Garbage crane control system, garbage crane control method, and program

Abstract

This invention provides a waste crane control system that makes it easier to reduce waste near the edges of a waste pit. [Solution] The garbage crane control system comprises a garbage crane having a bucket, a visual sensor that senses the surface of the accumulated garbage in the garbage pit, a position determination unit that determines the gripping position for the garbage crane's bucket to grasp garbage based on visual data acquired by the visual sensor within the operating range of the garbage crane, whose outer edge is defined along the edge of the garbage pit, and a crane control unit that controls the garbage crane so that the garbage crane's bucket grasps the garbage at the gripping position, wherein the position determination unit prioritizes determining the position closest to the outer edge as the gripping position.

Description

Technical Field

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

Background Art

[0002] Patent Document 1 discloses a technique for executing predetermined operations such as a reloading operation of dividing the inside of a garbage pit into a plurality of areas, grasping garbage in a receiving area, and dropping the grasped garbage in a stirring area, and a stirring operation of grasping garbage in the stirring area and dropping the grasped garbage in the same area.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, the operating range of the garbage crane is set so as not to collide with the wall of the garbage pit. Therefore, as the garbage is reduced by the garbage crane, it may not be possible to grasp the garbage near the edge of the garbage pit, and some garbage may remain.

[0005] The present invention has been made in view of the above problems, and its main object is to provide a garbage crane control system, a garbage crane control method, and a program that can easily reduce the garbage near the edge of the garbage pit.

Means for Solving the Problems

[0006] To solve the above problems, a garbage crane control system according to one aspect of the present invention comprises: a garbage crane having a bucket; a visual sensor that senses the surface of accumulated garbage in a garbage pit; a position determination unit that determines a gripping position for the garbage crane's bucket to grasp garbage based on visual data acquired by the visual sensor within the operable range of the garbage crane, whose outer edge is defined along the edge of the garbage pit; and a crane control unit that controls the garbage crane so that the bucket of the garbage crane grasps the garbage at the gripping position, wherein the position determination unit prioritizes determining the position closest to the outer edge as the gripping position. This makes it easier to reduce garbage near the edge of the garbage pit.

[0007] In the above embodiment, the position determination unit may include a calculation unit that calculates candidate gripping positions, and a correction unit that corrects the gripping position to the position closest to the outer edge of the operable range when the candidate gripping position is within a predetermined range from the outer edge of the operable range. This makes it possible to correct the gripping position to the position closest to the outer edge of the operable range, making it easier to reduce the amount of waste near the edge of the waste pit.

[0008] Furthermore, another embodiment of the present invention provides a garbage crane control system comprising: a garbage crane having a bucket; a visual sensor that senses the surface of accumulated garbage in a garbage pit; a position determination unit that determines a gripping position for the garbage crane's bucket to grasp garbage based on visual data acquired by the visual sensor within the operational range of the garbage crane, whose outer edge is defined along the edge of the garbage pit; and a crane control unit that controls the garbage crane so that the bucket of the garbage crane grasps the garbage at the gripping position. The position determination unit determines the gripping position with priority given to positions closer to the outer edge within a predetermined range from the outer edge of the operational range. This makes it easier to reduce garbage near the edge of the garbage pit.

[0009] In the above embodiment, the visual sensor is a range sensor that measures the height of each position of the accumulated waste, and the position determination unit may determine the gripping position based on the height of each position of the accumulated waste. This makes it possible to determine the gripping position using the height of each position of the accumulated waste.

[0010] In the above embodiment, the position determination unit may include a calculation unit that calculates the gripping position based on the height of each position of the accumulated waste so that the height of the accumulated waste is made uniform, and a correction unit that corrects the height of the accumulated waste within a predetermined range from the outer edge of the operable range to the height of each position of the accumulated waste input to the calculation unit, making the position closer to the outer edge higher. This makes it easier to determine gripping positions closer to the outer edge of the operable range, thereby making it easier to reduce the amount of waste near the edge of the waste pit.

[0011] In the above embodiment, the visual sensor is an image sensor that captures images of the surface of the accumulated waste, and the position determination unit may recognize the gripping position based on the image data generated by the image sensor. This makes it possible to recognize the gripping position from the image data.

