configuration of a crane operation system 100 related to the operation control of the crane 10. As shown in FIG. 3, the crane operation system 100 includes, in addition to the crane 10, a calculation device 20, a control device 30, various sensors 40, and an operation system 50. The calculation device 20 is a computer that generates control commands for controlling the operation of the crane 10 based on detection information from the various sensors 40 and input information input to an input device 51. The calculation device 20 may be connected to the control device 30 and the various sensors 40 via an internal network, or may be connected to the control device 30 and the various sensors 40 via the Internet. The control commands from the calculation device 20 are input to the control device 30. The control device 30 is a controller that actually controls the operation of the crane 10 based on the control commands from the calculation device 20 and operation information input to an operation device 52. The control device 30 can also output information useful for operating the crane 10, such as the operating status of the crane 10, to a display device 53. The operator in the control room 9 operates the crane 10 via the operating device 52 and input device 51 while checking the display screen of the display device 53 and the garbage pit 1 and crane 10 visible from the control room 9.

[0034] The arithmetic device 20 has a processing unit 21 and a storage unit 22. A processor such as a CPU (Central Processing Unit) or GPU (Graphics Processing Unit) can be used as the processing unit 21. The processing unit 21 basically reads out a program stored in the storage unit 22, loads it into main memory, and executes predetermined arithmetic processing in accordance with this program. The processing unit 21 can also write and read out the results of calculations performed in accordance with the program to and from the storage unit 22 as appropriate. In this embodiment, the processing unit 21 of the arithmetic device 20 functions as a waste type determination unit 21a, a waste height calculation unit 21b, a work determination unit 21c, and a work height calculation unit 21d. Details of each of these functional blocks 21a to 21d will be described later.

[0035] The memory unit 22 is an element for storing information used in arithmetic processing and the like in the processing unit 21 and the results of the arithmetic processing. The storage function of the memory unit 22 can be realized by a non-volatile memory such as an HDD or an SSD. The memory unit 22 may also function as a main memory for writing or reading intermediate results of arithmetic processing by the processing unit 21. The memory function of the memory unit 22 can be realized by a volatile memory such as a RAM or a DRAM. In this embodiment, the memory unit 22 stores a trained model 22a obtained as a result of executing machine learning such as deep learning. This trained model 22a is constructed, for example, by a neural network, and includes a model for determining the type of waste D (burnable waste, non-burnable waste, unbroken bag, broken bag, etc.) captured in an image captured by the imaging device 41, and a model for automatically determining the work to be performed by the crane 10 based on various parameters.

[0036] More specifically, the waste type determination unit 21a of the processing unit 21 determines the type of waste captured in an image captured by the imaging device 41 using a trained model for waste type determination. A preferred method for generating such a trained model is to train an operator or other skilled personnel by showing them images of the waste pit 1 and inputting the type of waste D (burnable waste, non-burnable waste, unbroken bags, broken bags, etc.) that is most prevalent in each compartment of the waste pit 1 captured in the image into the input device 51. As a result, the type of waste D that is most prevalent in each compartment is associated with the image of each compartment of the waste pit 1 as a correct answer label and stored in the storage unit 22 or the like. By repeatedly having the operator or the like perform such training, a combination of images of the waste pit 1 or feature quantities extracted from the images as variables and the type of waste D exposed on the surface of each compartment as a correct answer label is accumulated as a dataset. Using this dataset as training data, a trained model for determining the type of waste D based on images of the waste pit 1 is generated. By utilizing this trained model, it becomes possible to automatically determine the type of garbage D, which was previously done visually by a skilled operator, in the garbage type determination unit 21a of the processing unit 21. The input variables of this trained model are "images of the inside of the garbage pit 1 captured by the imaging device 41, or feature quantities such as color, shape, and dimensions of objects extracted from the images," and the inferred values ​​are "types of garbage D at each location in the garbage pit 1."

