Hopper filling amount management system and crane control system of garbage disposal facility

Abstract

To provide a hopper filling amount management system capable of easily and accurately grasping a filling amount in a hopper.SOLUTION: A hopper filling amount management system of an embodiment manages a filling amount in a hopper (H) into which waste is thrown by a crane (C). A hopper filling amount management system includes a photographing device (P) for photographing a hopper (H), and a management device (100) for calculating a filling amount based on a photographed image output from the photographing device (P). A management device (100) includes a hopper filling amount detection unit (112) that sets a first captured image in a state before operation in which waste is not thrown in as a reference image, generates a difference image between the reference image and a second captured image in a state after operation, and calculates a filling amount based on the difference image.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] An embodiment of the present invention relates to a technology for managing the amount of waste put into a hopper. [Background technology]

[0002] At waste treatment facilities, waste is thrown into a hopper by a crane, and then the waste is sucked down from the hopper and sent to the next process (for example, an incinerator). The waste being sent from the hopper to the next process is controlled to ensure it is not interrupted and to prevent the waste from overflowing from the hopper.

[0003] Patent Documents 1 and 2 disclose technologies related to the automatic control of cranes in waste treatment facilities. These technologies measure the volume and height of waste in a waste pit using sensors and cameras, and then automatically control the crane. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2006-44904 [Patent Document 2] Japanese Patent Application Publication No. 2023-130008 Summary of the Invention [Problem to be solved by the invention]

[0005] To provide a hopper filling amount management system capable of easily and accurately grasping the amount of filling in a hopper. [Means for solving the problem]

[0006] A hopper filling volume management system according to an embodiment manages the volume of waste in a hopper into which waste is dumped using a crane. The hopper filling volume management system includes a photographing device that photographs the hopper, and a management device that calculates the volume of waste based on the photographed image output from the photographing device. The management device includes a hopper filling volume detection unit that sets a first photographed image, taken before operation and showing a state in which no waste has been dumped, as a reference image, generates a difference image between the reference image and a second photographed image taken after operation, and calculates the volume of waste based on the difference image. [Brief explanation of the drawings]

[0007] [Figure 1] 1 is a schematic diagram of a crane control system at a waste treatment facility to which a hopper filling amount management system according to a first embodiment is applied. [Figure 2] 1 is a configuration block diagram of a crane control system including a hopper filling amount management system according to a first embodiment. FIG. [Figure 3] FIG. 6 is a diagram illustrating an example of a hopper filling amount detection process according to the first embodiment. [Figure 4] 5A to 5C are diagrams for explaining crane control based on the hopper filling amount detection process of the first embodiment. [Figure 5] FIG. 4 is a flowchart showing a hopper filling amount detection process and crane control according to the first embodiment. [Figure 6] FIG. 4 is a schematic diagram for explaining resetting of a reference image used in differential image processing according to the first embodiment. [Figure 7] FIG. 10 is a flowchart showing a hopper filling amount detection process including a reference image resetting process according to the first embodiment. BEST MODE FOR CARRYING OUT THE INVENTION

[0008] Hereinafter, embodiments will be described with reference to the drawings.

[0009] (First embodiment) 1 to 7 are diagrams for explaining the first embodiment. Fig. 1 is a schematic diagram of a crane control system at a waste treatment facility to which a hopper filling amount management system is applied.

[0010] As shown in Figure 1, garbage G brought into the garbage pit GP through the entrance is dumped into hopper H by crane C. Hopper H is formed into a truncated quadrangular pyramid that narrows from top to bottom and has an open bottom. The garbage dumped into hopper H is sent from the open bottom to the next process by a conveying device such as a belt conveyor. One example of the next process is an incineration facility (incinerator). Note that the mechanism for sending the garbage from hopper H to the next process can be any known method other than a conveying device such as a belt conveyor.

[0011] The crane control system of the waste treatment facility is equipped with a crane control device 200 that controls the waste discharging operation of crane C, and automatically controls the discharging operation of crane C into hopper H using hopper filling amount information output from the hopper filling amount management system of this embodiment.

