Crane control device, crane control program, and stirring method

Abstract

The present invention provides a crane control device that can improve the automation rate of crane control within pits at waste treatment facilities. [Solution] A crane control device that controls the operation of a crane placed in a pit of a waste treatment facility includes a control unit. The control unit receives registration of multiple agitation patterns that associate a gripping area in the pit where the crane grasps waste with a dropping area in the pit where the crane drops the grasped waste. The control unit receives registration of an operation pattern that combines multiple agitation patterns in a determined order. The control unit controls the crane to repeatedly perform a gripping operation to grasp waste in the gripping area and a dropping operation to drop waste in the dropping area in the order described above, according to the multiple agitation patterns defined in the operation pattern.

Description

Technical Field

[0001] The present invention relates to a crane control device, a crane control program, and a stirring method.

Background Art

[0002] In waste treatment facilities, in many cases, the incoming waste is temporarily stored in a pit, and then is appropriately conveyed from the pit to an incinerator and burned. Wastes of various properties are carried into the pit. Therefore, in order to stabilize the combustion of the waste in the incinerator, the waste in the pit is stirred by a crane arranged in the pit so that the properties of the waste input into the incinerator become uniform. Patent Documents 1 and 2 propose techniques for automating the control of such a crane.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] Currently, although partial automation has progressed in the stirring of the waste in the pit, it is still manually operated by an operator, and whether the waste is stirred efficiently depends largely on the skill of the operator. Therefore, there is a problem that the automation rate of the control of the crane in the pit does not sufficiently increase. Particularly in a complicated waste treatment facility where various types of waste are carried into different areas in the pit, it is difficult to distinguish and manage various types of waste, and the degree of dependence on the skill of the operator increases, and this problem becomes prominent.

[0005] An object of the present invention is to provide a crane control device and program that can improve the automation rate of crane control in a pit at a waste treatment facility. Another object of the present invention is to provide an efficient method for agitating waste in a pit using such a crane control device. [Means for solving the problem]

[0006] Item 1. A crane control device that controls the operation of a crane located in a pit of a waste treatment facility, Multiple registrations of agitation patterns are accepted, which associate a gripping area within the pit where the crane grasps the waste with a dropping area within the pit where the waste grasped by the crane is dropped. The system accepts registration of an operating pattern that combines the aforementioned multiple stirring patterns in a predetermined order. The crane is controlled to repeatedly perform a grasping operation to grasp debris in the grasping area and a dropping operation to drop debris in the dropping area in the order described above, according to the plurality of stirring patterns defined in the operating pattern. It includes a control unit that performs the following: Crane control device.

[0007] Section 2. The control unit shall The system accepts registration of parameters relating to at least one of the gripping operation and the dropping operation, corresponding to the aforementioned stirring pattern. In addition to the plurality of stirring patterns defined in the operating pattern, the crane is controlled to repeatedly perform the gripping operation and the dropping operation in the sequence described above, according to the parameters. The crane control device described in item 1.

[0008] Item 3. The parameters include a parameter that defines at least one of the following: the timing of opening and closing the bucket included in the crane when dropping garbage into the dropping area; the travel speed of the bucket; whether the bucket can move back and forth within the dropping area; and whether the timing of opening and closing the bucket can be automatically corrected. The crane control device described in item 2.

[0009] Item 4. A program for controlling the operation of a crane located in a pit of a waste treatment facility, Multiple registrations of agitation patterns are accepted, which associate a gripping area within the pit where the crane grasps the waste with a dropping area within the pit where the waste grasped by the crane is dropped. The system accepts registration of an operating pattern that combines the aforementioned multiple stirring patterns in a predetermined order. The crane is controlled to repeatedly perform a grasping operation to grasp debris in the grasping area and a dropping operation to drop debris in the dropping area in the order described above, according to the plurality of stirring patterns defined in the operating pattern. A crane control program that instructs a computer to perform certain actions.

[0010] Item 5. A method for stirring waste in a pit of a waste treatment facility, The pit includes an incinerator input area for storing waste to be transported to the incinerator, and a temporary storage area for storing waste to be transported to the incinerator input area. The stirring method described above uses a crane control device as described in any one of items 1 to 3, Multiple first stirring patterns and second stirring patterns are registered as the aforementioned stirring patterns. The operation pattern, which is a combination of the plurality of first stirring patterns and the second stirring patterns in that order, is registered. The crane is controlled to repeatedly perform the gripping operation and the dropping operation in the sequence described above, according to the plurality of stirring patterns defined in the operating pattern. This includes, Each of the multiple first stirring patterns associates a different gripping area with the same single temporary storage area which serves as the drop area. In the second stirring pattern, the gripping area is the temporary storage area, and the dropping area is the incinerator loading area. Method of stirring.

[0011] Item 6. Register a third stirring pattern as part of the stirring pattern. This further includes, Registering the aforementioned operating pattern includes registering the plurality of first stirring patterns, the third stirring pattern, and the second stirring pattern in that order. In the third stirring pattern, the gripping area and the dropping area are both the temporary storage area. The stirring method described in item 5. [Effects of the Invention]

[0012] According to the present invention, a crane control device and program are provided that can improve the automation rate of crane control in a pit at a waste treatment facility. Furthermore, according to the present invention, an efficient method for agitating waste in a pit using such a crane control device is provided. [Brief explanation of the drawing]

[0013] [Figure 1] A lateral cross-sectional view of a waste treatment facility equipped with a crane control device according to one embodiment. [Figure 2] Figure 1 is a floor plan of the waste treatment facility. [Figure 3] A diagram showing pits virtually divided within the XY plane. [Figure 4] A block diagram schematically showing the configuration of a crane control system. [Figure 5] A diagram showing the screen for registering driving patterns. [Figure 6] A diagram showing the registration screen for the gripping area and various parameters. [Figure 7] A diagram showing the registration screen for the deployment area and various parameters. [Figure 8] A diagram showing an example of a driving pattern. [Modes for carrying out the invention]

[0014] Hereinafter, embodiments relating to one aspect of the present invention will be described in detail with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals, and their descriptions will not be repeated. Furthermore, each drawing is schematically depicted with parts omitted or exaggerated as appropriate for ease of understanding.