[0012] Furthermore, another embodiment of the present invention provides a garbage crane control method which involves sensing the surface of accumulated garbage in a garbage pit using a visual sensor, determining a gripping position for the garbage crane's bucket to grasp garbage based on visual data acquired by the visual sensor within the operable range of the garbage crane, whose outer edge is defined along the edge of the garbage pit, and grasping the garbage at the gripping position with the bucket of the garbage crane, wherein the gripping position is determined prioritizing the position closest to the outer edge. This makes it easier to reduce garbage near the edge of the garbage pit.

[0013] Furthermore, a program in another aspect of the present invention causes a computer to perform the following actions: acquire visual data from a visual sensor that senses the surface of accumulated waste in a waste pit; and determine a gripping position for the waste crane's bucket to grasp waste based on the visual data generated by the visual sensor, within the operable range of the waste crane, whose outer edge is defined along the edge of the waste pit. The gripping position is determined prioritizing the position closest to the outer edge. This makes it easier to reduce waste near the edge of the waste pit. [Effects of the Invention]

[0014] According to the present invention, it becomes easier to reduce the amount of waste near the edges of the waste pit. [Brief explanation of the drawing]

[0015] [Figure 1] This figure shows an example of a waste crane control system. [Figure 2] This figure shows an example of a measurement and control PC. [Figure 3] This figure shows an example of the operating range of a garbage crane. [Figure 4A] This diagram illustrates an example of changes in waste height. [Figure 4B] This diagram illustrates an example of changes in waste height. [Figure 4C] This diagram illustrates an example of changes in waste height. [Figure 5] This is a diagram showing an example of an operation decision unit. [Figure 6] This figure shows an example of a garbage crane control method. [Figure 7] This figure shows an example of 3D point cloud data. [Figure 8] This diagram illustrates an example of determining the gripping position. [Figure 9] This is a diagram showing an example of an operation decision unit. [Figure 10] This figure shows an example of a garbage crane control method. [Figure 11] This diagram illustrates an example of correcting waste height. [Figure 12] This is a diagram for explaining an example of correction of garbage height.

Embodiments for Carrying out the Invention

[0016] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In this specification and each drawing, for elements that are the same as those described above in the previously presented drawings, the same reference numerals may be given, and detailed descriptions may be omitted as appropriate.

[0017] FIG. 1 is a diagram schematically showing a configuration example of a garbage crane control system 100. This figure schematically shows a garbage crane 3 installed above a garbage pit PT and the configuration related to its control. The garbage crane 3 has a bucket 31 for grasping and dropping garbage. The garbage crane 3 is, for example, a trolley-type ceiling crane.

[0018] A platform PF is provided next to the garbage pit PT. When the loading door DR is open, the garbage collection vehicle CV throws garbage from the platform PF into the garbage pit PT.

[0019] The garbage pit PT is divided into a receiving area AP for receiving garbage thrown in from the platform PF and a storage area RP for storing the garbage transferred from the receiving area AP. The garbage pit PT is also provided with a hopper (not shown) leading to an incinerator.

[0020] In the following description, the entire garbage accumulated in the garbage pit PT is referred to as "accumulated garbage AG" to distinguish it from individual pieces of garbage. The accumulated garbage AG is also called a "garbage mountain". Therefore, when referring to the shape of the accumulated garbage AG, it refers to the macroscopic shape of the entire accumulated garbage, not the shape of individual pieces of garbage.

[0021] The waste crane control system 100 includes a waste crane 3, a measurement and control PC 1, a range sensor 2, an image sensor 4, a PLC (Programmable Logic Controller) 5, and a crane control device 6.

[0022] The measurement and control PC1 is a computer, such as a personal computer, that includes a CPU, RAM, ROM, non-volatile memory, and input / output interfaces. The CPU performs information processing according to a program loaded from ROM or non-volatile memory into RAM.

[0023] The program may be supplied via an information storage medium such as an optical disc or memory card, or via a communication network such as the Internet or LAN.

[0024] The range sensor 2 is a sensor that measures the height of each position in the accumulated waste AG. The range sensor 2 is installed on top of the waste pit PT and generates 3D point cloud data representing the surface shape of the accumulated waste AG, which is output to the measurement control PC 1. The range sensor 2 is an example of a visual sensor that senses the surface of the accumulated waste AG, and the 3D point cloud data is an example of visual data.