[0012] The hopper filling amount management system includes a photographing device P and a hopper filling amount management device (hereinafter referred to as the management device) 100. The photographing device P is connected to the management device 100 wirelessly or via a wire, and the photographed image (image data) output from the photographing device P is output to the management device 100.

[0013] The photographing device P is equipped with an imaging element such as a CCD sensor or a CMOS sensor, photographs the monitored hopper H, and outputs image data. The photographed image is a 24-bit color image in which each RGB element of one pixel is represented by 8 bits.

[0014] The direction in which the hopper H is photographed can be set as appropriate so that the captured image allows the filling status of the waste placed in the hopper H to be grasped. The photographing device P is fixed, and photographs the hopper H from above with the same angle of view and the same direction. The photographing device P can generate still images or moving images of the hopper H and output them to the management device 100. In the case of moving images, a still image cut out from the moving image is used as the photographed image of the hopper H. The photographing device P may also be configured to be used by reusing an existing surveillance camera that monitors the hopper H at the waste treatment facility.

[0015] Fig. 2 is a configuration block diagram of a crane control system including a hopper filling amount management system. As shown in Fig. 2, a management device 100 functions as a monitoring device for the crane control system, and includes a control unit 110, an output unit 120, and a storage unit 130. The management device 100 is connected to a crane control device 200 wirelessly or by wire.

[0016] The control unit 110 has an image acquisition unit 111 and a hopper filling amount detection unit 112. The image acquisition unit 111 can acquire photographed images from the photographing device P and control the photographing operation of the photographing device P. The image acquisition unit 111 outputs the photographed images received from the photographing device P to the hopper filling amount detection unit 112.

[0017] Specifically, image acquisition unit 111 outputs a first captured image of the state before operation, when no waste has been put in, to hopper filling amount detection unit 112, and also outputs a second captured image of the state after operation (for example, the state after waste has started to be put in) to hopper filling amount detection unit 112. At this time, image acquisition unit 111 sequentially outputs the second captured images captured at predetermined time intervals to hopper filling amount detection unit 112. The second captured images of the state after operation are image data that are continuously captured in chronological order in units of seconds or minutes.

[0018] The hopper filling amount detection unit 112 is a functional unit that executes predetermined image processing to calculate the hopper filling amount from the captured image. Fig. 3 is a diagram showing an example of the hopper filling amount detection processing.

[0019] In the hopper filling amount detection process of this embodiment, a captured image of the hopper H when no waste has been put in and it is empty before operation is set as a reference image, and a differential image process is performed to generate a differential image between the set reference image and the captured image of the hopper H when it is in its state after operation. The filling amount is then calculated based on the differential image.

[0020] The differential image processing calculates the difference in pixel value (brightness value) at each pixel position between a set reference image and the image captured after operation. The image made up of these difference values ​​is the differential image, and pixels with a difference of 0 are black. On the other hand, pixels with a difference other than 0 have a pixel value other than black. In other words, pixels with a difference compared to the reference image in an empty state indicate garbage. The amount of garbage stored in hopper H can be calculated by counting these non-black pixels. The difference value is the absolute value of the difference in pixel value at each pixel position.

[0021] As described above, the hopper H has a truncated quadrangular pyramid shape, and the area (surface area) of the garbage grasped from the difference image based on the photographed image taken from above the hopper H can be regarded as the amount of garbage filled in the hopper H (the amount of garbage present in the hopper H), with a smaller garbage area representing a smaller amount of garbage, and a larger garbage area representing a larger amount of garbage. In this way, the amount of garbage filled in the hopper H can be grasped based on the difference image.

[0022] The hopper filling amount detection unit 112 can convert the pixel value (brightness value) of each pixel in the difference image to grayscale using the averaging method to generate a grayscale difference image. As shown in FIG. 3, the grayscale difference image can be subjected to binarization processing, and the white pixels in the difference image after binarization processing can be counted to calculate the filling amount. This configuration allows the presence of garbage in the hopper H to be more accurately determined. The threshold value for the binarization processing can be set as appropriate.