[0015] [1. Composition of the waste treatment facility] Figure 1 is a lateral cross-sectional view of the waste treatment facility 1 in which the crane control device 10 according to this embodiment is installed, and Figure 2 is a plan view of the waste treatment facility 1. For the sake of explanation, the XYZ orthogonal space is defined as shown in Figures 1 and 2. The Z axis is along the vertical direction, with the positive Z axis direction being vertically upward and the negative Z axis direction being vertically downward. The XY plane is a horizontal plane, with the positive X axis direction being to the right and the negative X axis direction being to the left, and the positive Y axis direction being forward and the negative Y axis direction being backward.

[0016] As shown in Figures 1 and 2, the waste treatment facility 1 comprises a pit 2 for temporarily storing incoming waste and an incinerator 3 adjacent to the pit 2. The incinerator 3 is equipment for incinerating waste that is transported from the pit 2 as needed. Furthermore, as shown in Figure 2, the waste treatment facility 1 according to this embodiment further comprises a biogasification facility 4. The biogasification facility 4 is also adjacent to the pit 2, like the incinerator 3, and is equipment for biogasifying waste that is transported from the pit 2 as needed.

[0017] Pit 2 is virtually divided into numerous areas within the XY plane. Figure 3 shows Pit 2 virtually divided within the XY plane. In the example in Figure 3, Pit 2 is divided into M sections in the X direction and N sections in the Y direction (M=10, N=4). In the X direction, addresses are assigned sequentially from left to right, from 1 to M, and in the Y direction, addresses are assigned sequentially from back to front, from 1 to N. Below, we will refer to Area A. m,n In this case, it refers to the area within pit 2 located at address m in the X direction and address n in the Y direction (where m is any integer from 1 to M, and n is any integer from 1 to N). Preferably, each area A m,n The bucket 56, which will be described later, is set to a size suitable for picking up garbage in one go.

[0018] As shown in FIG. 2, a plurality of loading ports 22 for loading garbage into the pit 2 are provided on the side wall surrounding the pit 2. When distinguishing each loading port 22, reference numerals 22a, 22b, ···, 22h are attached. Also shown in FIG. 3 for reference is the relative position of the loading ports 22a, 22b, ···, 22h with respect to the pit 2. In the present embodiment, various types of garbage are loaded into the pit 2 through these loading ports 22. The type of garbage loaded into each loading port 22 is predetermined. The garbage loaded into each loading port 22 falls into the area near directly below the loading port 22. Therefore, through a large number of loading ports 22, various types of garbage are separately loaded into different areas within the pit 2. In the examples of FIGS. 2 and 3, the types of garbage loaded from these loading ports 22 include garbage types G1, G2, ···, G6. More specifically, as shown in FIG. 3, in area A 1,1 , garbage of garbage type G1 is loaded through the loading port 22a, and in area A 1,3 ,A 1,4 , garbage of garbage type G2 is loaded through the loading port 22b, and in area A 5,4 ,A 6,4 ,A 7,4 ,A 8,4 ,A 9,4 , garbage of garbage type G3 is loaded through the loading ports 22c to 22e, and in area A 10,4 , garbage of garbage type G4 is loaded through the loading port 22f, and in area A 10,2 ,A 10,3 , garbage of garbage type G5 is loaded through the loading port 22g, and in area A 10,1 , garbage of garbage type G6 is loaded through the loading port 22h. As in this example, the same type of garbage G3 may be loaded from a plurality of loading ports 22c to 22e. Examples of the types of garbage include, for example, collected garbage (household garbage, commercial garbage) collected by the administration or businesses, garbage brought in by ordinary people, non-combustible crushed residues, elastic garbage cuttings, various residues discharged from the biogasification facility 4, and the like.

[0019] Near the outside of several loading docks 22a, 22c, 22d, and 22e, platforms PT are provided for vehicles Q, such as garbage trucks and passenger cars used by the general public to stop. Garbage transported by these vehicles Q is unloaded from the vehicles Q parked on platforms PT and brought into pit 2 through loading docks 22 adjacent to platforms PT. Loading docks 22 are typically equipped with doors that open and close in conjunction with the loading of garbage.

[0020] As shown in Figure 2, hoppers 30 and 40 are provided adjacent to pit 2. Figure 3 also shows the relative positions of hoppers 30 and 40 with respect to pit 2 for reference. Hoppers 30 and 40 are positioned higher than the top surface of pit 2. Pit 2 and hoppers 30 and 40 are covered by building 20. Hopper 30 is the input port for supplying waste from pit 2 to incinerator 3. Hopper 40 is the input port for supplying waste from pit 2 to biogasification equipment 4. In the example in Figure 2, there are two incinerators 3, so there are also two hoppers 30, but the number of incinerators 3 and hoppers 30 is not limited; there may be one or three or more. Similarly, the number of biogasification equipment 4 and hoppers 40 is not limited.

[0021] A crane 5 is positioned inside pit 2. The crane 5 grasps the waste in pit 2 from above and then drops or puts the grasped waste downwards. Dropping means dropping the grasped waste into pit 2, while putting it in means dropping the grasped waste into hopper 30 or hopper 40. In other words, dropping is the action of dropping the waste that has been grasped up from pit 2 back into pit 2, and is an action to agitate (mix) the various types of waste in pit 2. This agitation homogenizes the waste quality in pit 2. On the other hand, putting it in is the action of supplying waste to the incinerator 3 or the biogasification facility 4.