[0025] The range sensor 2 is, for example, a Time of Flight (TOF) distance image sensor or a LiDAR (Light Detection and Ranging) sensor. However, it is not limited to these; the range sensor 2 may also be, for example, a stereo distance image sensor.

[0026] Image sensor 4 is a sensor that images the surface of the accumulated waste AG. Image sensor 4 is installed on top of the waste pit PT and generates image data of the surface of the accumulated waste AG, which is output to the measurement control PC 1. Image sensor 4 is another example of a visual sensor, and image data is another example of visual data.

[0027] The PLC5 and crane control device 6 are control units that control the waste crane 3 in accordance with control commands output from the measurement and control PC1. The crane control device 6 includes a motor and an inverter, etc.

[0028] Figure 2 is a block diagram showing an example configuration of the measurement and control PC1. The measurement and control PC1 comprises a height acquisition unit 11, a height processing unit 12, an image acquisition unit 13, an image processing unit 14, an association unit 15, and an operation determination unit 16. These functional units are realized by the measurement and control PC1 executing information processing according to a program.

[0029] The height acquisition unit 11 acquires 3D point cloud data representing the height of the accumulated waste AG at each location measured by the measurement range sensor 2. Each location of the accumulated waste AG is the horizontal position of each point in the 3D point cloud data. The height processing unit 12 performs predetermined calculation processing on the 3D point cloud data acquired by the height acquisition unit 11.

[0030] The image acquisition unit 13 acquires image data captured by the image sensor 4. The image processing unit 14 performs predetermined image processing on the image data acquired by the image acquisition unit 13. Specifically, the image processing unit 14 evaluates the degree of agitation of the accumulated waste AG at each location in the image.

[0031] The association unit 15 associates the height of the accumulated waste AG with the degree of agitation at each position.

[0032] The operation determination unit 16 determines the operation pattern of the waste crane 3 based on the waste height and degree of agitation at each position of the accumulated waste AG, and outputs a control command to the PLC 5 to implement the determined operation pattern. The operation pattern mainly includes a gripping position for grasping the waste and a dropping position for dropping the waste.

[0033] As shown in Figure 5, which will be described later, the operation determination unit 16 includes a position calculation unit 161 and a position correction unit 162. Furthermore, as shown in Figure 9, which will be described later, the operation determination unit 16 may also include a height correction unit 166 and a position calculation unit 167.

[0034] Figure 3 shows an example of the operating range MB of the waste crane 3. The figure shows an example where the receiving area AP and the storage area RP are separated by a partition wall WP, but the partition wall WP is not required.

[0035] The operating range MB of the waste crane 3 has its outer edge EG set along the edge of the waste pit PT (hereinafter also referred to as the "pit edge"). That is, the outer edge EG of the operating range MB is set a certain distance inward from the inner wall WL or bulkhead WP of the waste pit PT so that the bucket 31 does not collide with the inner wall WL or bulkhead WP.

[0036] Therefore, when the waste crane 3 reduces the amount of waste in the waste pit PT, the bucket 31 may not be able to grab the waste near the edge of the pit, and some waste may remain.

[0037] Figures 4A to 4C illustrate examples of changes in waste height near the outer edge EG of the operational range MB. The white circles on the surface of the accumulated waste AG in the figures represent the respective positions of the accumulated waste AG measured by the range sensor 2.

[0038] As shown in Figure 4A, if the debris height at position P1, which is close to the outer edge EG of the operable range MB, is lower than the debris height at position P2, which is further inside, then usually, in order to reduce the height difference, position P2, which has a higher debris height, is more likely to be selected as the grasping position for grasping the debris than position P1, which has a lower debris height.

[0039] Figure 4B shows the state after the debris at position P2 has been grasped, compared to the state in Figure 4A. As shown in Figure 4B, when position P2 becomes the grasping position, debris near the pit edge, which is outside the outer edge EG, tends to remain, and a steep slope is more likely to form.

[0040] Figure 4C shows the state after the debris at position P1 has been grasped, compared to the state shown in Figure 4A. As shown in Figure 4C, when position P1 becomes the grasping position, the bucket 31 can grasp debris near the pit edge that is outside the outer edge EG, thus reducing the amount of debris near the pit edge.

[0041] Therefore, in this embodiment, as described below, the waste crane 3 is configured to preferentially grasp waste at a position closer to the outer edge EG of its operating range MB, making it easier to reduce waste near the edge of the pit.