[0037] The garbage height calculation unit 21b of the processing unit 21 calculates the height of the garbage D stored in the garbage pit 1. As described above, in this embodiment, two imaging devices 41 (stereo cameras) capture images of the garbage pit 1 from different viewpoints. The garbage height calculation unit 21b calculates the height of each location on the surface of the garbage D in the garbage pit 1 based on the parallax of the images captured simultaneously by these two imaging devices 41. Specifically, the garbage height calculation unit 21b extracts corresponding points between the two images captured by the two imaging devices 41 and obtains depth information for each pixel from the parallax of the corresponding points. Since the base lengths and camera parameters of the two imaging devices 41 are known, the depth of each pixel in real space can be calculated by triangulation from the parallax of the corresponding points. By performing this depth calculation for multiple corresponding points, a depth map of the surface of the garbage D in the garbage pit 1 is generated. The garbage height calculation unit 21b also estimates the height of each location on the surface of the garbage D based on this depth map. For example, the depth of the edge of the garbage D can be detected from the depth map and regarded as the height of the garbage D. It is also possible to create a shape model for estimating the shape of the garbage D stored in the garbage pit 1 from the distribution of the depth map, and calculate the height using this shape model. Furthermore, by associating the depth map generated here with maps of multiple compartments in the garbage pit 1 as shown in Figure 2, the height of the garbage D in each compartment can be calculated.

[0038] The work determination unit 21c of the processing unit 21 uses a trained model for determining the work to be performed by the crane 10, and determines the work to be performed by the crane 10 using multiple parameters selected from the parameters listed below as input variables. The type of waste D stored in each compartment in the waste pit 1 Height of waste D stored in each section Functions assigned to each section Height of waste D in hopper 3 Bucket 13 load Open / close status of each entrance 8 Month or season ·day of week ·time ·Insertion request signal Crane status · Check for abnormalities Driving status ·Communication status

[0039] The type and height of the waste D in each compartment can be obtained from the calculation results of the waste type determination unit 21a and the waste height calculation unit 21b using the method described above. The functions assigned to each compartment can be manually preset by the operator, such as a bag-breaking space for dropping unbroken bags of waste to break them, a spreading space for mixing non-burnable waste with combustible waste, and a storage space for storing broken and mixed waste. However, these functions do not necessarily have to be manually set. For example, the bag-breaking space, spreading space, and storage space can be automatically set by a program or situation judgment AI. Multiple compartments can be assigned each of these functions. The height of the waste D in the hopper 3 can be obtained from the hopper level sensor 42. The load of the bucket 13 can be obtained from the crane weight sensor 43. The open / close status of each entrance 8 can be obtained from a sensor attached to the opening / closing door of the entrance 8. The month or season, day of the week, and time can be acquired using a clock function or the like provided in the computing device 20 (PC). Based on these parameters, the work determination unit 21c appropriately selects a work appropriate for the current situation from work types such as "throwing," "transferring," "breaking bags," "spreading," "preparing," and "digging" (described later) based on information obtained from the above-mentioned devices (e.g., the imaging device 41, the hopper level sensor 42, and the crane weight sensor 43) and other information (e.g., the time and the day of the week), and generates a command to cause the crane 10 to execute the selected work. Furthermore, a pattern that "selects and executes one of the above-mentioned operations when a certain condition is met" may be incorporated into the crane operation system, thereby automatically determining the type of work. To incorporate such a pattern, for example, a trained model that learns patterns through machine learning may be used, or a program that sets pattern classifications based on operating patterns in manual operation may be used. Furthermore, a method of organizing decision rules using ontology may also be used.To have the trained model learn a pattern such as "when a certain condition is met, select and execute one of the above-mentioned operations," the parameters when each operation is selected can be stored in the memory unit 22 of the computing device 20, and machine learning can be performed using this data set as training data to learn the pattern.

[0040] It is preferable that the work determination unit 21c uses the trained model as described above to automatically determine the work to be performed by the crane 10. However, the present invention is not limited to this, and it is also possible to simply cause the crane 10 to perform a work selected by the operator via the input device 51 or the operation device 52.

[0041] 4 shows the types of work that can be used in this embodiment. In this embodiment, as shown in FIG. 4, an appropriate work is automatically or manually selected from "throwing," "transferring," "breaking bags," "spreading," "preparing," and "digging out," and is then executed by the crane 10.