[0022] Crane 5 is equipped with a bucket 56 for grasping debris. The bucket 56 is suspended from near the ceiling of building 20 and moves three-dimensionally within pit 2. Crane 5 is equipped with a rail 51 extending in the X direction on the wall surface near the ceiling of building 20, and a girder 52 that travels in the X direction along the rail 51. The girder 52 extends in the Y direction. Crane 5 is further equipped with a trolley 53 that travels (traverses) in the Y direction along the girder 52, and a winch 54 fixed on the trolley 53. The winch 54 is a machine that winds up a wire 55, and the bucket 56 is connected to the end of the wire 55. The winch 54 raises and lowers the bucket 56 in the Z direction (vertical direction) by controlling the amount of wire 55 wound up.

[0023] The crane control device 10 controls the operation of the crane 5. The crane control device 10 can control the position of the girder 52 on the rail 51, the position of the trolley 53 on the girder 52, and the amount of wire 55 wound up, thereby freely controlling the three-dimensional position of the bucket 56. The crane control device 10 can also control the travel speed of the bucket 56. Furthermore, the crane control device 10 can also control the opening and closing operation of the bucket 56 (the operation of grasping and releasing debris).

[0024] The number of cranes 5 installed in pit 2 is not particularly limited; there may be one or multiple cranes. When multiple cranes 5 are installed, the crane control device 10 will efficiently coordinate the operation of these cranes 5.

[0025] The crane control device 10 can cause the crane 5 to perform stirring and supply operations. The stirring operation is an operation to stir (mix) the waste in the pit 2. The stirring operation consists of a grasping operation in which the bucket 56 grasps the waste in the pit 2, and a dropping operation in which the bucket 56 drops the grasped waste into the pit 2. The supply operation is an operation to supply the waste in the pit 2 to the incinerator 3 or the biogasification equipment 4. The supply operation consists of a grasping operation in which the bucket 56 grasps the waste in the pit 2, and a dropping operation in which the bucket 56 puts the grasped waste into the hopper 30 or hopper 40.

[0026] The agitation and supply operations of the crane 5 can be performed manually by an operator using the crane control device 10, or automatically by the crane control device 10. Manual and automatic operation can be switched as needed. When set to manual operation, the operator can operate the crane 5 to grasp the waste at any time and location, and drop or feed the waste to any location. The operator can also control various parameters such as the travel speed and opening / closing amount of the bucket 56 during such agitation and supply operations as needed. On the other hand, when set to automatic operation, the crane control device 10 operates the crane 5 to grasp the waste at an automatically determined location, at an automatically determined timing, and drop or feed the waste to an automatically determined location, according to various settings that have been registered in advance. The crane control device 10 also automatically determines various parameters such as the travel speed and opening / closing amount of the bucket 56 during such agitation and supply operations.

[0027] As shown in Figure 1, a control room 21 is provided inside the building 20. An operator is stationed in the control room 21 and operates the crane 5 while visually monitoring the pit 2 and hoppers 30 and 40. The crane control device 10 is located in the control room 21, although it is not limited to this configuration. Even if the crane control device 10 is not located in the control room 21, the control room 21 shall be equipped with user interface equipment such as a display device and input device that are connected to the crane control device 10 and used to operate the crane control device 10. In other words, the operator can control the operation of the crane 5 from the control room 21 via the crane control device 10.

[0028] As shown in Figure 1, the incinerator 3 comprises a stoker-type combustion chamber 31, a waste guide passage 32, and an ash discharge port 33. The waste guide passage 32 connects the hopper 30 and the combustion chamber 31, guiding the waste fed into the hopper 30 to the combustion chamber 31. Ash generated by the incineration of waste in the combustion chamber 31 is discharged to the outside through the ash discharge port 33. The combustion chamber 31 is connected to a boiler 34 that uses the thermal energy of the exhaust gas generated in the combustion chamber 31 to evaporate feedwater. The boiler 34 is connected to a steam turbine 35 that converts the thermal energy of the steam generated in the boiler 34 into mechanical energy to generate electricity. An economizer 37 is also located in the flue 36 through which the exhaust gas generated in the combustion chamber 31 passes, to recover the thermal energy of the exhaust gas.

[0029] The biogasification facility 4 uses microorganisms to decompose waste suitable for biogasification, such as food waste (hereinafter referred to as "biogastic waste"), from the waste in pit 2, generating biogas mainly composed of methane. The biogas generated in the biogasification facility 4 can be used, for example, as fuel to operate a gas engine for power generation. In the biogasification facility 4, various residues are generated during the process of processing bioogastic waste. The generated residues are returned to pit 2 through different inlets 22 (in the example in Figure 2, inlets 22f and 22g) depending on the type of residue.

[0030] The crane control device 10 is connected to a management system M1 (see Figure 2) that monitors and controls the operation of the incinerator 3, and a management system M2 (see Figure 2) that monitors and controls the operation of the biogasification equipment 4. Based on the waste combustion status, the management system M1 determines whether or not more waste to be burned is needed, and if it determines that it is needed, it sends a loading request to the crane control device 10 requesting that the crane 5 load the waste. Similarly, if the management system M2 determines that more biowaste to be processed in the biogasification equipment 4 is needed, it sends a loading request to the crane control device 10 requesting that the crane 5 load the biowaste.

[0031] [2. Crane control system configuration] Figure 4 is a schematic block diagram showing the configuration of the crane control device 10. The crane control device 10 is implemented, for example, by a general-purpose computer. The crane control device 10 comprises a control unit 11, a storage unit 12, a display unit 13, an input unit 14, and a communication interface 15. Each of the units 11 to 15 is electrically connected to each other via a bus, cable, etc.