[0042] [First Embodiment] Figure 5 shows an example of the operation determination unit 16 according to the first embodiment. The operation determination unit 16 includes a position calculation unit 161 that calculates a candidate gripping position and a position correction unit 162 that corrects the candidate gripping position. The specific processes of these units are described below.

[0043] Figure 6 is a flowchart mainly showing an example of the procedure for determining the gripping position, which is part of the garbage crane control method implemented in the garbage crane control system 100. The measurement control PC1 executes the information processing shown in the figure according to the program.

[0044] First, the measurement control PC1 uses the range sensor 2 to perform a 3D measurement of the accumulated waste AG in the waste pit PT and acquires the measured 3D point cloud data (S11, processed as the height acquisition unit 11).

[0045] Figure 7 shows an example of 3D point cloud data. In the figure, the X and Z directions represent the horizontal direction, and the Y direction represents the height direction. That is, in the coordinates of each point in the 3D point cloud data, the X and Z coordinates represent the horizontal position, and the Y coordinate represents the height of the waste.

[0046] Specifically, the X direction is the direction in which the receiving area AP and the storage area RP are adjacent, and the Z direction is the direction in which the boundary between the receiving area AP and the storage area RP extends. The positive side of the X direction (direction of the X-axis arrow) is the direction from the receiving area AP towards the storage area RP.

[0047] Returning to the explanation of Figure 6, the measurement and control PC1 calculates candidate gripping positions for the bucket 31 of the waste crane 3 based on the waste height at each position of the accumulated waste AG (S12, processing as the position calculation unit 161). The candidate gripping positions are determined within the operational range MB of the waste crane 3.

[0048] Candidate gripping positions are calculated, for example, by an automated driving algorithm, so that the waste height at each position in the accumulated waste AG is made uniform (in other words, positions where the waste height is high are removed). Note that candidate gripping positions are calculated based not only on waste height but also on various other conditions such as the degree of agitation.

[0049] Next, the measurement and control PC1 determines the gripping position based on the candidate gripping positions (S13-S15). At this time, the measurement and control PC1 determines the gripping position prioritizing the position closest to the outer edge EG of the operable range MB. Figure 8 is a diagram illustrating an example of gripping position determination.

[0050] Specifically, the measurement and control PC1 determines whether the candidate gripping position is included in the outer edge vicinity range VG of the operable range MB (S13). The outer edge vicinity range VG is the edge portion along the outer edge EG of the operable range MB, and is the range within a predetermined distance inward from the outer edge EG.

[0051] If the candidate gripping position is not included in the outer edge vicinity range VG (S13:NO), the measurement control PC1 determines the candidate gripping position as is and uses it as the gripping position (S14).

[0052] On the other hand, if the candidate gripping position is included in the outer edge vicinity range VG (S13: YES), the measurement control PC1 shifts the candidate gripping position outward and determines the position Pn closest to the outer edge EG as the gripping position (S15, processing by the position correction unit 162). In other words, the measurement control PC1 forcibly rewrites the gripping position to the position Pn closest to the outer edge EG.

[0053] The outer edge EG of the operable range MB is not limited to being located between points in the point cloud data, as shown in Figure 8, but can also be located on a point in the point cloud data. When the outer edge EG is located on a point, that point becomes the position Pn closest to the outer edge EG.

[0054] Note that in Figure 8, the outer edge vicinity range VG is shown only for the right outer edge EG, but the outer edge vicinity range VG is set over the entire circumference of the outer edge EG. The width of the outer edge vicinity range VG may be changed according to the area such as the receiving area AP or the storage area RP, or according to the direction such as the X direction or the Z direction.

[0055] Returning to the explanation of Figure 6, the measurement and control PC1 then determines an operation pattern including the calculated gripping position and outputs a control command to the PLC5 (S16, processing as the operation determination unit 16). The PLC5 and the crane control device 6 control the waste crane 3 according to the specified operation pattern.

[0056] According to the first embodiment described above, when a candidate gripping position is included in the outer edge vicinity range VG, the gripping position is forcibly rewritten to the position Pn closest to the outer edge EG, thereby reducing debris near the pit edge.