[0042] Throwing is the operation of using the crane 10 to transport the garbage D in the garbage pit 1 into the hopper 3. In this embodiment, throwing is performed by lifting up the garbage D from the storage pit 1b of the garbage pit 1 and releasing it above the hopper 3. In particular, throwing is performed by lifting up the garbage D from a section within the storage pit 1b where the height of the garbage D is equal to or greater than a threshold and transporting it into the hopper 3. Furthermore, throwing is preferably performed by preferentially lifting up the garbage D from a section within the storage pit 1b that is assigned the function of a storage space and transporting it into the hopper 3. Note that in this embodiment, garbage D in the receiving pit 1a cannot be transported into the hopper 3.

[0043] Transferring is the process of transporting waste D within the waste pit 1. First, the transfer involves lifting up waste D from the receiving pit 1a and transporting it to the storage pit 1b. At this time, it is preferable to lift up waste D from a compartment within the receiving pit 1a where the height of the waste D is above a threshold and transport it to the storage pit 1b. Furthermore, when transferring waste D from the receiving pit 1a to the storage pit 1b, it is preferable to preferentially transport the waste D lifted up from the receiving pit 1a to a compartment within the storage pit 1b that is assigned the function of a storage space. Transferring can also involve lifting up waste D from one compartment within the storage pit 1b and transporting it to another compartment within the storage pit 1b. When transferring within the storage pit 1b, for example, it is preferable to lift up waste D from a compartment within the storage pit 1b that is assigned the function of a bag-breaking space or a spreading space and transport it to a compartment that is assigned the function of a storage space. As a general rule, transfers cannot be made within the receiving pit 1a, but as an exception, and only when instructed by the operator, it is possible to lift up waste D from one compartment within the receiving pit 1a and move it to another compartment within the storage pit 1b. However, in this case, only the operation of lifting up waste D from the compartment in the receiving pit 1a that belongs to the row closest to the entrance 8 (row A shown in Figure 2) and moving it to a compartment in another row (row B shown in Figure 2) is permitted, and transfers in the opposite direction are not permitted.

[0044] Bag breaking is the process of primarily picking up and dropping unbroken bags of garbage D within the garbage pit 1, thereby breaking the bags. Bag breaking can be performed by picking up garbage D from a section determined by the garbage type determination unit 21a of the computing device 20 to have unbroken bags of garbage D exposed on the surface. Bag breaking can be performed by picking up unbroken bags of garbage D from the receiving pit 1a of the garbage pit 1 and dropping them into the storage pit 1b, or by picking up unbroken bags of garbage D from the storage pit 1b and dropping them into the storage pit 1b. In particular, when breaking bags, it is preferable to preferentially drop garbage D into a section of the storage pit 1b that is assigned the function of a bag breaking space. Because the bag breaking space is a space for breaking unbroken bags of garbage D by the impact of the drop, it is preferable to transfer garbage D to another section as a priority during transfer so that the height of the garbage D in that section is as low as possible. When breaking bags in the storage pit 1b, the compartment where the unbroken bags of waste D are picked up may be the same compartment where the waste D is dropped.

[0045] Spreading is the process of picking up the waste D from a section in the waste pit 1 that contains a large amount of relatively non-burnable waste D, such as kitchen waste and vegetation, and moving the waste D from that section to a section with less non-burnable waste D, or picking up the waste D from that section and scattering it over a wide area in the surrounding sections. This is expected to equalize the flammability and heat output of the waste D. Furthermore, when transferring non-burnable waste D by spreading, it is advisable to preferentially transfer the waste D to a section assigned the function of a spreading space. This spreading can be done within the storage pit 1b, or when releasing the waste picked up in the receiving pit 1a in the storage pit 1b.

[0046] The process of preparing and storing garbage D is the act of piling up garbage D, mainly broken bags, in a specific section within the garbage pit 1. Preparation and storing is carried out only within the storage pit 1b. It is preferable to pick up the garbage D from a section within the storage pit 1b other than the section assigned to function as a storage space and transport it to the section assigned to function as a storage space. It is preferable to prepare and store garbage D on the condition that the height of the garbage D in the storage space falls below a certain threshold, for example. As mentioned above, when loading garbage D, it is picked up preferentially from the section assigned to function as a storage space and carried into the hopper 3.

