Crane control device, program and control method

Abstract

The present invention provides a crane control device, program, and control method capable of suppressing the occurrence of waiting periods for waste transport vehicles on a platform. [Solution] The crane control device controls a crane 5 located in a pit 2 of a waste treatment facility 1. On a platform PT adjacent to the pit 2, at least four loading doors are arranged along a predetermined axis. The crane 5 includes a bucket 56. The bucket 56 includes a first part that grasps waste and a second part that operates the first part using power supplied through a power supply cable 57. The crane control device includes a control unit. When the control unit is to have the first part grasp waste in a predetermined area adjacent to multiple loading doors other than the loading doors at both ends of the at least four loading doors, it performs control to have the first part grasp waste in a state in which the boundary portion between the loading doors included in the multiple loading doors and the second part never overlap along the predetermined axis.

Description

Technical Field

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

Background Art

[0002] Japanese Patent No. 7511800 (Patent Document 1) discloses a crane control device. This crane control device controls a garbage crane provided in a garbage pit. A platform is provided at a position adjacent to the garbage pit. The garbage carrier vehicle throws garbage into the garbage pit while parked on the platform.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] An object of the present invention is to provide a crane control device, a program, and a control method capable of suppressing the occurrence of a waiting state of a garbage carrier vehicle on a platform.

Means for Solving the Problems

[0005] A crane control device according to a certain aspect of the present invention controls a crane positioned in a pit of a waste treatment facility. On a platform adjacent to the pit, at least four loading doors are arranged along a predetermined axis. The crane includes a bucket. The bucket includes a first part for grasping waste and a second part that operates the first part using power supplied through a power cable. The crane control device includes a control unit. When the control unit is to cause the first part to grasp waste in a predetermined area adjacent to multiple loading doors other than the loading doors at both ends of the at least four loading doors, the control unit performs control such that the boundary portions between the loading doors included in the multiple loading doors and the second part never overlap along the predetermined axis.

[0006] When the control is performed to have the first part grasp the waste while the boundary between the input doors and the second part overlap on a predetermined axis, it is necessary to prohibit the opening of the two input doors in order to prevent the waste deposited into the pit from falling onto the second part. When the opening of the two input doors is prohibited, a waiting state for waste transport vehicles on the platform is more likely to occur compared to when the opening of one input door is prohibited. In this crane control device, when the first part grasps the waste in a predetermined area adjacent to multiple input doors other than the input doors at both ends of at least four input doors, the control is performed to have the first part grasp the waste while the boundary between the input doors and the second part do not overlap on a predetermined axis. Therefore, with this crane control device, the probability of the opening of the two input doors being prohibited is low, and thus the occurrence of a waiting state for waste transport vehicles on the platform can be suppressed.

[0007] The above crane control device may further include a first acquisition unit for acquiring time information, and the control unit may execute the above control according to the time information.

[0008] According to this crane control device, the above control is executed according to time information, thus enabling appropriate crane control according to the time of day.

[0009] In the above-described crane control device, the control unit may execute the above-described control if the time indicated by the time information falls within a predetermined time period, but may not execute the above-described control if the time indicated by the time information does not fall within a predetermined time period.

[0010] According to this crane control device, the above control is executed only during predetermined time periods, thus enabling appropriate crane control according to the time of day.

[0011] In the crane control device described above, the multiple input doors may include a first input door and a second input door that are adjacent to each other, and the control unit may output a first signal to restrict the opening of only the first input door when the first input door and the second part overlap on a predetermined axis and the first part grasps garbage in a predetermined area, and may output a second signal to restrict the opening of only the second input door when the second input door and the second part overlap on a predetermined axis and the first part grasps garbage in a predetermined area.

[0012] According to this crane control device, when waste is grasped by the first part, the opening of only one input door is prohibited. Compared to the case where the opening of both input doors is prohibited, this method can reduce the occurrence of waiting times for waste transport vehicles on the platform.

[0013] In the crane control device described above, the control unit may cause the first part to grasp the waste in a predetermined area while the first input door and the second part overlap on a predetermined axis, but only if no waste transport vehicle is parked in front of the first input door and no waste transport vehicle is parked in front of at least one other input door other than the first input door which is included in the at least four input doors.

[0014] According to this crane control device, when the first input door and the second part are aligned on a predetermined axis and the first part grasps the waste in a predetermined area, no waste transport vehicle is stopped in front of at least one other input door besides the first input door. Therefore, when a new waste transport vehicle arrives at the waste treatment facility, a waiting state for waste transport vehicles does not immediately occur.

[0015] In the crane control device described above, the multiple input doors may include a first input door, and when the control unit causes the first input door and the second part to grasp debris in a predetermined area while the first input door and the second part overlap on a predetermined axis, the control unit may output an open-restriction signal to restrict the opening of the first input door if the height of the debris near the first input door in the predetermined area is less than a predetermined height, while not outputting an open-restriction signal if the height of the debris near the first input door in the predetermined area is equal to or greater than the predetermined height.

[0016] According to this crane control device, if the height of the waste near the first input door in a predetermined area is above a predetermined height, and even if waste is input from the first input door, the opening of the first input door is not prohibited if the waste does not excessively cover the second part from above. This makes it possible to further suppress the occurrence of waiting times for waste transport vehicles on the platform.

[0017] In the crane control device described above, the multiple input doors may include a first input door, and a slide gate may be provided beyond the first input door. The control unit may output an opening restriction signal that limits the opening of only the slide gate when the first input door and the second part overlap on a predetermined axis and the first part grasps debris in a predetermined area.