[0032] The control unit 11 includes a CPU (Central Processing Unit) 112, RAM (Random Access Memory) 114, and ROM (Read Only Memory) 116. The storage unit 12 is composed of an auxiliary storage device such as a hard disk drive or a solid-state drive. The storage unit 12 stores a crane control program 121 for operating the crane control device 10. When the control unit 11 executes the crane control program 121, various functions of the crane control device 10 are realized, and the operations described later are performed.

[0033] The display unit 13 is a display that shows various screens to users such as operators and administrators. The display unit 13 is composed of a monitor such as an LCD monitor or an OLED (Electro-Luminescence) monitor. The input unit 14 receives input from users such as operators and administrators. The input unit 14 is composed of input devices such as a mouse, keyboard, position input device included in a touch panel, and microphone.

[0034] The communication interface 15 enables communication connections with external devices via various networks. The communication interface 15 is composed of communication modules such as a wired LAN (Local Area Network) module and a wireless LAN module. The crane control device 10 is connected to management systems M1 and M2 via the communication interface 15.

[0035] [3. Crane stirring operation] Next, we will explain in detail the stirring operation of crane 5. Unless otherwise specified, the following explanation pertains to the operation when set to automatic mode.

[0036] When the control unit 11 of the crane control device 10 receives a waste input request from the management system M1 of the incinerator 3, it executes a supply operation to supply the requested amount of waste to the incinerator 3. During the waste supply operation to the incinerator 3, the gripping area in the pit 2 for grasping the waste can be set in advance by the user, such as the operator or manager, and is shown by the symbol C1 in Figure 3, for example. Hereinafter, the gripping area C1 may be referred to as the incinerator input area. As shown in the example in Figure 3, the incinerator input area C1 may be divided into multiple areas A 3,1 ,A 4,1 ,A 5,1 ,A 6,1 ,A 7,1 When composed of these areas A, the control unit 11, for example, controls these areas A 3,1 ,A 4,1 ,A 5,1 ,A 6,1 ,A 7,1 Of these, garbage is picked up first from areas with a high garbage level. Garbage level refers to each area A within Pit 2. m,n This refers to the height of the piled-up waste in the Z-axis direction. Each area A m,n The waste level is monitored in real time by the crane control device 10 or an external system connected thereto. m,n The garbage level was bucket 56 last time in area A m,n The system is managed based on the height of the bucket 56 when it grasps the waste, the waste delivery history from each entrance 22 (including the waste delivery history from vehicle Q), image processing of images captured by cameras installed in pit 2, and measurements using LiDAR (Light Detection and Ranging).

[0037] Similarly, when the control unit 11 receives a waste input request from the management system M2 of the biogasification facility 4, it executes a supply operation to supply the requested amount of waste to the biogasification facility 4. During the waste supply operation to the biogasification facility 4, the gripping area in the pit 2 for grasping the waste can be pre-set by the user, such as an operator or manager, and is shown by the symbol C2 in Figure 3, for example. Hereinafter, the gripping area C2 may be referred to as the bio-input area. As in the example in Figure 3, the bio-input area C2 may be divided into multiple areas A 3,3 ,A 3,4 ,A 4,3 ,A 4,4 When composed of these areas A, the control unit 11, for example, controls these areas A 3,3 ,A 3,4 ,A 4,3 ,A 4,4 Of these, waste is picked up preferentially from areas with high waste levels. Of the waste in pit 2, bio-waste is transported to bio-input area C2 as needed by manual or automatic operation of crane 5 and collected as a preliminary measure. Whether or not it is bio-waste can be automatically determined by linking the control unit 11 with the weighing and vehicle control system, or it can be determined based on the color of the waste bags identified by visual inspection or camera, or the entrance 22 into which the waste was brought. The weighing and vehicle control system weighs vehicle Q on a truck scale when vehicle Q enters or leaves, and calculates the weight of the waste brought in from the difference. The weighing and vehicle control system has information on vehicle Q registered in advance, and records which vehicle Q brought in what type of waste and in what quantity.

[0038] The control unit 11 causes the crane 5 to perform a stirring operation during periods when the above-mentioned supply operation is not required. The stirring operation may be performed repeatedly at all times during such periods, but is not limited to this. It may also be performed at predetermined timings during such periods, for example, at predetermined time intervals, or when a predetermined event occurs. A predetermined event is, for example, when waste is brought in through the entrance 22.

[0039] The agitation operation is performed automatically according to an operating pattern pre-registered in the crane control device 10. The operating pattern is registered by a user such as an operator or manager as follows. An operating pattern is a combination of multiple agitation patterns in a predetermined order. Each agitation pattern corresponds to a gripping area in the pit 2 where the bucket 56 grasps the debris, and a dropping area in the pit 2 where the debris grasped from the bucket 56 is dropped. The gripping area and the dropping area are defined as areas in the XY plane. The control unit 11 accepts registration of multiple agitation patterns from the user and also accepts registration of an operating pattern from the user by having the user define combinations of these agitation patterns. There may or may not be an upper limit on the number of agitation patterns that make up one operating pattern.

[0040] Figure 5 shows the operating pattern registration screen W1. The registration screen W1 includes a setting field B11 for setting multiple stirring patterns that make up the operating pattern to be registered, and a display field B12 that displays a list of stirring and dispensing parameters. The stirring and dispensing parameters will be described later. In the setting field B11, multiple stirring patterns are set to be arranged according to their respective execution order ("No." in Figure 5).

[0041] Each stirring pattern in setting field B11 can be registered via the stirring pattern registration screens W2 and W3 shown in Figures 6 and 7. Figure 6 shows the registration screen W2 for the gripping area and various parameters, and Figure 7 shows the registration screen W3 for the dropping area and various parameters. For example, if the user selects a display field for a gripping area included in a stirring pattern of a specific execution order, which is shown in setting field B11 on registration screen W1, registration screen W2 for setting the selected gripping area will open. On the other hand, if the user selects a display field for a dropping area included in a stirring pattern of a specific execution order, which is shown in setting field B11, registration screen W3 for setting the selected dropping area will open.