[0047] Excavation involves grabbing up waste D from a section where waste D is piled relatively high and essentially dropping it back into the same section when there is a time when none of the aforementioned tasks (throwing, transferring, breaking bags, spreading, and preparing) need to be performed. Excavation involves digging up sections of the storage pit 1b in rotation, and dumping the excavated waste at a distant location at least a certain distance from the excavation point. Once the waste is excavated to near the bottom, it will collapse on its own if left alone. Because the waste at the bottom has a high moisture content and generates heat through fermentation, it is preferable to dig up waste as close to the bottom as possible and turn it over. This allows for more efficient execution of any of the aforementioned tasks after this excavation. This excavation is performed only within the storage pit 1b.

[0048] The working height calculation unit 21d of the processing unit 21 calculates the height (traveling height) to which the bucket 13 of the crane 10 moves after grabbing the waste D and the height (release height) to which the bucket 13 releases the waste D, depending on the content of each of the above-mentioned tasks. Figure 5 shows an overview of the traveling height and release height for each task. As shown in Figure 5, the traveling height and transfer height are the heights from the bottom of the waste pit 1 to the bottom of the bucket 13.

[0049] As shown in FIG. 5, for example, during transfer, garbage D picked up in the receiving pit 1a may be transferred over the partition wall 2 to the storage pit 1b. For this reason, it is preferable to set the travel height and release height during transfer higher than the partition wall 2. However, since raising the bucket 13 significantly above the height of the partition wall 2 during transfer would waste time, it is sufficient for the travel height and release height of the bucket 13 to be slightly above the partition wall 2. Furthermore, since waste preparation is performed only within the storage pit 1b, the bucket 13 does not need to exceed the partition wall 2. For this reason, the travel height and release height of the bucket 13 during preparation can be lower than the height of the partition wall 2 and are sufficient to be high enough so that the bucket 13 does not collide with the garbage D stored in the storage pit 1b. Furthermore, by minimizing the travel height and the like of the bucket 13 during preparation, the time required to raise the bucket 13 can be eliminated, thereby improving the operational efficiency of the crane 10 as a whole. The moving height and release height when spreading and digging can also be considered in the same way as when preparing in advance.

[0050] On the other hand, when breaking a bag, it is necessary to drop the unbroken bag of waste D picked up by the bucket 13 of the crane 10, causing a strong impact to break the bag. For this reason, when breaking a bag, it is preferable to raise the bucket 13 that has picked up the waste D as high as possible and drop the waste D from a high position. For this reason, as shown in Figure 5, the travel height and release height of the bucket 13 when breaking a bag are set to be higher than the travel height and release height for each of the other tasks (transferring, storing, spreading, and digging out).

[0051] However, if the waste D is released from the bucket 13 at a position higher than the operation room 9 in a section of the waste pit 1 near the operation room 9, there is a concern that the waste falling from the bucket 13 may collide with the operation room 9 or that the waste may fall on the operator seated in the operation room 9. For this reason, when releasing the waste D from the bucket 13 in a section near the operation room 9, it is preferable to set the release height of the bucket 13 at a position lower than the operation room 9 in any of the above-mentioned operations. In particular, when performing bag breaking, the release height of the bucket 13 is generally higher than the operation room 9, so it is preferable to lower the release height of the bucket 13 below the operation room 9 only when dropping the waste D in a section near the operation room 9. For this reason, in this embodiment, as shown in FIG. 5 , the height at which the waste D is released in the section near the operation room 9 is set to a range higher than the height of the partition wall 2 and lower than the height of the operation room 9.

[0052] Note that the section near the operation room 9 referred to here includes at least the section belonging to the row closest to the operation room 9 within the garbage pit 1. Specifically, it is the section (A1, B1, C1, D1, E1) belonging to the first row of the section within the garbage pit 1 shown in Figure 2. Furthermore, if necessary, the section near the operation room 9 may also include the section belonging to the row next to the row closest to the operation room 9. Specifically, it is the section (A2, B2, C2, D2, E2) belonging to the second row of the section within the garbage pit 1 shown in Figure 2. Note that the section near the operation room 9 can be set appropriately depending on the placement and size of the operation room 9 relative to the garbage pit 1.

[0053] Next, a method for calculating the moving height and release height of the bucket 13 in accordance with the type of work performed by the working height calculation unit 21d will be specifically described with reference to FIGS.