[0018] According to this crane control device, since the first part only needs to restrict garbage grasping in a predetermined area while the slide gate is open, garbage grasping in a predetermined area by the first part can be performed more flexibly compared to the case where garbage grasping in a predetermined area by the first part is restricted from the moment the input door is open and the slide gate is closed.

[0019] In the crane control device described above, the multiple input doors may include a first input door, and the crane control device may further be equipped with a second acquisition unit that acquires advance notice information that a predetermined type of waste will be input from the first input door, and in response to the acquisition of the advance notice information, the control unit may decide to move the bucket to the vicinity of the first input door within a predetermined area.

[0020] According to this crane control device, when advance information is acquired, it is decided to move the bucket to the vicinity of the first input door in a predetermined area. For example, when a predetermined type of waste that is preferable to be separated from general household waste is introduced from the first input door, it is possible to separate a predetermined type of waste from general household waste at an early stage.

[0021] A program according to another aspect of the present invention controls a crane positioned in a pit of a waste treatment facility. On a platform adjacent to the pit, at least four loading doors are arranged along a predetermined axis. The crane includes a bucket. The bucket includes a first part for grasping waste and a second part that operates the first part using power supplied through a power cable. When the program causes the first part to grasp waste in a predetermined area adjacent to multiple loading doors, excluding the loading doors at both ends of the at least four loading doors, the program causes the computer to perform control such that the boundary portions between the loading doors included in the multiple loading doors and the second part never overlap along the predetermined axis.

[0022] When this program is executed by a computer, when the first part is to grasp the waste in a predetermined area adjacent to multiple input doors (excluding the two end doors) of at least four input doors, the control is executed so that the boundary between the input doors and the second part never overlap on a predetermined axis. Therefore, this program reduces the probability of the opening of two input doors being prohibited, thus suppressing the occurrence of waiting times for waste transport vehicles on the platform.

[0023] A control method according to another aspect of the present invention controls a crane disposed in a pit of a waste treatment facility. On a platform adjacent to the pit, at least four loading doors are arranged along a predetermined axis. The crane includes a bucket. The bucket includes a first part for grasping waste and a second part for operating the first part by using power supplied through a power supply cable. When the control method causes the first part to grasp waste in a predetermined area adjacent to a plurality of loading doors other than the loading doors at both ends among the at least four loading doors, the boundary part between the loading doors included in the plurality of loading doors and the second part are always in a state of not overlapping on the predetermined axis, and the first part is caused to grasp waste.

[0024] In this control method, when causing the first part to grasp waste in a predetermined area adjacent to a plurality of loading doors other than the loading doors at both ends among the at least four loading doors, control is executed to cause the first part to grasp waste in a state where the boundary part between the loading doors and the second part never overlap on the predetermined axis. Therefore, according to this control method, since the probability of prohibiting the opening of two loading doors is low, it is possible to suppress the occurrence of a waiting state of waste-carrying vehicles on the platform.

Effect of the Invention

[0025] According to the present invention, it is possible to provide a crane control device, a program, and a control method capable of suppressing the occurrence of a waiting state of waste-carrying vehicles on a platform.

Brief Description of the Drawings

[0026] [Figure 1] It is a side cross-sectional view of a waste treatment facility where a crane control device is installed. [Figure 2] It is a plan view of a waste treatment facility. [Figure 3] It is a diagram for explaining each area in the pit. [Figure 4] It is a block diagram schematically showing the configuration of a crane control device. [Figure 5]This diagram illustrates potential problems that may arise depending on the control of the opening and closing of the input door. [Figure 6] This diagram schematically shows a first pattern of bucket gripping positions in a portion of a predetermined area adjacent to multiple loading docks. [Figure 7] This diagram schematically shows a second pattern of bucket gripping positions in a portion of a predetermined area adjacent to multiple loading entrances. [Figure 8] This is a flowchart showing the procedure for transferring waste brought in from the loading dock. [Figure 9] This is a flowchart showing the processing steps performed in step S120 of Figure 8. [Figure 10] This is a flowchart showing the processing procedure performed in step S130 of Figure 8. [Figure 11] This diagram illustrates the control mechanism when it is determined that the height of the piled-up waste at the selected gripping position is less than a predetermined height. [Figure 12] This diagram illustrates the control mechanism when it is determined that the height of the piled-up waste at the selected gripping position is greater than or equal to a predetermined height. [Figure 13] This is a diagram illustrating the procedure for transferring biowaste. [Figure 14] This is a flowchart showing the procedure for transferring biowaste. [Figure 15] This diagram illustrates the process of transferring waste when a sliding gate is installed. [Modes for carrying out the invention]

[0027] Hereinafter, an embodiment relating to one aspect of the present invention (hereinafter also referred to as "this embodiment") 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.

[0028] [1. Structure] <1-1. Structure of the waste treatment facility> Figure 1 is a lateral cross-sectional view of a waste treatment facility 1 in which a crane control device 10 according to this embodiment is installed. Figure 2 is a plan view of the waste treatment facility 1. For the convenience of explanation, in this specification, 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, the positive Y axis direction being forward and the negative Y axis direction being backward.

[0029] Referring to Figures 1 and 2, the waste treatment facility 1 includes a pit 2 for temporarily storing incoming waste and an incinerator 3 adjacent to pit 2. The incinerator 3 is equipment for incinerating waste that is transported from pit 2 as needed. The waste treatment facility 1 also includes a biogasification facility 4 (see Figure 2). The biogasification facility 4, like the incinerator 3, is adjacent to pit 2 and is equipment for biogasifying waste that is transported from pit 2 as needed.