[0023] As described above, the hopper filling amount detection process of this embodiment includes the following three methods. (A) Differential image processing is performed to generate a differential image between a reference image (color image) and a captured image (color image) taken after operation. Hopper filling amount calculation processing counts the number of pixels that represent dust in the differential image and calculates the filling amount. At this time, pixels where the difference is not 0, or pixels whose pixel values ​​exceed the thresholds set in advance for each RGB element that identifies dust, can be extracted as pixels that represent dust. (B) Differential image processing is performed to generate a differential image between the reference image (color image) and the captured image (color image) after operation. Next, the differential image is converted to grayscale to generate a grayscale differential image. Finally, the grayscale differential image is subjected to binarization processing. Hopper filling volume calculation processing counts the white pixels in the binarized differential image and calculates the filling volume. (C) As a variation of (A) above, differential image processing is performed to generate a differential image between a reference image (color image) and a captured image (color image) in the post-operation state. Then, binarization processing is performed on the differential image. Hopper filling amount calculation processing counts the number of pixels representing dust in the image after binarization processing and calculates the filling amount. For example, the binarization processing on the differential image can set a threshold value for each RGB element of the pixel, and convert pixels whose pixel values ​​exceed each threshold to white and pixels whose pixel values ​​do not exceed each threshold to black. Hopper filling amount calculation processing can count white pixels after binarization processing to calculate the filling amount.

[0024] The range for counting pixels corresponding to dust can be set in advance. As shown in Fig. 3, the hopper filling amount detection unit 112 can set a calculation area (white dotted line) corresponding to the frame of the hopper H set in advance in the captured image. Then, the unit can be configured to count the pixels that correspond to dust (pixels other than black, pixels exceeding a predetermined threshold, or white pixels) present within the calculation area and calculate the filling amount.

[0025] This calculation area can be set, for example, at the same time as setting the captured image of the empty hopper with no waste added before operation as the reference image. Note that since the angle of view and orientation of the photographing device P are fixed, it is also possible to configure the calculation area to continue to be used without changing it once it has been set. This calculation area can also be set manually. For example, a display device can be configured to display a captured image of the empty hopper with no waste added before operation (first captured image), allowing an operator to specify (draw) the calculation area along the frame of the hopper H using input means. The management device 100 can provide a calculation area setting function.

[0026] The output unit 120 is a functional unit that outputs hopper filling amount information generated (detected) by the hopper filling amount detection process to the crane control device 200. The crane control device 200 can control the garbage dumping operation of the crane based on the garbage filling amount in the hopper H received from the output unit 120. Hopper filling amount information that changes over time is input sequentially to the crane control device 200.

[0027] 4 is a diagram for explaining crane control based on the hopper filling amount detection process of this embodiment. In the graph of Fig. 4, the Y axis represents the waste filling amount a, and the X axis represents the operating time t.

[0028] When operation begins, the crane control device 200 causes the crane C to perform a garbage dumping operation, picking up garbage from the garbage pit GP and dumping it into the hopper H. As the crane C dumps garbage, the garbage filling amount a in the hopper H increases with each garbage dumping operation. After that, the garbage filling amount a in the hopper H gradually decreases.

[0029] In this embodiment, after the garbage is dumped into the hopper H, the crane control device 200 temporarily stops the garbage dumping operation of the crane C and puts it into a standby state. Then, when the garbage filling amount a reaches the hopper acceptance threshold, the crane control device 200 causes the crane C to perform the garbage dumping operation. In other words, after dumping garbage into the hopper H, the crane C transitions to a standby state, and is controlled to resume dumping garbage when the garbage filling amount a reaches the hopper acceptance threshold. In this way, the crane control device 200 can automatically control the garbage dumping operation of the crane C based on the hopper filling amount information output from the management device 100 (hopper filling amount management system).

[0030] Although the operation control of the crane C has been described with respect to one hopper H, the present invention is not limited to this, and there are also waste treatment facilities where multiple hoppers H are installed side by side and one crane C sequentially throws waste into each of the multiple hoppers H. For example, in a waste treatment facility where two hoppers H1 and H2 are installed, the filling amounts of each of the hoppers H1 and H2 can be monitored and managed by the management device 100. Individual photographing devices P1 and P2 are installed in the hoppers H1 and H2, respectively, and photographed images of the corresponding hoppers are input to the management device 100 from each of the photographing devices P1 and P2.