[0054] FIG. 6 shows an example of a method for determining the travel height and release height of the bucket 13 when a bag is broken. First, the working height calculation unit 21d performs a calculation to determine the travel height of the bucket 13 when a bag is broken. Here, the working height calculation unit 21d determines whether the section where the crane 10 grabs the waste D is the receiving pit 1a (step S1-1). If the section where the waste D is grabbed is the receiving pit 1a, the bucket 13 must be moved from the receiving pit 1a over the partition wall 2 to the storage pit 1b. Therefore, in this case, the working height calculation unit 21d determines the travel height (Ha) of the bucket 13 to be the height (Hw) of the partition wall 2 plus an arbitrary additional value (h11) (step S1-2). The additional value (h11) when a bag is broken is preferably set to a relatively large value so that the travel height (Ha) is at or near the structural limit height to which the bucket 13 can be moved. For example, if the structural limit height to which the bucket 13 can be moved is 100%, the value obtained by adding the optional additional value (h11) to the height (Hw) of the partition wall 2 is preferably 70% or more, and more preferably 80% or more or 90% or more. For example, the optional additional value (h11) can be set to 4 to 8 m or 5 to 7 m. The optional additional value (h11) is a parameter that can be changed by the operator via the input device 51.

[0055] On the other hand, if the section where the waste D is to be grabbed is not the receiving pit 1a (i.e., if it is the storage pit 1b), the bucket 13 does not need to cross the partition wall 2. Therefore, in this case, the working height calculation unit 21d determines the moving height (Ha) of the bucket 13 to be a value obtained by adding an arbitrary additional value (h11) to the maximum height (hmax2) of the waste D measured within the storage pit 1b (step S1-3). As described above, the maximum height (hmax2) of the waste D within the storage pit 1b is a variable that can be calculated by the waste height calculation unit 21b based on the image captured by the imaging device 41 (stereo camera). Furthermore, the arbitrary additional value (h11) used in this step S1-3 may be the same value as that used in the above-described step S1-2. However, if the travel height (Ha) of the bucket 13 calculated here is less than a predetermined lower limit (Hy) or exceeds a predetermined upper limit (Hz), the working height calculation unit 21d sets the travel height (Ha) of the bucket 13 to the predetermined upper limit (Hz). The predetermined lower limit (Hy) and the predetermined upper limit (Hz) may be set taking into consideration the structural limits of the height at which the bucket 13 can be moved, respectively. For example, since it is structurally impossible to set the travel height of the bucket 13 to 0 m, the predetermined lower limit (Hy) may be set to, for example, 1 to 4 m or 2 to 3 m. Furthermore, when the structural limit of the height at which the bucket 13 can be moved is taken as 100%, the predetermined upper limit (Hz) is preferably set to 70% or more, and more preferably 80% or more, or 90% or more.

[0056] Next, the working height calculation unit 21d performs a calculation to determine the release height of the bucket 13 when the bag is broken. Here, the working height calculation unit 21d determines whether the section where the waste D is released by the crane 10 is a section near the operation room 9 (step S1-4). If the section where the waste D is released is a section near the operation room 9, the release height of the bucket 13 needs to be lower than that of the operation room 9, as described above. Therefore, in this case, the working height calculation unit 21d determines the release height (Hb) of the bucket 13 to be the release height (Hd) for the section in front of the operation room (step S1-5). The release height (Hd) for the section in front of the operation room should be set to a value higher than the height (Hw) of the partition wall 2 and lower than the height of the operation room 9. If the release height (Hd) for the section in front of the operation room is lower than the height (Hw) of the partition wall 2, the fall distance of the waste D will be insufficient, and there is a possibility that the waste D will not be able to be impacted sufficiently to break the bag. Furthermore, assuming that bucket 13 is moved from receiving pit 1a over partition wall 2 to storage pit 1b, if the release height (Hd) for the section in front of the operation room is set lower than the height (Hw) of partition wall 2, bucket 13 will have to be lowered once after passing over partition wall 2 to a position lower than partition wall 2, which may reduce the work efficiency of crane 10. For this reason, it is preferable to set the release height (Hd) for the section in front of the operation room between the height of partition wall 2 and the height of operation room 9.

[0057] On the other hand, if the section where the waste D is released is not a section near the operation room 9, there is no need to change the release height of the bucket 13 from the moving height. Therefore, in this case, the working height calculation unit 21d determines the release height (Hb) of the bucket 13 to be the same value as the moving height (Ha) (step S1-6). That is, in this case, the bucket 13 moves to the section where the waste D is released at the moving height (Ha) calculated in step S1-2 or step S1-3, and then can release the waste D as is without changing its height.