[0042] The registration screen W2 in Figure 6 includes a setting field B21 for the gripping area and setting fields B22 to B24 for various parameters. Setting field B21 displays multiple areas (hereinafter referred to as candidate areas) CA that have been pre-registered as candidates. The control unit 11 accepts the user's selection of the gripping area for the stirring pattern to be registered from among these candidate areas CA via setting field B21. In the example in Figure 6, candidate area CA No. 3 is selected and highlighted. Multiple candidate areas CA can be set by the user as appropriate via another screen. There may or may not be an upper limit on the number of candidate areas CA that can be set.

[0043] The control unit 11 accepts registration of parameters related to the grasping and dropping operations from the user via setting fields B22 to B24, corresponding to each stirring pattern. These parameters include the number of executions, stirring and dropping parameters, and the grasping weight range, each of which is set via setting fields B22 to B24. The number of executions is the number of repetitions of the stirring operation in the stirring pattern to be registered. The stirring and dropping parameters are the combination of operation parameters of the bucket 56 during the dropping operation included in the stirring operation in the stirring pattern to be registered. The grasping weight range is the weight range of the waste that the bucket 56 grasps at once during the grasping operation included in the stirring operation in the stirring pattern to be registered. When the user sets these parameters in setting fields B21 to B24 and presses the "Register" button B25 on the registration screen W2, the settings are saved in the storage unit 12 and appropriately reflected in the display of setting field B11 on the registration screen W1.

[0044] The registration screen W3 in Figure 7 includes a setting field B31 for the drop area and setting fields B32 to B34 for various parameters. Similar to setting field B21, candidate areas CA are displayed in setting field B31. The control unit 11 accepts the user's selection of the drop area for the agitation pattern being registered from these candidate areas CA via setting field B31. In the example in Figure 7, candidate area CA 1 is selected and highlighted. The candidate areas CA for the drop area may be the same as those for the gripping area, or they may be set separately by the user via a different screen.

[0045] The control unit 11 accepts registration of parameters related to the gripping and dropping operations from the user via setting fields B32 to B34, corresponding to each stirring pattern. In this embodiment, setting fields B32 to B34 accept registration of the same parameters as setting fields B21 to B24, respectively. Therefore, the user can set these parameters via either the registration screen W2 or W3. When the user sets these parameters in setting fields B32 to B34 and presses the "Register" button B35 on the registration screen W3, the settings are saved in the storage unit 12 and appropriately reflected in the display of setting field B11 on the registration screen W1. Subsequently, when the registration screen W2 is opened, the latest parameter settings are displayed in setting fields B22 to B24. Similarly, after setting parameters on the registration screen W2, when the registration screen W3 is opened, the latest parameter settings are displayed in setting fields B32 to B34.

[0046] In setting field B11, the gripping area and dropping area that make up each registered stirring pattern are displayed, and all or some of the various parameters set via setting fields B22-B24 and B32-B34 are displayed in relation to each stirring pattern. In the example in Figure 5, the number of executions and the stirring and dropping parameters are displayed.

[0047] Referring again to Figure 5, let's explain the display area B12 that shows a list of agitation and discharge parameters. The agitation and discharge parameters are a combination of the operating parameters of the bucket 56 during the discharge operation. In this embodiment, the operating parameters that constitute the agitation and discharge parameters are the following four: (1) Opening and stopping times of bucket 56, opening, closing and stopping times of closing (2) Travel speed of bucket 56 (3) Whether bucket 56 can move back and forth within the drop area. (4) Whether or not the timing of opening and closing of bucket 56 can be automatically corrected.

[0048] The opening stop, opening, closing stop, and closing times of the bucket 56 in (1) above define the timing of opening and closing of the bucket 56 during the drop operation. During the drop operation, the bucket 56 stops opening and closing for the opening stop time set here, then opens for the opening time set here, then stops opening and closing for the closing stop time set here, and then closes for the closing time set here. If the area of ​​the drop area is greater than or equal to a predetermined value (for example, multiple areas A) m,n If the bucket consists of (1), the bucket 56 moves from end to end in the XY plane within the drop area during the drop operation. This movement may be limited to the X direction only, or limited to the Y direction only, or it may move throughout the X and Y directions. The opening and closing of the bucket 56 according to the operation parameters of (1) is repeated until the bucket 56 reaches the end of its movement path within the drop area. Thus, the bucket 56 opens and closes in small increments as it moves within the drop area, thereby scattering the garbage within the drop area. On the other hand, if the area of ​​the drop area is less than a predetermined value (for example, one area A m,n If composed of the above, the bucket 56 does not move during the drop operation and opens and closes in the same place.

[0049] Next, the travel speed of the bucket 56 in (2) is the travel speed of the bucket 56 as it moves within the drop area during the drop operation. The travel speed can be set in stages, for example, high speed / medium speed / low speed.

[0050] Next, we will explain whether the bucket 56 in (3) can move back and forth within the drop area. As described above, the bucket 56 can scatter garbage while moving within the drop area, but even when it reaches the end of its movement path, there may still be some garbage that has not fallen completely. In such cases, if the operation parameter in (3) is "possible", the control unit 11 will make the bucket 56 that has reached the end turn back towards the starting point and continue to proceed on the return path, dropping garbage into the drop area. The operation parameters such as the travel speed and opening / closing timing on the return path can be set in the same way as on the outward path. On the other hand, if the operation parameter in (3) is "not possible", the control unit 11 will fully open the bucket 56 at the end and drop all the remaining garbage.