[0031] The management device 100 can set a reference image for each of the images output from the multiple photographing devices P1 and P2 and perform parallel processing to detect the filling volume of each hopper using the photographed image after operation, calculate the filling volumes a1 and a2 of the hoppers H1 and H2, and output them to the crane control device 200.

[0032] The crane control device 200 can automatically control the garbage dumping operation of crane C based on the filling volumes a1 and a2 of hoppers H1 and H2. For example, after dumping garbage into hopper H1, crane C dumps garbage into hopper H2. Then, crane C temporarily stops dumping garbage and enters a standby state until either the garbage filling volume a1 of hopper H1 or the garbage filling volume a2 of hopper H2 reaches the hopper acceptance threshold. In this case, because garbage is dumped into hopper H1 first, crane C is controlled to a standby state until the garbage filling volume a1 reaches the hopper acceptance threshold. Then, when the garbage filling volume a1 reaches the hopper acceptance threshold, crane control device 200 resumes dumping garbage into hopper H1. In this way, when the garbage filling volume of either hopper H1 or H2 reaches the hopper acceptance threshold, crane C resumes dumping garbage into the hopper that has reached the hopper acceptance threshold, and the hopper dumping operation and standby state are repeatedly performed.

[0033] Although the configuration example in which the photographing devices P1 and P2 are provided for the hoppers H1 and H2 individually has been described, the present invention is not limited to this. For example, the two hoppers H1 and H2 may be photographed by one photographing device, and two filling amounts corresponding to each of the hoppers H1 and H2 may be calculated from one photographed image.

[0034] FIG. 5 is a flowchart showing the hopper filling amount detection process and the crane control.

[0035] When the crane control system of a waste treatment facility is operated, the management device 100 acquires a photographed image (first photographed image) from the photographing device P showing the state before operation, when no waste has been dumped (S101), and sets it as a reference image to be used in differential image processing (S102).

[0036] The management device 100 starts the hopper filling amount detection process (S103), and acquires photographed images of the state after operation (second photographed images) from the photographing device P at predetermined time intervals (S104). For each of the photographed images acquired consecutively in time series, the management device 100 performs differential image processing (S105), binarization processing (S106), and hopper filling amount calculation processing based on the number of pixels corresponding to the waste, and generates hopper filling amount information (S107).

[0037] The generated hopper filling amount information is output to the crane control device 200 via the output unit 120 (S108). The hopper filling amount information to be output is stored in the memory unit 130. Then, when the operation of the crane control system of the waste treatment facility is terminated (operation is stopped) (YES in S109), the management device 100 terminates the hopper filling amount detection process.

[0038] Meanwhile, the crane control device 200 starts the operation of crane C (S201). As crane C operates, the crane control device 200 checks whether a hopper is available for waste disposal (or whether the hopper is available for waste disposal) based on the hopper filling amount information output from the management device 100 (S202). Specifically, as described above, the crane control device 200 checks whether a hopper H with a waste filling amount equal to or less than the hopper acceptance threshold is present. After the crane control device 200 confirms the presence of an available hopper H (or that the hopper H is available for waste disposal) (YES in S203), it controls crane C to dump waste into the available hopper H (S204). The crane control device 200 temporarily stops the waste dumping operation of crane C into the hopper H into which waste has been dumped (S205). Until the operation is completed, the crane control device 200 repeatedly executes steps S202 to S205. When the operation is completed (YES in S206), the crane control device 200 terminates the waste dumping control of crane C.

[0039] FIG. 6 is a schematic diagram for explaining the reference image resetting function used in the differential image processing.

[0040] The reference image for the hopper filling volume detection process in this embodiment is an image of the hopper H in an empty state before the crane control system at the waste disposal facility is put into operation, and the hopper filling volume detection process can then be performed without changing the reference image.