[0058] Next, FIG. 7 shows an example of a method for calculating the moving height and release height of the bucket 13 during transfer. First, the working height calculation unit 21d performs a calculation to calculate the moving height of the bucket 13 during transfer. Here, the working height calculation unit 21d determines whether the section where the crane 10 grabs the waste D is the receiving pit 1a (step S2-1). If the section where the waste D is grabbed is the receiving pit 1a, the bucket 13 needs to be moved from the receiving pit 1a over the partition wall 2 to the storage pit 1b. Therefore, in this case, the working height calculation unit 21d determines the moving height (Ha) of the bucket 13 to be a value obtained by adding an arbitrary additional value (h01) to the height (Hw) of the partition wall 2 (step S2-2). The additional value (h01) during transfer is a value different from the additional value (h11) when the bag breaks, as shown in FIG. 6. That is, when transferring, it is sufficient for the bucket 13 to pass slightly above the partition wall 2, so the additional value (h01) when transferring does not need to be as large as the additional value (h11) when a bag is broken. For example, if the additional value (h11) when a bag is broken is set to 100%, the additional value (h01) when transferring may be set to 10 to 70%, and preferably 10 to 60% or 10 to 50%. Furthermore, for example, the additional value (h01) when transferring can be set to 0.5 to 4 m or 1 to 3 m. The additional value (h01) when transferring is also a parameter that can be changed as desired by the operator via the input device 51.

[0059] On the other hand, if the section where the waste D is to be picked up is not the receiving pit 1a (i.e., the storage pit 1b), the bucket 13 does not need to cross the partition wall 2. Therefore, in this case, the working height calculation unit 21d determines the moving height (Ha) of the bucket 13 to be a value obtained by adding an arbitrary additional value (h01) to the maximum height (hmax2) of the waste D measured within the storage pit 1b (step S2-3). The maximum height (hmax2) of the waste D within the storage pit 1b is a variable that can be calculated by the waste height calculation unit 21b based on the image captured by the imaging device 41 (stereo camera), as described above. The arbitrary additional value (h01) used in step S2-3 may be the same value as that used in step S2-2. In this way, when transferring waste within the storage pit 1b, moving the bucket 13 at a height obtained by adding a small additional value (h01) to the maximum height (hmax2) of the waste D can minimize the hoisting time of the crane 10, thereby improving work efficiency. However, if the travel height (Ha) of the bucket 13 calculated here is less than a predetermined lower limit (Hy) or exceeds a predetermined upper limit (Hz), the working height calculation unit 21d determines the travel height (Ha) of the bucket 13 to be the height (Hw) of the partition wall 2. The predetermined lower limit (Hy) and the predetermined upper limit (Hz) may be set to the same values ​​as those used in step S1-3 of FIG. 6. In this way, when transferring waste within the storage pit 1b, if the travel height (Ha) of the bucket 13 is set to the same as the height (Hw) of the partition wall 2, it is possible to basically avoid the bucket 13 coming into contact with the waste D stored in the storage pit 1b.

[0060] Next, the working height calculation unit 21d performs a calculation to determine the release height of the bucket 13 during transfer. Here, the working height calculation unit 21d determines whether the section into which the waste D is released by the crane 10 is a section near the operation room 9 (step S2-4). If the section into which the waste D is released is a section near the operation room 9, as described above, the release height of the bucket 13 needs to be lower than that of the operation room 9, so the working height calculation unit 21d determines the release height (Hb) of the bucket 13 to be the release height (Hd) for the section in front of the operation room (step S2-5). The release height (Hd) for the section in front of the operation room may be set to the same value as the value used in step S1-5 of FIG. 6.

[0061] On the other hand, if the section into which the waste D is released is not a section near the operation room 9, there is no need to change the release height of the bucket 13 from the moving height. Therefore, in this case, the working height calculation unit 21d determines the release height (Hb) of the bucket 13 to be the same value as the moving height (Ha) (step S2-6).