[0030] Multiple entrances 22 are provided in the side walls surrounding pit 2 for bringing waste into pit 2. In this embodiment, various types of waste are brought into pit 2 through these entrances 22. The types of waste brought into each entrance 22 are predetermined. The waste brought into each entrance 22 falls into the area directly below the entrance 22. Therefore, various types of waste are brought into different areas of pit 2 through the numerous entrances 22.

[0031] In this example, the types of waste brought in through these entrances 22 include types G1, G2, ..., G6. Waste of type G1 is brought into pit 2 via entrance 22a, and waste of type G2 is brought into pit 2 via entrance 22b. In addition, waste of type G3 is brought into pit 2 via each of the multiple entrances 22c, and waste of type G4 is brought into pit 2 via entrance 22d. Furthermore, waste of type G5 is brought into pit 2 via entrance 22e, and waste of type G6 is brought into pit 2 via entrance 22f.

[0032] Figure 3 is a diagram illustrating each area within pit 2. Referring to Figure 3, waste introduced into pit 2 through entrance 22a falls into area A7, which is directly below entrance 22a. Waste introduced into pit 2 through entrance 22b falls into area A8, which is directly below entrance 22b. Waste introduced into pit 2 through multiple entrances 22c falls into area A3, which is directly below multiple entrances 22c. Waste introduced into pit 2 through entrance 22d falls into area A4, which is directly below entrance 22d. Waste introduced into pit 2 through entrance 22e falls into area A5, which is directly below entrance 22e. Waste introduced into pit 2 through entrance 22f falls into area A6, which is directly below entrance 22f. Examples of waste types include collected waste (household waste, business waste) collected by the government and businesses, waste brought in by the general public, non-combustible crushed residue, elastic waste cuttings, and various residues discharged from biogasification equipment 4.

[0033] Referring again to Figures 1 and 2, platforms PT are provided near the outside of each of the entrances 22a and 22c for vehicles Q, such as garbage trucks or passenger cars used by the general public to bring in garbage, to stop. Garbage transported by these vehicles Q is unloaded from the vehicles Q parked on platform PT and deposited into pit 2 through entrance 22 adjacent to platform PT. Typically, entrance 22 is equipped with an input door 23 (see Figure 5, etc.) that opens and closes in accordance with the arrival of garbage.

[0034] In the waste treatment facility 1, hoppers 30 and 40 are provided adjacent to the pit 2. Hoppers 30 and 40 are positioned higher than the top surface of the pit 2. Each of the pit 2 and hoppers 30 and 40 is covered by a building 20. Hopper 30 is the input port for supplying waste from the pit 2 to the incinerator 3. Hopper 40 is the input port for supplying waste from the pit 2 to the 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.

[0035] A crane 5 is positioned inside pit 2. Crane 5 grasps the waste in pit 2 from above and drops or puts the grasped waste downwards. "Dropping" by the crane means dropping the grasped waste into pit 2, while "putting in" by the crane means dropping the grasped waste into hopper 30 or hopper 40. In other words, "dropping" by the crane is the action of dropping the waste that has been grasped up from pit 2 back into pit 2, and is performed when changing the position of the waste in pit 2, or when agitating the various types of waste in pit 2. For example, agitation homogenizes the waste quality in pit 2. On the other hand, "putting in" by the crane is the action performed when supplying waste to the incinerator 3 or the biogasification equipment 4.

[0036] Crane 5 includes 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 includes a rail 51 extending in the X direction on the wall 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 further includes 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, to which the bucket 56 is connected. The winch 54 raises and lowers the bucket 56 in the Z direction (vertical direction) by controlling the amount of wire 55 wound up. Crane 5 also includes a power supply cable 57 connected to the bucket 56, as well as the wire 55. The power supply cable 57 electrically connects the power source and the bucket 56, supplying power from the power source to the bucket 56.

[0037] 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 also controls, for example, the opening and closing operation of the bucket 56 (the operation of grasping and releasing debris).

[0038] 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.

[0039] The crane control device 10 causes the crane 5 to perform, for example, a transfer operation, agitation operation, and supply operation. The transfer operation is an operation to change the position of the waste in the pit 2. The transfer 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 to the new location. The agitation operation is an operation to agitate the waste in the pit 2. The agitation 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.

[0040] The transshipment, agitation, and supply operations of the crane 5 can be performed manually by the operator using the crane control device 10, or automatically by the crane control device 10. The operator can switch between manual and automatic operation as appropriate. When set to manual operation, the operator can operate the crane 5 to grasp the waste at any time and location, and drop or deposit the waste at any location. On the other hand, when set to automatic operation, the crane control device 10 controls the crane 5 to grasp the waste at an automatically determined location, at an automatically determined timing, and drop or deposit the waste at an automatically determined location, according to various settings that have been registered in advance.

[0041] Referring again to Figure 3, when set to automatic operation, the crane control device 10 controls the crane 5 to transfer waste located in areas A3, A4, ..., A8 to area A1 or area A2. For example, area A1 mainly contains waste to be fed into the incinerator 3, and area A2 mainly contains waste to be fed into the biogasification facility 4. The crane control device 10 controls the crane 5 to agitate the waste located in areas A1 and A2 as needed. The crane control device 10 controls the crane 5 to feed the waste located in areas A1 and A2 into hoppers 30 and 40, respectively.