[0041] On the other hand, as shown in the right diagram of Figure 6, the garbage g being fed into hopper H can get caught on the walls of hopper H or become soiled, causing the empty state of hopper H to change from its state before operation. In this case, the difference image processing detects the caught garbage g or the soiled areas as garbage filled in hopper H, resulting in an overcalculated fill amount. As shown in the left diagram of Figure 6, the garbage fill amount a gradually decreases when garbage feeding is stopped, but if garbage gets caught on the walls of hopper H or becomes soiled, the lower limit of the garbage fill amount shifts upward. When the lower limit of the garbage fill amount shifts upward, the time it takes to reach the feed stop threshold becomes shorter, reducing the efficiency of garbage feeding into hopper H.

[0042] Therefore, the hopper filling amount detection unit 112 of this embodiment has a function of resetting the captured image (third captured image) obtained from the photographing device P at a predetermined timing after operation as the reference image, thereby preventing the lower limit value of the garbage filling amount from shifting upward, in other words, preventing the filling amount from being calculated as being too high even though it is acceptable.

[0043] 7 is a flowchart showing the hopper filling amount detection process including the reference image resetting process of this embodiment. Note that the same processes as those in FIG. 5 are denoted by the same reference numerals and the description thereof will be omitted.

[0044] 7, in step S102, hopper filling amount detection unit 112 sets the captured image of hopper H in an empty state before operation as a reference image and starts the hopper filling amount detection process, but can perform a reference image reset process in steps S1001 to S1003. Hopper filling amount detection unit 112 resets the reference image to an image (third captured image) acquired from imaging device P at a predetermined timing after operation, and the subsequent hopper filling amount detection process (difference image processing) is performed using the reset reference image.

[0045] Specifically, when the fluctuation range of the lower limit value of the filling amount calculated using a difference image generated from the currently set reference image (first captured image) exceeds a predetermined threshold (S1001), the hopper filling amount detection unit 112 acquires a captured image (third captured image) corresponding to the lower limit value shifted upward beyond the predetermined threshold (S1002). For example, it is possible to acquire an image of the hopper H in an empty state, although there is some debris g caught on the wall surface of the hopper H or dirt adhering to it. Then, the hopper filling amount detection unit 112 resets the captured image acquired during operation as the reference image to be used in difference image processing (S1003), and performs the subsequent calculation process of the filling amount.

[0046] Explaining using the example of Figure 6, in the change in the waste filling amount a over time, the point at which the waste filling amount a transitions from a decrease to an increase is the lower limit of the waste filling amount a of the hopper H. The hopper filling amount detection unit 112 monitors this lower limit over time and determines whether the fluctuation range of the lower limit value has exceeded a predetermined threshold value (S1001). Specifically, whether the fluctuation range of the lower limit value has exceeded the predetermined threshold value can be determined by detecting a state in which the lower limit value is not equal to or less than a predetermined value.

[0047] When the fluctuation range of the lower limit value exceeds a predetermined threshold, a photographed image corresponding to the lower limit value whose fluctuation range exceeds the predetermined threshold is acquired, and the photographed image corresponding to the lower limit value whose fluctuation range exceeds the predetermined threshold is reset as a reference image, and the above-described hopper filling amount detection process including differential image processing is performed.

[0048] The reference image resetting function used in the differential image processing described above is performed when the fluctuation range of the lower limit value of the waste filling amount a exceeds a predetermined threshold, but the present invention is not limited to this. For example, the reference image may be automatically reset at a predetermined timing (a specific time or a predetermined time interval). Alternatively, the reference image resetting function may be executed by an operator monitoring the hopper H inputting a reset command at any timing.

[0049] The fluctuation range indicates how much the current lower limit has deviated from the reference lower limit. If the deviation from the reference lower limit is greater than or equal to a predetermined threshold, the reference image can be reset. Here, the reference lower limit can be calculated by, for example, calculating the minimum value from the data on the previous day's waste volume a, and setting this minimum value as the reference lower limit. Various methods can be used to calculate this minimum value. For example, data on the waste volume a from the previous day's operating hours is extracted, and the average and standard deviation are calculated. Then, a value obtained by subtracting twice the standard deviation from the average (average -2σ) is calculated. Next, data on the waste volume a from the previous day's operating hours that is equal to or less than the average -2σ (outlier exclusion process) is removed from the data on the waste volume a from the previous day's operating hours after the outlier exclusion process. The minimum waste volume a from the data on the waste volume a from the previous day's operating hours after the outlier exclusion process can be set as the reference lower limit. Another method is to calculate the minimum value of the waste volume a obtained during operation, for example, the minimum value of the waste volume a from the most recent three-hour time span, as the reference lower limit.