[0062] Next, FIG. 8 shows an example of a method for calculating the moving height and release height of the bucket 13 during waste preparation. First, the working height calculation unit 21d performs a calculation to calculate the moving height of the bucket 13 during waste preparation. During waste preparation, the bucket 13 moves only within the storage pit 1b and does not need to cross the partition wall 2. Therefore, the working height calculation unit 21d determines the moving height (Ha) of the bucket 13 to be a value obtained by adding an arbitrary additional value (h01) to the maximum height (hmax2) of the waste D measured within the storage pit 1b (step S3-1). As described above, the maximum height (hmax2) of the waste D within the storage pit 1b is a variable that can be calculated by the waste height calculation unit 21b based on the image captured by the imaging device 41 (stereo camera). The arbitrary additional value (h01) used in step S3-1 may be the same value as that used in steps S2-2 and S2-3 shown in FIG. 7. In this way, when preparing and storing waste D in the storage pit 1b, the bucket 13 is moved at a height equal to the maximum height (hmax2) of the waste D plus a small additional value (h01), thereby minimizing the hoisting time of the crane 10 and improving work efficiency. However, if the travel height (Ha) of the bucket 13 calculated here is less than a predetermined lower limit (Hy) or exceeds a predetermined upper limit (Hz), the working height calculation unit 21d determines the travel height (Ha) of the bucket 13 to be the height (Hw) of the partition wall 2. Note that the predetermined lower limit (Hy) and the predetermined upper limit (Hz) may be the same values ​​as those used in step S1-3 of FIG. 6 . In this way, even when preparing and storing waste D in the storage pit 1b, by setting the travel height (Ha) of the bucket 13 to be the same as the height (Hw) of the partition wall 2, the bucket 13 can basically be prevented from coming into contact with the waste D stored in the storage pit 1b.

[0063] Next, the working height calculation unit 21d performs a calculation to determine the release height of the bucket 13 when preparing waste for storage. Here, the working height calculation unit 21d determines whether the section where the waste D is released by the crane 10 is a section near the operation room 9 (step S3-2). If the section where the waste D is released is a section near the operation room 9, as described above, the release height of the bucket 13 needs to be lower than that of the operation room 9, so the working height calculation unit 21d determines the release height (Hb) of the bucket 13 to be the release height (Hd) for the section in front of the operation room (step S3-3). The release height (Hd) for the section in front of the operation room may be set to the same value as the value used in step S1-5 of FIG. 6, etc.

[0064] On the other hand, if the section into which the waste D is released is not a section near the operation room 9, there is no need to change the release height of the bucket 13 from the moving height. Therefore, in this case, the working height calculation unit 21d determines the release height (Hb) of the bucket 13 to be the same value as the moving height (Ha) (step S3-4).

[0065] As mentioned above, since preparing, spreading, and digging are all tasks performed only within the storage pit 1b, the moving height and release height for these tasks can be calculated in basically the same way. Figure 8 shows the calculation flow for the moving height and release height when preparing as a representative example, but this flow can also be applied to the calculation flow for the moving height and release height when spreading and digging. Therefore, this specification will only explain the flow when preparing and will omit the flow when spreading and digging. Note that the arbitrary additional value (h01) for spreading is basically the same as the additional value (h01) for other tasks, but in order to spread over a wide area, the additional value (h01) for spreading may be higher than the additional value (h01) for other tasks.

[0066] As described above, the information determined by the work determination unit 21c and the work height calculation unit 21d of the calculation device 20 is input to the control device 30 as a control command for the crane 10. The control device 30 causes the crane 10 to perform the work determined by the calculation device 20, and also controls the travel height and release height of the bucket 13 of the crane 10 in accordance with each work. This makes it possible to operate the crane 10 efficiently in accordance with the work content to be performed by the crane 10.

[0067] In the above description of the present invention, the embodiments of the present invention have been described with reference to the drawings in order to express the contents of the present invention. However, the present invention is not limited to the above embodiments, and includes modifications and improvements that are obvious to those skilled in the art based on the matters described in the present specification. [Explanation of symbols]

[0068] 1...Garbage pit 1a...Receiving pit 1b...Storage pit 2...Partition wall 3...Hopper 4...Incinerator 5...Duster feeder 6...Stoker 7...Platform 8...Loading entrance 9...Operation room 10...Crane 11...Traveling mechanism 12...Wire rope 13...Bucket 20...Calculation unit 21... Processing unit 21a... Garbage type determination unit 21b...Garbage height calculation unit 21c...Work determination unit 21d...Working height calculation unit 22...Memory unit 22a...Trained model 30...Control device 40...sensor 41...imaging device 42...Hopper level sensor 43...Crane weight sensor 50...Operation system 51...Input device 52...Operation device 53...Display device 100...Crane operation system C...Collection vehicle D…Garbage