[0051] The possibility of automatic correction of the opening and closing timing of the bucket 56 in (4) indicates whether or not the operating parameters in (1) set by the user are automatically corrected. When the user sets the opening stop, opening, closing stop, and closing times, the control unit 11 controls the opening and closing timing of the bucket 56 accordingly. However, as a result of controlling the opening and closing timing of the bucket 56 as set by the user, there may be cases where the grabbed debris remains even after the bucket 56 reaches the end of its movement path within the drop area, or conversely, all the grabbed debris falls out and disappears before the bucket 56 reaches the end. In such cases, the control unit 11 automatically corrects some or all of the opening stop, opening, closing stop, and closing times so that when the next drop operation with the same agitation pattern is performed, the grabbed debris is exactly gone when the bucket 56 reaches the end of its movement path. For example, if debris remains, the opening and closing times are changed to larger values ​​so that the opening and closing operation is larger. On the other hand, if the debris disappears along the way, the closing and closing times are changed to smaller values. Preferably, the enablement or disablement of automatic correction is set individually for each stirring pattern, but it may also be set to be applied collectively to all stirring patterns.

[0052] The control unit 11 may not only display a list of values ​​for the operation parameters (1) to (4) that constitute each stirring and dispensing parameter via the display field B12, but may also accept settings for these operation parameter values ​​from the user. Alternatively, the user may set these operation parameter values ​​as appropriate via a separate screen. For example, the system may be configured so that when the user selects any row in the display field B12, a screen for setting the stirring and dispensing parameter corresponding to that row opens. In either case, the user can freely define and register the stirring and dispensing parameters. There may or may not be an upper limit on the number of stirring and dispensing parameters that can be registered. The user selects the number of the stirring and dispensing parameter to be associated with each stirring pattern via the setting fields B23 and B33 described above, while referring to the list of registered stirring and dispensing parameters displayed in the display field B12.

[0053] The control unit 11 causes the crane 5 to perform agitation operations during periods when supply operations are not required, in accordance with the operating pattern registered as described above. More specifically, the control unit 11 controls the crane 5 to repeatedly perform a grasping operation to grasp debris in the grasping area and a dropping operation to drop debris in the dropping area, in accordance with the execution order of the agitation patterns, according to the multiple agitation patterns defined in the operating pattern. That is, first, the grasping and dropping operations are performed according to the agitation pattern with execution order 1, and then the grasping and dropping operations are performed according to the agitation pattern with execution order 2. The same operations are repeated until the grasping and dropping operations for the last agitation pattern with execution order are completed. At this time, the control unit 11 controls the crane 5 not only according to the multiple agitation patterns defined in the registered operating pattern, but also according to the registered parameters related to the grasping and dropping operations.

[0054] [4. Example of a driving pattern] Referring to Figure 8, a preferred example of an operating pattern for the stirring operation will be described. In the example in Figure 8, the operating pattern is constructed by combining the following eight stirring patterns P1 to P8 in the order P1→P2→P3→P4→P5→P6→P7→P8.

[0055] • Stirring pattern P1 Agitation pattern P1 is for area A where waste of type G3 is brought in. 5,4 ,A 6,4 ,A 7,4 ,A 8,4 ,A 9,4 We grasped it and designated it as Area C3, and Area A, which is Incinerator Input Area C1. 3,1 ,A 4,1 ,A 5,1 ,A 6,1 ,A 7,1 Area A is designated as the drop area (see Figures 3 and 8). The incinerator input area C1 is an area within pit 2 where waste is stored (immediately before being transported) to hopper 30, which is the input port to incinerator 3. The stirring pattern P1 is registered by users such as operators and administrators via the registration screens W2 and W3 mentioned above. Note that area A 5,4 ,A 6,4 ,A 7,4 ,A 8,4 ,A 9,4 The combined area (i.e., the grab area C3) and area A 3,1 ,A 4,1 ,A 5,1 ,A 6,1 ,A 7,1 The combined area (i.e., incinerator input area C1) is pre-registered as candidate area CA, and from candidate area CA, areas C3 and C1 are selected as the gripping area and dropping area, respectively.

[0056] • Stirring pattern P2 (an example of the first stirring pattern) Agitation pattern P2 is for area A where waste of type G4 is brought in. 10,4 We grabbed it and designated it as Area C4, and Area A, which is the temporary storage area C5. 8,2 ,A 8,3 ,A 9,2 ,A 9,3 This area is designated as the drop area (see Figures 3 and 8). Temporary storage area C5 is an area within pit 2 where waste is stored before being transported to incinerator loading area C1. The stirring pattern P2 is also registered by the user via registration screens W2 and W3. Note that area A is a separate area. 10,4Area C4 consists of and Area A 8,2 ,A 8,3 ,A 9,2 ,A 9,3 The combined area (i.e., temporary storage area C5) is pre-registered as candidate area CA, and from among candidate area CA, areas C4 and C5 are selected as the grab area and drop area, respectively.

[0057] • Stirring pattern P3 (an example of the first stirring pattern) Agitation pattern P3 is for area A where waste of type G5 is brought in. 10,2 ,A 10,3 The area C6 is designated as the drop area, and the temporary storage area C5 is designated as the drop area (see Figures 3 and 8). The stirring pattern P3 is also registered by the user via registration screens W2 and W3. Note that not only the temporary storage area C5, but also area A 10,2 ,A 10,3 The combined area (i.e., grab area C6) is also pre-registered as a candidate area CA, and from among the candidate areas CA, areas C6 and C5 are selected as the grab area and drop area, respectively.

[0058] • Stirring pattern P4 (an example of the first stirring pattern) Agitation pattern P4 is for area A where waste of type G6 is brought in. 10,1 The area C7 is designated as the area to be grasped, and the temporary storage area C5 is designated as the drop area (see Figures 3 and 8). The stirring pattern P4 is also registered by the user via registration screens W2 and W3. Note that not only the temporary storage area C5, but also the standalone area A 10,1 Area C7, which consists of the above, is also pre-registered as a candidate area CA, and from among the candidate areas CA, areas C7 and C5 are selected as the grab area and drop area, respectively.