[0050] In this way, when the lower limit value of the garbage filling amount a during operation deviates from the standard lower limit value by a predetermined amount or more, i.e., when the fluctuation range is greater than a predetermined threshold, the standard image can be replaced to suppress a decrease in the efficiency of garbage disposal into the hopper H.

[0051] According to this embodiment, the amount of filling in the hopper H can be easily and accurately grasped using the differential image.

[0052] Conventionally, contact-type sensors have been installed inside the hopper H to determine the upper limit of the filling amount, or the amount of waste filled has been determined by measuring the height based on the parallax using a distance sensor or two cameras, as described in Patent Documents 1 and 2. In the former case, there was an issue of malfunction (false detection) if waste stuck to the contact-type sensor. In the latter case, distance and height must be measured, which leaves some issues in terms of the complexity of the configuration and cost.

[0053] In contrast, the hopper filling amount management system of this embodiment can accurately grasp the amount of garbage filled in the hopper H simply by applying simple image processing, including differential image processing, to the captured images obtained from the photographing device P, resulting in an extremely simple system configuration.

[0054] In particular, without applying typical AI technology in the image processing field, the amount of garbage can be determined using only differential image processing, or differential image processing and binarization processing alone, which reduces the processing load and enables high-speed processing. This means that there is no need to use high-spec resources such as the CPU and memory of the computer equipment, thereby reducing overall costs.

[0055] For example, when performing classification using image processing with general AI technology, it is necessary to train the classifier on targets as training data. In other words, in the case of segmentation, manual annotation is required to determine whether an area in the image is dust or not, and in the case of image classification, manual annotation is required to determine whether the entire image is acceptable or unacceptable. Furthermore, performing image recognition using an AI model in real time requires high-spec computing devices such as GPUs, which are affected by the specifications of the computer device and inevitably increase the cost of the computer device.

[0056] In this way, the hopper filling amount management system of this embodiment can realize power saving of the computer device (computer system).

[0057] In addition, in the crane control system of this embodiment, the crane control device 200 controls the crane C to a standby state after garbage is dumped into the hopper H, and can control the crane C to resume dumping into the hopper H when the filling amount after dumping has stopped falls below the hopper acceptance threshold.

[0058] Conventionally, the garbage dumping operation of crane C was stopped when the amount of garbage filled in hopper H reached the dumping stop threshold, i.e., the upper limit of the amount of garbage filled in hopper H. However, the crane control system of this embodiment automatically temporarily stops crane C after the garbage dumping operation, and resumes the garbage dumping operation when the amount of garbage filled in hopper H has decreased to the hopper acceptance threshold.

[0059] For example, as shown in Figures 4 and 6, it is possible to trace a waveform in which the amount of waste filled in hopper H decreases as the waste is transported to the next process, and then increases as the crane C throws waste in. By setting the throwing timing according to the lower limit of this waveform, i.e., the hopper acceptance threshold, and controlling the timing of crane C throwing waste into hopper H, it is possible to appropriately determine whether or not to throw waste in, without the need for manual teaching or parameter adjustment work.

[0060] The above has described the embodiments, and the devices 100 and 200 are computer devices equipped with a calculation function, a storage function, a communication function, etc. Furthermore, the hardware configuration may include a memory (main storage device), operation input means such as a mouse, a keyboard, a touch panel, and a scanner, output means such as a printer, and an auxiliary storage device (hard disk, etc.).

[0061] In addition, each function of the present invention can be realized by a program, and a computer program prepared in advance to realize each function is stored in an auxiliary memory device, and a control unit such as a CPU reads the program stored in the auxiliary memory device into a main memory device, and the control unit executes the program read into the main memory device, causing the computer to operate the functions of each unit of the present invention.