Claims

1. A crane operation system comprising a crane capable of transferring garbage stored in a garbage pit and a control unit that controls the crane, When the control unit performs a garbage arrangement change operation in the garbage pit by the crane, the control unit controls the crane to pick up and move the garbage and then release the garbage at a first release height, When the control unit is to use the crane to break bags of garbage in the garbage pit, the control unit controls the crane to pick up and move the garbage and then release the garbage at a second release height, The second free height is higher than the first free height. Crane operation system.

2. The garbage pit includes a receiving pit provided near the garbage entrance, a storage pit provided at a position farther from the entrance than the receiving pit, and a partition wall provided between the receiving pit and the storage pit, When performing a positioning state change operation to transfer the waste picked up in the receiving pit by the crane to the storage pit, the control unit controls the crane to pick up the waste, move it at a first moving height that is higher than the partition wall, and then release the waste at the first release height; When the crane is to tear open a bag of the waste picked up in the receiving pit and transfer the waste to the storage pit, the control unit controls the crane to pick up the waste, move the waste at a second moving height higher than the partition wall, and then release the waste at the second releasing height; The second travel height is higher than the first travel height. The crane operation system according to claim 1 .

3. The garbage pit includes a receiving pit provided near the garbage entrance, a storage pit provided at a position farther from the entrance than the receiving pit, and a partition wall provided between the receiving pit and the storage pit, When performing a placement state change operation to transfer waste picked up by the crane in a section of the storage pit to another section of the storage pit, the control unit controls the crane to pick up the waste, move it at a first moving height, and then release the waste at the first release height; When the control unit performs bag breaking of the garbage picked up in a certain section of the storage pit by the crane to transfer the garbage to another section of the storage pit, the control unit controls the crane to pick up the garbage, move the garbage at a second moving height, and then release the garbage at the second release height; The second travel height is higher than the first travel height. The crane operation system according to claim 1 .

4. The second travel height and the second release height are substantially the same height. The crane operation system according to claim 2 or 3.

5. When the crane is used to break bags of garbage in the garbage pit, if the position where the crane releases the garbage is other than a section near the operation room, the control unit controls the crane to pick up and move the garbage and then release the garbage at the second release height, When the crane is used to break bags of garbage in the garbage pit, and the position where the crane releases the garbage is in a section near the operation room, the control unit controls the crane to pick up and move the garbage and then release the garbage at a release height for the section in front of the operation room, The clearance height for the front compartment of the operation room is lower than the second clearance height. The crane operation system according to claim 1 .

6. The position change operation is one of transferring, spreading, preparing, or digging. The crane operation system according to claim 1 .

7. A garbage disposal method in which garbage stored in a garbage pit is transferred by a crane, When performing a garbage arrangement change operation in the garbage pit by the crane, the crane is controlled so as to pick up and move the garbage and then release the garbage at a first release height; When the crane is used to break bags of garbage in the garbage pit, the crane is controlled so as to pick up and move the garbage and then release the garbage at a second release height; The second free height is higher than the first free height. Garbage disposal methods.

8. A crane operation system comprising a crane capable of transferring garbage stored in a garbage pit and a control unit that controls the crane, the control unit controls the crane to pick up and move the waste and then release the waste at a first release height when the crane is used to transfer, spread, prepare, or dig up the waste in the waste pit; When the control unit is to use the crane to break bags of garbage in the garbage pit, the control unit controls the crane to pick up and move the garbage and then release the garbage at a second release height, The second free height is higher than the first free height. Crane operation system.

9. A garbage disposal method in which garbage stored in a garbage pit is transferred by a crane, When the crane is used to transfer, spread, prepare, or dig up garbage in the garbage pit, the crane is controlled to pick up and move the garbage and then release the garbage at a first release height; When the crane is used to break bags of garbage in the garbage pit, the crane is controlled so as to pick up and move the garbage and then release the garbage at a second release height; The second free height is higher than the first free height. Garbage disposal methods.

Images