[0042] Referring again to Figure 1, a control room 21 is provided inside the building 20. In the control room 21, for example, a crane control device 10 is located, and an operator is stationed there. When the crane control device 10 is set to manual operation, the operator operates the crane 5 while visually monitoring the pit 2 and hoppers 30 and 40. In other words, the operator operates the crane 5 from the control room 21 via the crane control device 10.

[0043] The incinerator 3 includes 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 placed in 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. The boiler 34 uses the thermal energy of the exhaust gas generated in the combustion chamber 31 to evaporate the feedwater. The boiler 34 is connected to a steam turbine 35. The steam turbine 35 converts the thermal energy of the steam generated in the boiler 34 into mechanical energy to generate electricity. In addition, an economizer 37 is 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.

[0044] Referring again to Figure 2, the biogasification plant 4 uses microorganisms to decompose waste suitable for biogasification, such as food waste (hereinafter also referred to as "biogasted waste"), from the waste in pit 2, generating biogas mainly composed of methane. The biogas generated in the biogasification plant 4 is used, for example, as fuel to operate a gas engine for power generation. In the biogasification plant 4, various residues are generated during the process of processing biogasted waste. The generated residues are returned to pit 2 through different inlets 22 (in the example in Figure 2, inlets 22d and 22e) depending on the type of residue.

[0045] Referring again to Figure 1, 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, if the management system M1 determines that more waste is needed in the incinerator 3, it sends a signal to the crane control device 10 requesting the input of waste. Similarly, if the management system M2 determines that more biowaste is needed in the biogasification equipment 4, it sends a signal to the crane control device 10 requesting the input of biowaste.

[0046] Furthermore, a weighing device 6 and a weighing / vehicle control system 7 are installed near the entrance and exit of the waste treatment facility 1. The weighing device 6 measures the weight of vehicle Q when it enters and exits the facility. The measurement results from the weighing device 6 are transmitted to the weighing / vehicle control system 7. The weighing / vehicle control system 7 calculates the weight of the waste brought in by vehicle Q based on the difference in weight at the time of entry and exit. The weighing / vehicle control system 7 has pre-registered information about vehicle Q (ID (identification), and information indicating what type of waste the vehicle is bringing in, etc.), and the measurement results of the weight of vehicle Q when it enters and exits the facility, as well as the weight of the waste brought in by vehicle Q, are managed in conjunction with the information of vehicle Q.

[0047] Furthermore, the weighing and vehicle control system 7 guides vehicle Q, whose weight measurement upon entry has been completed, to an available platform PT (platform PT in front of any of the multiple loading docks 22C). As will be described in more detail later, if the waste being transported by vehicle Q is bio-waste, the weighing and vehicle control system 7 transmits information to the crane control device 10, including information indicating that vehicle Q is transporting bio-waste and information about the platform PT to which vehicle Q is scheduled to go (hereinafter also referred to as "pre-announcement information"). Whether or not vehicle Q is transporting bio-waste is determined, for example, based on the information about vehicle Q managed by the weighing and vehicle control system 7.

[0048] <1-2. 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 includes 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 or cable or the like.

[0049] The control unit 11 includes a CPU (Central Processing Unit) 112, RAM (Random Access Memory) 114, and ROM (Read Only Memory) 116, etc. Furthermore, the control unit 11 implements a Real Time Clock (RTC). That is, the control unit 11 can acquire current time information.

[0050] 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 various operations (automatic operation) described later are performed.

[0051] The display unit 13 displays various screens for 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 at least some input devices such as a mouse, keyboard, position input device included in a touch panel, and microphone.

[0052] The communication interface 15 enables communication 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.

[0053] [2. Operation] <2-1. Transshipment operations according to time of day> Figure 5 is a diagram illustrating problems that may arise depending on the opening and closing control of the loading door 23. Referring to Figure 5, the bucket 56 included in the crane 5 includes a claw section 56A and a claw operating section 56B. The claw section 56A includes multiple claws, each of which is configured to open and close. When each of the multiple claws included in the claw section 56A closes, the waste G is grasped by the bucket 56. The claw operating section 56B includes, for example, a motor and is configured to operate the claw section 56A using power supplied through a power supply cable 57.

[0054] For example, if a large amount of waste G falls from above onto the connection between the power supply cable 57 and the claw operating part 56B, it can cause the crane 5 to malfunction. Therefore, in the waste treatment facility 1 according to this embodiment, when the crane 5 performs a transfer operation of waste G from a predetermined area adjacent to the entrance 22c (for example, area A3 (see Figure 3)), the opening of the input door 23 near the position where the bucket 56 grasps the waste G is restricted. More specifically, when the crane 5 performs a transfer operation of waste G from a predetermined area adjacent to the entrance 22c, the opening of the input door 23 that coincides with the position of the claw operating part 56B on the X axis at the time the bucket 56 grasps the waste G is restricted. This prevents a large amount of waste G from falling from above onto the connection between the power supply cable 57 and the claw operating part 56B. When the opening of the input door 23 is restricted, the lamp 24 associated with the input door 23 illuminates in a first color (for example, red). Furthermore, when permission is granted to open the input door 23, the lamp 24 associated with the input door 23 illuminates in a second color (for example, blue).

[0055] Figure 6 schematically shows a first pattern of the group of gripping positions by the bucket 56 in a predetermined area adjacent to multiple loading docks 22c. Referring to Figure 6, the loading doors 23A, 23B, ..., 23F are located in front of the loading docks 22c of the waste treatment facility 1, excluding the loading docks 22c located at both ends of the X-axis. The loading doors 23A, 23B, ..., 23F are arranged along the X-axis.