[0062] The program can also be provided to a computer in a state recorded on a computer-readable recording medium. Examples of computer-readable recording media include optical discs such as CD-ROMs and Blu-ray (registered trademark) Disc Rewritable, phase-change optical discs such as DVD-ROMs, magneto-optical discs such as MO (Magneto Optical), magnetic discs such as floppy (registered trademark) disks and hard disks, and memory cards such as SD memory cards and USB flash drives. Also included as recording media are hardware devices such as integrated circuits (e.g., IC chips such as ROM and RAM) specially designed and configured for the purpose of the present invention. Furthermore, the present invention, including the above-mentioned program, is not limited to being executed on the architecture of a von Neumann computer, but may also be executed on the architecture of a so-called non-von Neumann computer, such as a neurocomputer based on the mechanism of neural circuits in the brain or a quantum computer that applies quantum mechanics to information processing.

[0063] Although the embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. This novel embodiment can be embodied in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included within the scope and spirit of the invention, and are also included in the inventions and their equivalents as set forth in the claims. [Explanation of symbols]

[0064] 100 Monitoring device (hopper filling amount control device) 110 control section 111 Image acquisition unit 112 Hopper filling amount detection unit 120 Output section 130 Storage section 200 Crane control device P Imaging device H Hopper C Crane G,g garbage

Claims

1. A hopper filling amount management system that manages the amount of waste in a hopper into which waste is thrown by a crane, a photographing device for photographing the hopper; a management device that calculates the filling amount based on the captured image output from the imaging device, The management device A hopper filling amount management system characterized by having a hopper filling amount detection unit that sets a first captured image of the state before operation, in which no garbage has been put in, as a reference image, generates a difference image between the reference image and a second captured image of the state after operation, and calculates the filling amount based on the difference image.

2. The hopper filling amount management system according to claim 1, characterized in that a crane control device that controls the garbage dumping operation of the crane based on the filling amount is provided with an output unit that outputs the filling amount.

3. The hopper filling amount management system according to claim 1 or 2, characterized in that the hopper filling amount detection unit performs a binarization process on the generated difference image, counts white pixels in the difference image after the binarization process, and calculates the filling amount.

4. The hopper filling amount management system according to claim 3, characterized in that the hopper filling amount detection unit counts the white pixels present within the filling amount calculation area corresponding to a hopper frame that is preset in the captured image, and calculates the filling amount.

5. The hopper filling amount management system according to claim 1, wherein the hopper filling amount detection unit controls so that a third captured image acquired during operation from the photographing device after operation can be reset as the reference image.

6. The hopper filling amount management system described in claim 5, characterized in that when the fluctuation range of the lower limit value of the filling amount calculated from the difference image based on the first captured image exceeds a predetermined threshold, the hopper filling amount detection unit resets the third captured image corresponding to the lower limit value to the reference image, generates the difference image using the reset reference image, and calculates the filling amount.

7. A program executed by a computer that manages the amount of waste in a hopper into which waste is dumped by a crane, the program comprising: A program for realizing the function of setting a first captured image obtained from a photographing device that photographs the hopper, showing the state before operation when no garbage has been added, as a reference image, generating a differential image between the reference image and a second captured image showing the state after operation, and calculating the filling amount based on the differential image.

8. A crane control system for a waste treatment facility that detects the amount of waste in a hopper into which waste is dumped by a crane at the waste treatment facility and controls the waste dumping operation of the crane based on the amount of waste, a photographing device for photographing the hopper; a management device that calculates the filling amount based on the captured image output from the imaging device; and a crane control device that controls the garbage dumping operation of the crane based on the loading amount, The management device a hopper filling amount detection unit that sets a first captured image of a state before operation in which no waste has been put in as a reference image, generates a difference image between the reference image and a second captured image of a state after operation, and calculates the filling amount based on the difference image; an output unit that outputs the filling amount to the crane control device that controls the garbage dumping operation of the crane, A crane control system for a waste treatment facility, characterized in that the crane control device controls the waste disposal operation to temporarily stop after waste is disposed of in the hopper, and controls the waste disposal operation to resume if the filling amount falls below a predetermined threshold after the operation has stopped.

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