[0059] • Stirring pattern P5 (an example of the third stirring pattern) In mixing pattern P5, both the gripping area and the dropping area are set to temporary storage area C5 (see Figures 3 and 8). Mixing pattern P5 is also registered by the user via registration screens W2 and W3. At this time, temporary storage area C5 is selected from the candidate areas CA as both the gripping area and the dropping area.

[0060] 6) Stirring pattern P6 (an example of the second stirring pattern) In mixing pattern P6, the temporary storage area C5 is designated as the gripping area, and the incinerator input area C1 is designated as the dropping area (see Figures 3 and 8). Mixing pattern P6 is also registered by the user via registration screens W2 and W3. At this time, areas C5 and C1 are selected from the candidate areas CA as the gripping area and dropping area, respectively.

[0061] • Stirring pattern P7 Agitation pattern P7 is for area A where waste of type G1 is brought in. 1,1 The area is designated as Area C8, and the incinerator input area C1 is designated as the drop area (see Figures 3 and 8). The stirring pattern P7 is also registered by the user via registration screens W2 and W3. Note that not only the incinerator input area C1, but also the standalone area A 1,1 Area C8, which consists of the above, is also pre-registered as a candidate area CA, and from among the candidate areas CA, areas C8 and C1 are selected as the grab area and drop area, respectively.

[0062] • Stirring pattern P8 In stirring pattern P8, both the gripping area and the dropping area are set to the incinerator loading area C1 (see Figures 3 and 8). Stirring pattern P8 is also registered by the user via registration screens W2 and W3. At this time, the incinerator loading area C1 is selected from the candidate area CA as both the gripping area and the dropping area.

[0063] The user registers agitation patterns P1 to P8 via registration screens W2 and W3, and also registers parameters related to the gripping and dropping operations (number of executions, agitation and dropping parameters, gripping weight range, etc.) associated with each agitation pattern P1 to P8. The user also registers an operation pattern via registration screen W1 by combining agitation patterns P1 to P8 in a predetermined execution order. After the operation pattern is registered, the crane 5 is controlled according to the agitation patterns P1 to P8 defined in the operation pattern. That is, the crane 5 repeatedly executes the gripping and dropping operations defined for each of the multiple agitation patterns in the order of the agitation patterns.

[0064] In the example shown in Figure 8, first, the stirring operation is performed three times using stirring pattern P1. This transports a specific type of waste to the incinerator input area C1. Next, the stirring operation is performed once each using stirring patterns P2 to P4. This causes three types of waste, brought in from three different inlets 22, to be dropped from three different areas into the same temporary storage area C5 and stirred in temporary storage area C5. Next, the stirring operation is performed once using stirring pattern P5. This further stirs the three types of waste in temporary storage area C5. Next, the stirring operation is performed twice using stirring pattern P6. This transports the waste stirred in temporary storage area C5 to the incinerator input area C1. Next, the stirring operation is performed once using stirring pattern P7. This further transports another type of waste to the incinerator input area C1 and stirs it with the waste already in the incinerator input area C1. Finally, the stirring operation is performed three times using stirring pattern P8, further stirring the waste in the incinerator input area C1.

[0065] In the above operating pattern, multiple first stirring patterns P2-P4 and second stirring pattern P6 are combined in an order such that the second stirring pattern P6 is executed after the multiple first stirring patterns P2-P4. Each of the multiple first stirring patterns P2-P4 defines the operation of grasping waste in different grasping areas C4, C6, and C7 and dropping the waste into the same single dropping area, temporary storage area C5. The second stirring pattern P6 defines the operation of grasping the waste collected from the different grasping areas C4, C6, and C7 and stirred in temporary storage area C5, and dropping it into the incinerator input area C1. Thus, various types of waste brought in from multiple entrances 22f-22h are first stirred in temporary storage area C5 and then transported to the incinerator input area C1. As mentioned above, when the crane control device 10 receives an input request from the management system M1, it grasps the waste in the incinerator input area C1 and puts it into the incinerator 3. In this case, it is difficult for the crane control device 10 to control the timing of the transmission of the input request. However, according to the above operating pattern, the waste that has been agitated in advance at the temporary storage area C5 is transported to the incinerator input area C1, so that no matter when the input request is transmitted, the waste in the incinerator input area C1 is maintained in a state that is agitated to some extent. Therefore, the types of waste in the incinerator input area C1 do not become extremely unbalanced. As a result, the properties of the waste fed into the incinerator 3 are made uniform, and the combustion of waste in the incinerator 3 is stabilized.

[0066] Furthermore, in the above operating patterns, multiple first stirring patterns P2-P4, third stirring pattern P5, and second stirring pattern P6 are combined in such an order that the third stirring pattern P5 is executed after the multiple first stirring patterns P2-P4, and the second stirring pattern P6 is executed after the third stirring pattern P5. The third stirring pattern P5 defines the action of grasping waste from the temporary storage area C5 and dropping it back into the temporary storage area C5. As a result, various types of waste are thoroughly mixed in the temporary storage area C5 before being transported to the incinerator input area C1. Consequently, the properties of the waste fed into the incinerator 3 are made more uniform, and the combustion of waste in the incinerator 3 is made more stable.

[0067] Therefore, the operating pattern illustrated here provides an efficient method for agitating the waste in pit 2.

[0068] [5. Features] In the above embodiment, the user can define multiple agitation patterns, and can also define complex operating patterns by combining these multiple agitation patterns. Various parameters can also be combined with the operating patterns. The crane control device 10 then automatically controls the agitation of the waste in pit 2 according to such operating patterns. Therefore, it becomes possible to flexibly define operating patterns that efficiently agitate the waste, reflecting the experience, knowledge, and skills of veteran operators. As a result, the automation rate of the crane control in pit 2 can be improved.