[0056] In the crane control program 121, the positions where the bucket 56 grasps the waste in the XY plane are predetermined. In the first pattern, for example, positions P1, P2, ..., P8 are defined as the waste-grabbing positions of the bucket 56 in the area adjacent to the input doors 23B, 23C, ..., 23E. In the first pattern, the waste-grabbing positions of the bucket 56 are defined at relatively close intervals in the X direction. This suppresses uneven distribution of waste depending on the position in the XY plane. Note that the position of the bucket 56 being a predetermined position means that the center of the claw operating part 56B of the bucket 56 is located at that predetermined position.

[0057] In the example shown in Figure 6, when the bucket 56 is at position P1, the claw operating part 56B coincides with the boundary between the input doors 23A and 23B on the X-axis. Also, when the bucket 56 is at position P3, the claw operating part 56B coincides with the boundary between the input doors 23B and 23C on the X-axis. Furthermore, when the bucket 56 is at position P6, the claw operating part 56B coincides with the boundary between the input doors 23D and 23E on the X-axis. Furthermore, when the bucket 56 is at position P8, the claw operating part 56B coincides with the boundary between the input doors 23E and 23F on the X-axis. Therefore, when the bucket 56 is grasping debris at positions P1, P3, P6, and P8, the opening of the two input doors 23 is restricted to prevent debris from getting onto the claw operating part 56B from above.

[0058] However, since waste cannot be brought in through the restricted opening of the input door 23, restricting the opening of both input doors 23 makes it more likely that vehicles Q arriving at platform PT will be in a waiting state compared to when only one input door 23 is restricted. In particular, if the opening of both input doors 23 is restricted during a predetermined time period when many vehicles Q arrive at the waste treatment facility 1 to bring in waste (for example, around noon), the occurrence of waiting states for vehicles Q becomes significant. For this reason, the waste treatment facility 1 is provided with a second pattern of gripping positions as a gripping position group for a predetermined time period.

[0059] Figure 7 schematically shows a second pattern of the group of gripping positions by the bucket 56 in a portion of a predetermined area adjacent to multiple loading entrances 22c. Referring to Figure 7, in the second pattern, in the area adjacent to the loading doors 23B, 23C, ..., 23E, positions P9, P10, ..., P12 are defined as the garbage gripping positions by the bucket 56. In the second pattern, the garbage gripping positions by the bucket 56 are defined at wider intervals in the X direction compared to the first pattern.

[0060] For example, on the X-axis, the center of the claw operating part 56B at position P9 and the center of the input door 23B are roughly aligned, and the center of the claw operating part 56B at position P10 and the center of the input door 23C are roughly aligned. Also, for example, on the X-axis, the center of the claw operating part 56B at position P11 and the center of the input door 23D are roughly aligned, and the center of the claw operating part 56B at position P12 and the center of the input door 23E are roughly aligned. As a result, during the gripping operation in a predetermined area, the boundary portion of two adjacent input doors 23 and the claw operating part 56B do not overlap on the X-axis.

[0061] Furthermore, in predetermined areas adjacent to the loading ports 22c located at both ends of the X-axis among the multiple loading ports 22c, the claw operating part 56B may overlap with the boundary portion of two adjacent loading doors 23 in the X-axis direction. On the other hand, in predetermined areas adjacent to loading ports 22c other than those located at both ends of the X-axis among the multiple loading ports 22c, the claw operating part 56B never overlaps with the boundary portion of two adjacent loading doors 23 in the X-axis direction. Therefore, in the second pattern, the probability of the opening of the two loading doors 23 being prohibited (closed) is low, thus suppressing the occurrence of a waiting state for the vehicle Q on the platform PT.

[0062] Figure 8 is a flowchart showing the procedure for transferring waste brought in from the loading entrance 22c. The process shown in this flowchart is executed, for example, by the control unit 11 of the crane control device 10 when it is determined that the transfer of waste from area A3 (see Figure 3) is necessary.

[0063] Referring to Figure 8, the control unit 11 of the crane control device 10 acquires time information indicating the current time (step S100). The control unit 11 determines whether the current time is included in a predetermined time period (step S110). The predetermined time period is the time period in which a relatively large number of vehicles Q arrive at the waste treatment facility 1, and is predetermined in the crane control program 121. If it is determined that the current time is not included in the predetermined time period (NO in step S110), the control unit 11 executes the first control (step S120). On the other hand, if it is determined that the current time is included in the predetermined time period (YES in step S110), the control unit 11 executes the second control (step S130).

[0064] Figure 9 is a flowchart showing the processing procedure performed in step S120 of Figure 8. Referring to Figure 9, the control unit 11 of the crane control device 10 selects one of the garbage gripping positions included in the first pattern of gripping positions (see Figure 6) based on the garbage loading status in area A3 (see Figure 3) (step S200). For example, information indicating the garbage loading status in area A3 (information indicating the height of the garbage piled up in each area, the weight of the garbage, etc.) is stored in the storage unit 12. Such information is generated, for example, based on the actual garbage loading status from each loading entrance 22.

[0065] The control unit 11 controls the communication interface 15 to send a signal to restrict the opening of the loading door 23 (hereinafter also referred to as the "opening prohibition signal") to the loading door 23 that the claw operating unit 56B overlaps with in the X-axis at the selected gripping position (step S210). This restricts the opening of the loading door 23. The control unit 11 controls the crane 5 to move to the selected gripping position and perform the transshipment operation (step S220).

[0066] The control unit 11 determines whether the desired transfer operation has been completed (step S230). If it is determined that the desired transfer operation has not been completed (NO in step S230), the control unit 11 controls the crane 5 to continue the desired transfer operation. On the other hand, if it is determined that the desired transfer operation has been completed (YES in step S230), the control unit 11 controls the communication I / F 15 to send a signal to release the restriction on opening the input door 23 (hereinafter also referred to as the "opening permission signal") to the input door 23 which has been restricted from opening (step S240). Outside of the predetermined time period, the first pattern of gripping position group is adopted, thereby suppressing bias in the transfer of waste due to position in the XY plane.

[0067] Figure 10 is a flowchart showing the processing procedure performed in step S130 of Figure 8. Referring to Figure 10, the control unit 11 of the crane control device 10 determines whether there are two or more input doors 23 that are not being used for waste loading (open input doors 23) (step S300). If it is determined that there are no two or more input doors 23 that are not being used for waste loading (NO in step S300), the processing shown in this flowchart ends without the waste transfer operation being performed. For example, if the opening of an input door 23 is restricted when there is only one input door 23 that is not being used for waste loading, a waiting state for vehicle Q will immediately occur when a new vehicle Q arrives at the waste treatment facility 1.

[0068] On the other hand, if it is determined that there are two or more input doors 23 that are not currently being used for waste delivery (YES in step S300), the control unit 11 selects one of the waste gripping positions included in the second pattern of gripping positions (see Figure 7), for example, based on the waste delivery status in area A3 (see Figure 3) (step S310). The control unit 11 then determines whether the height of the waste piled up at the selected gripping position is equal to or greater than a predetermined height (step S320).

[0069] Figure 11 is a diagram illustrating the control process when it is determined that the height of the waste G piled up at the selected gripping position is less than a predetermined height. Referring to Figure 11, in this case, the opening of the input door 23 is restricted, and the waste gripping operation by the bucket 56 is performed. If the opening of the input door 23 were not restricted, the waste G introduced from the input door 23 would fall onto the bucket 56 from above. The predetermined height is, for example, approximately the same height as the lower end of the chute 25.

[0070] Figure 12 is a diagram illustrating the control process when it is determined that the height of the piled waste G at the selected gripping position is greater than or equal to a predetermined height. Referring to Figure 12, in this case, the waste gripping operation by the bucket 56 is performed with permission to open the input door 23. However, the waste gripping position is set to a position slightly backward from the waste gripping position used when it is determined that the height of the piled waste G at the selected gripping position is less than the predetermined height. This is because, if the height of the piled waste G is greater than or equal to the predetermined height, even if waste G is introduced while the waste gripping operation by the bucket 56 is being performed, the waste G will not be caught on the claw operating part 56B from above. The introduced waste G will flow into the depression formed by the waste G being gripped by the bucket 56. Therefore, the possibility of the waste G overflowing is low.

[0071] Referring again to Figure 10, in step S320, if it is determined that the height of the waste piled at the selected gripping position is less than a predetermined height (NO in step S320), the control unit 11 controls the communication I / F 15 to send an open-do not signal to the input door 23 that overlaps with the selected gripping position in the X-axis (step S330). On the other hand, if it is determined that the height of the waste piled at the selected gripping position is greater than or equal to a predetermined height (YES in step S320), the control unit 11 changes the gripping position to a position slightly behind the selected gripping position (step S340). In this case, the open-do not signal is not sent to the input door 23.

[0072] The control unit 11 controls the crane 5 to move to the selected gripping position and perform the transshipment operation (step S350). The control unit 11 determines whether the desired transshipment operation has been completed (step S360). If it is determined that the desired transshipment operation has not been completed (NO in step S360), the control unit 11 controls the crane 5 to continue the desired transshipment operation.

[0073] On the other hand, if it is determined that the desired transshipment operation has been completed (YES in step S360), the control unit 11 determines whether or not there is an input door 23 whose opening is restricted (step S370). If it is determined that there is no input door 23 whose opening is restricted (NO in step S370), the process shown in this flowchart ends. On the other hand, if it is determined that there is an input door 23 whose opening is restricted (YES in step S370), the control unit 11 controls the communication I / F 15 to send an open permission signal to the input door 23 whose opening is restricted (step S380).

[0074] Thus, in the crane control device 10, when the claw portion 56A is to grasp debris in a predetermined area adjacent to multiple input doors 23 other than the input doors 23 at both ends (for example, a part of area A3), a second control is executed in which the claw portion 56A is made to grasp debris in a state in which the boundary portion between the input doors 23 and the claw operating portion 56B do not always overlap in the X axis. Therefore, with the crane control device 10, the probability of the opening of the two input doors 23 being prohibited is low, and thus the occurrence of a waiting state for the vehicle Q on platform PT can be suppressed.

[0075] Furthermore, in the crane control device 10, the first control is executed outside of the predetermined time period, and the second control is executed during the predetermined time period. Therefore, with the crane control device 10, since the second control is executed only during the predetermined time period, appropriate crane control according to the time period can be achieved.

[0076] In the crane control device 10, the opening of the input door 23 is restricted when the height of the garbage piled at the selected garbage gripping position is less than a predetermined height, while the opening of the input door 23 is not restricted when the height of the garbage piled at the selected garbage gripping position is equal to or greater than the predetermined height. Therefore, with the crane control device 10, even if garbage is fed in through the input door 23, the opening of the input door 23 is not prohibited as long as the garbage does not excessively cover the claw operating part 56B from above, thereby further suppressing the occurrence of waiting states for vehicles Q on platform PT.