[0069] [6. Other Embodiments] Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications are possible without departing from the spirit of the invention. For example, the following modifications are possible. Furthermore, the gist of the following modifications can be combined as appropriate.

[0070] <6-1> The biogasification facility 4 may be omitted. Alternatively, another treatment facility may be installed in place of the biogasification facility 4.

[0071] <6-2> The types of parameters that a user can register regarding the grasping and dropping operations are not limited to the examples described above. The control unit 11 may accept registration of various other types of parameters from the user in place of or in addition to all or some of these parameters. Furthermore, the parameters that a user can register do not have to relate to both the grasping and dropping operations; they may relate only to the grasping operation or only to the dropping operation.

[0072] <6-3> In the above embodiment, only a scenario in which one driving pattern is registered was illustrated, but multiple driving patterns may be registered. When automatic driving is set, a specific driving pattern may be appropriately selected and executed from among the multiple registered driving patterns according to various settings that have been registered in advance.

[0073] <6-4> In the above embodiment, the stirring operation was shown to be automatically performed by the control unit 11 according to a pre-registered operating pattern. However, the operator may manually specify a pre-registered operating pattern, and the stirring operation may be performed by the control unit 11 according to the specified operating pattern. In this case as well, the crane control is automated after the operating pattern has been manually specified. [Explanation of symbols]

[0074] 1. Waste disposal facility 2 Pit 20 buildings 21 Control room 22,22a~22h Loading entrance 3 Incinerator 30 Hoppers 31 Combustion chamber 32 Guideway 33 Ash outlet 34 Boiler 35 Steam Turbine 36 Flue 37 Economizer 4. Biogasification equipment 40 Hoppers 5 Cranes 51 rails 52 Garda 53 bogies 54 Winch 55 wires 56 buckets 10. Crane control device 11 Control Unit 12 Storage section 13 Display section 14 Input section 15 Communication I / F 121 Crane control program A m,n area W1~W3 Registration Screen B11, B21~B24, B31~B34 Settings section B12 Display field B25, B35 buttons C1 Grabbing area (incinerator loading area) C2 Grabbing Area (Bio-injection Area) C3 Grab Area C4 Grab Area C5 Grab Area (Temporary Placement Area) C6 Grab Area C7 Grab Area C8 Grab Area CA Candidate Areas P1 stirring pattern P2 Stirring pattern (First stirring pattern) P3 Stirring pattern (First stirring pattern) P4 Stirring pattern (First stirring pattern) P5 Stirring pattern (3rd stirring pattern) P6 Stirring pattern (second stirring pattern) P7 Stirring Pattern P8 stirring pattern G1-G6 waste types M1 Incinerator Management System Management system for M2 biogasification facilities PT Platform Q Vehicle

Claims

1. A crane control device that controls the operation of a crane located inside a pit in a waste treatment facility, Multiple registrations of agitation patterns are accepted, which associate a gripping area within the pit where the crane grasps the waste with a dropping area within the pit where the waste grasped by the crane is dropped. The system accepts registration of an operating pattern that combines the aforementioned multiple stirring patterns in a predetermined order. The crane is controlled to repeatedly perform a grasping operation to grasp debris in the grasping area and a dropping operation to drop debris in the dropping area in the order described above, according to the plurality of stirring patterns defined in the operating pattern. It includes a control unit that performs the following: Crane control device.

2. The control unit, The system accepts registration of parameters relating to at least one of the gripping operation and the dropping operation, corresponding to the aforementioned stirring pattern. In addition to the plurality of stirring patterns defined in the operating pattern, the crane is controlled to repeatedly perform the gripping operation and the dropping operation in the sequence described above, according to the parameters. The crane control device according to claim 1.

3. The parameters include a parameter that defines at least one of the following: the timing of opening and closing the bucket included in the crane when dropping garbage into the dropping area; the travel speed of the bucket; whether the bucket can move back and forth within the dropping area; and whether the timing of opening and closing the bucket can be automatically corrected. The crane control device according to claim 2.

4. A program for controlling the operation of a crane located inside a pit in a waste treatment facility, Multiple registrations of agitation patterns are accepted, which associate a gripping area within the pit where the crane grasps the waste with a dropping area within the pit where the waste grasped by the crane is dropped. The system accepts registration of an operating pattern that combines the aforementioned multiple stirring patterns in a predetermined order. The crane is controlled to repeatedly perform a grasping operation to grasp debris in the grasping area and a dropping operation to drop debris in the dropping area in the order described above, according to the plurality of stirring patterns defined in the operating pattern. A crane control program that instructs a computer to perform certain actions.

5. A method for stirring waste in a pit of a waste treatment facility, The pit includes an incinerator input area for storing waste to be transported to the incinerator, and a temporary storage area for storing waste to be transported to the incinerator input area. The stirring method described above uses a crane control device according to any one of claims 1 to 3. Multiple first stirring patterns and second stirring patterns are registered as the stirring patterns. The operation pattern, which is a combination of the plurality of first stirring patterns and the second stirring patterns in that order, is registered. The crane is controlled to repeatedly perform the gripping operation and the dropping operation in the sequence described above, according to the plurality of stirring patterns defined in the operating pattern. This includes, Each of the multiple first stirring patterns associates a different gripping area with the same single temporary storage area which serves as the drop area. In the second stirring pattern, the gripping area is the temporary storage area, and the dropping area is the incinerator loading area. Method of stirring.

6. A third stirring pattern is further registered as part of the aforementioned stirring pattern. This further includes, Registering the operation pattern includes registering the plurality of first stirring patterns, the third stirring pattern, and the second stirring pattern in that order. In the third stirring pattern, both the gripping area and the dropping area are the temporary storage area. The stirring method according to claim 5.

Images