[0077] <2-2. Transferring waste to the biogasification facility> Referring again to Figure 3, as described above, the biowaste fed into the biogasification facility 4 is first transferred to area A2. For example, if the waste brought into area A3 is biowaste, that biowaste is transferred from area A3 to area A2. If waste other than biowaste is brought in on top of the biowaste, it becomes difficult to transfer the biowaste to area A2. Therefore, the waste treatment facility 1 has been designed to ensure that the biowaste is reliably transferred to area A2.

[0078] Figure 13 is a diagram illustrating the procedure for transferring biowaste. Referring to Figure 13, as described above, the crane control device 10 receives advance notice from the weighing and vehicle control system 7 when the waste being brought in by vehicle Q is biowaste. Upon receiving the advance notice, the crane control device 10 controls the crane 5 to wait near the input door 23 into which the biowaste GA is scheduled to be deposited. Once the loading of the biowaste GA is complete, the crane 5 immediately performs the transfer operation of the biowaste GA. This reduces the possibility of the biowaste GA being buried among other waste.

[0079] Figure 14 is a flowchart showing the procedure for transferring biowaste. The processes shown in this flowchart are repeatedly executed at predetermined intervals by the control unit 11 of the crane control device 10.

[0080] Referring to Figure 14, the control unit 11 of the crane control device 10 determines whether or not it has received advance notice information from the weighing and vehicle control system 7 (step S400). If it is determined that advance notice information has not been received (NO in step S400), the control unit 11 waits until advance notice information is received.

[0081] On the other hand, if it is determined that advance notice information has been received (YES in step S400), the control unit 11 acquires time information indicating the current time (step S410). The control unit 11 determines whether the current time is included in a predetermined time period (step S420). If it is determined that the current time is not included in a predetermined time period (NO in step S420), the control unit 11 selects one of the garbage-grabbing positions included in the first pattern of gripping positions (see Figure 6) as the standby position for the bucket 56 (step S430). On the other hand, if it is determined that the current time is included in a predetermined time period (YES in step S420), the control unit 11 selects one of the garbage-grabbing positions included in the second pattern of gripping positions (see Figure 7) as the standby position for the bucket 56 (step S440).

[0082] The control unit 11 determines whether the currently running task has finished (step S450). If it is determined that the currently running task has not finished (NO in step S450), the control unit 11 continues the currently running task until it is finished. On the other hand, if it is determined that the currently running task has finished (YES in step S450), the control unit 11 controls the crane 5 so that the bucket 56 moves to above the garbage-grabbing position selected as the standby position (step S460).

[0083] The control unit 11 determines whether or not the loading of biowaste has been completed (step S470). If it is determined that the loading of biowaste has not been completed (NO in step S470), the control unit 11 waits until the loading of biowaste is completed. On the other hand, if it is determined that the loading of biowaste has been completed (YES in step S470), the control unit 11 controls the communication I / F 15 to send an open-do not signal to the loading door 23 into which the biowaste has been loaded, and controls the crane 5 to perform the loading operation of the biowaste to area A2 (see Figure 3) (step S480).

[0084] Thus, in the crane control device 10, in response to the acquisition of advance information, it is decided to move the bucket 56 in advance to the vicinity of the input door 23 into which the biowaste is scheduled to be introduced. Therefore, according to the crane control device 10, for example, in response to the introduction of biowaste that is preferably isolated from general household waste through the input door 23, the biowaste can be isolated from general household waste at an early stage.

[0085] [3. Features] As described above, in the crane control device 10, when the claw portion 56A is to grasp garbage in a predetermined area adjacent to the loading doors 22c other than the loading doors 22c at both ends of the multiple loading doors 22c, a second control is executed in which the claw portion 56A is to grasp the garbage in a state in which the boundary portion between the loading doors 23 and the claw operating portion 56B do not always overlap in the X axis. Therefore, with the crane control device 10, the probability of the opening of the two loading doors 23 being prohibited is low, and thus the occurrence of a waiting state for the vehicle Q on the platform PT can be suppressed.

[0086] [4. Other Embodiments] The concept of the above embodiments is not limited to those described above. Examples of other embodiments to which the concept of the above embodiments can be applied will be described below.

[0087] In the above embodiment, the opening of the input door 23 was restricted when a transshipment operation was performed in a predetermined area. However, if, for example, a slide gate is provided beyond the input door 23, the opening of the slide gate may be restricted instead of the input door 23.

[0088] Figure 15 is a diagram illustrating the transfer of waste when a slide gate is provided. Referring to Figure 15, in this example, a slide gate SG is provided near the lower end of the chute 25. As long as the opening of the slide gate SG is restricted, the transfer of waste in a predetermined area may be possible regardless of the open or closed state of the input door 23. That is, when the transfer of waste in a predetermined area is to be performed, a signal restricting the opening of only the slide gate SG may be sent to the slide gate SG. According to this example, since the bucket 56 only needs to restrict the grasping of waste in the predetermined area while the slide gate SG is open, the bucket 56 can grasp waste in the predetermined area more flexibly compared to the case where the bucket 56 is restricted from the moment the input door 23 is open and the slide gate SG is closed.

[0089] Embodiments of the present invention have been described illustratively above. That is, a detailed description and accompanying drawings have been disclosed for illustrative purposes. Therefore, some of the components described in the detailed description and accompanying drawings may not be essential for solving the problem. Consequently, the mere fact that these non-essential components are described in the detailed description and accompanying drawings does not mean that they should be immediately assumed to be essential.

[0090] Furthermore, the above embodiments are merely illustrative in every respect of the present invention. The above embodiments can be improved or modified in various ways within the scope of the present invention. For example, at least a part of the configuration of one embodiment may be combined with at least a part of the configuration of any other embodiment. In other words, in carrying out the present invention, specific configurations can be appropriately adopted depending on the embodiment. [Explanation of Symbols]

[0091] 1 Waste treatment facility, 2 Pit, 3 Incinerator, 4 Biogasification equipment, 5 Crane, 6 Weighing device, 7 Weighing / vehicle control system, 10 Crane control device, 11 Control unit, 12 Memory unit, 13 Display unit, 14 Input unit, 15 Communication I / F, 20 Building, 21 Operation room, 22 Entrance, 23 Loading door, 24 Ramp, 25 Chute, 30,40 Hopper, 31 Combustion chamber, 32 Guide passage, 33 Ash discharge port, 34 Boiler, 35 Steam turbine, 36 Flue, 37 Economizer, 51 Rail, 52 Girder, 53 Trolley, 54 Winch, 55 Wire, 56 Bucket, 56A Claw section, 56B Claw operating section, 57 Power supply cable, 121 Crane control program, A1-A9 Area, G Waste, GA Biowaste, G1-G6 waste types, M1, M2 management systems, PT platform, Q vehicle, SG slide gate.

Claims

1. A crane control device for controlling a crane located inside a pit of a waste treatment facility, On the platform adjacent to the aforementioned pit, at least four loading doors are arranged along a predetermined axis. The crane includes a bucket, The bucket includes a first part for grasping debris and a second part that operates the first part using electricity supplied through a power cable. A crane control device comprising a control unit that performs control to grasp the first portion of garbage in a predetermined area adjacent to multiple input doors other than the input doors at both ends of the at least four input doors, such that the boundary portion between the input doors included in the multiple input doors and the second portion do not always overlap on the predetermined axis.

2. It further includes a first acquisition unit for acquiring time information, The crane control device according to claim 1, wherein the control unit executes the control according to the time information.

3. The control unit, If the time indicated by the aforementioned time information falls within a predetermined time period, the control is executed. The crane control device according to claim 2, wherein the control is not performed if the time indicated by the time information is not included in the predetermined time period.

4. The plurality of input doors include a first input door and a second input door that are adjacent to each other. The control unit, When the first input door and the second part overlap on the predetermined axis and the first part grasps waste in the predetermined area, a first signal is output to restrict the opening of only the first input door. The crane control device according to any one of claims 1 to 3, wherein when the second input door and the second part overlap on the predetermined axis and the first part grasps waste in the predetermined area, a second signal is output to restrict the opening of only the second input door.

5. The crane control device according to claim 4, wherein the control unit causes the first portion to grasp the waste in the predetermined area while the first portion and the second portion are overlapping on the predetermined axis, but only when no waste transport vehicle is parked in front of the first transport door and no waste transport vehicle is parked in front of at least one other transport door other than the first transport door included in the at least four transport doors.

6. The aforementioned plurality of input doors include the first input door, When the control unit causes the first input door and the second portion to grasp the waste in the predetermined area while they are overlapping on the predetermined axis, When the height of the waste near the first input door in the predetermined area is less than a predetermined height, an open-restriction signal is output to limit the opening of the first input door, The crane control device according to any one of claims 1 to 3, wherein the crane control device does not output the open-prohibition signal when the height of the waste near the first input door in the predetermined area is equal to or greater than the predetermined height.

7. The aforementioned plurality of input doors include the first input door, A sliding gate is provided beyond the first input door. The crane control device according to any one of claims 1 to 3, wherein the control unit outputs an opening prohibition signal that restricts the opening of only the slide gate when the first input door and the second portion are overlapping on the predetermined axis and the first portion grasps garbage in the predetermined area.

8. The aforementioned plurality of input doors include the first input door, The system further includes a second acquisition unit that acquires advance notice information indicating that a predetermined type of waste will be inserted through the first input door. The crane control device according to any one of claims 1 to 3, wherein the control unit decides to move the bucket to the vicinity of the first input door within the predetermined area in response to the acquisition of the aforementioned advance information.

9. A program for controlling a crane located inside a pit in a waste disposal facility, On the platform adjacent to the aforementioned pit, at least four loading doors are arranged along a predetermined axis. The crane includes a bucket, The bucket includes a first part for grasping debris and a second part that operates the first part using electricity supplied through a power cable. A program that causes a computer to execute a control to grasp garbage in the first portion in a predetermined area adjacent to multiple input doors, excluding the input doors at both ends of the at least four input doors, such that the boundary portions between the input doors included in the multiple input doors and the second portion do not always overlap on the predetermined axis.

10. A crane control method for placement within a pit in a waste treatment facility, On the platform adjacent to the aforementioned pit, at least four loading doors are arranged along a predetermined axis. The crane includes a bucket, The bucket includes a first part for grasping debris and a second part that operates the first part using electricity supplied through a power cable. A control method that, when the first portion is made to grasp garbage in a predetermined area adjacent to multiple input doors other than the input doors at both ends of the at least four input doors, includes making sure that the first portion grasps the garbage in such a way that the boundary portions between the input doors included in the multiple input doors and the second portion do not always overlap on the predetermined axis.

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