[0057] The mode of prioritizing the position Pn closest to the outer edge EG is not limited to this, but for example, a period may be set to forcibly reduce debris near the pit edge, and during that period the gripping position may always be set to the position Pn closest to the outer edge EG, or an interrupt command may be accepted to forcibly set the gripping position to the position Pn closest to the outer edge EG, or the priority of the position Pn closest to the outer edge EG may be set higher than other positions, and the frequency of setting the gripping position to the position Pn closest to the outer edge EG may be increased.

[0058] [Second Embodiment] Figure 9 shows an example of the operation determination unit 16 according to the second embodiment. The operation determination unit 16 includes a height correction unit 166 and a position calculation unit 167.

[0059] The position calculation unit 167 uses an automatic driving algorithm to calculate the gripping position based on the garbage height at each position of the accumulated garbage AG, so that the garbage height of the accumulated garbage AG becomes uniform (in other words, it removes the garbage from positions where the garbage height is high).

[0060] The height correction unit 166 corrects the height of the accumulated waste AG at each position input to the position calculation unit 167, specifically the waste height of the accumulated waste AG in the range VG near the outer edge of the operational range MB, increasing the height of the waste as it gets closer to the outer edge EG.

[0061] This causes the system to perceive the debris height in the area near the outer edge VG as higher than it actually is, making it easier to select a gripping position closer to the outer edge EG, thus making it easier to reduce debris near the pit edge.

[0062] Figure 10 is a flowchart mainly showing an example of the procedure for determining the gripping position, which is part of the garbage crane control method implemented in the garbage crane control system 100. The measurement control PC1 executes the information processing shown in the figure according to the program.

[0063] First, the measurement control PC1 uses the range sensor 2 to perform a 3D measurement of the accumulated waste AG in the waste pit PT and acquires the measured 3D point cloud data (S21, processed as the height acquisition unit 11).

[0064] Next, the measurement and control PC1 determines the gripping position as a priority, prioritizing positions closer to the outer edge EG within the range VG near the outer edge of the operable range MB (S22-S23). Figures 11 and 12 illustrate an example of dust height correction.

[0065] Specifically, the measurement and control PC1 corrects the waste height in the vicinity of the outer edge VG among the waste heights at each position of the accumulated waste AG, making the waste height higher the closer it is to the outer edge EG (S22, processing as the height correction unit 166).

[0066] As shown in Figure 12, the height correction amounts for positions P4, P5, and P6, which are included in the outer edge vicinity range VG, are set to be higher the closer they are to the outer edge EG. The increase in the height correction amount is not limited to a linear increase, but may also be an exponential or logarithmic increase. Note that positions P1, P2, and P3 are outside the operating range MB of the crane 3 and therefore do not become gripping positions, and the waste height does not need to be corrected for these positions.

[0067] Note that in Figure 11, the outer edge vicinity range VG is shown only for the right outer edge EG, but the outer edge vicinity range VG is set over the entire circumference of the outer edge EG. The width of the outer edge vicinity range VG may be changed according to the area such as the receiving area AP or the storage area RP, or according to the direction such as the X direction or the Z direction.

[0068] Furthermore, the height correction amount in the area near the outer edge VG may be changed according to the area, such as the receiving area AP or the storage area RP, or according to the direction, such as the X direction or the Z direction. For example, by setting the height correction amount for the receiving area AP to a high value, it is possible to keep the height of the waste near the walls of the area into which the waste is brought in low.

[0069] Returning to the explanation of Figure 10, the measurement control PC1 calculates the gripping position based on the garbage height at each position of the accumulated garbage AG, after the garbage height in the area near the outer edge VG has been corrected (S23, processing as the position calculation unit 167).

[0070] Subsequently, the measurement and control PC1 determines an operation pattern including the calculated gripping position and outputs a control command to the PLC5 (S24, processing as the operation determination unit 16). The PLC5 and the crane control device 6 control the waste crane 3 according to the specified operation pattern.

[0071] According to the second embodiment described above, by correcting the debris height in the area near the outer edge VG to be higher closer to the outer edge EG, positions closer to the outer edge EG are more likely to be preferentially determined as gripping positions, making it easier to reduce debris near the pit edge.

[0072] Furthermore, by correcting the debris height in the area near the outer edge VG to be higher closer to the outer edge EG, it becomes easier to determine a gripping position for the debris, while making it more difficult to determine a dropping position for the debris. This also makes it possible to reduce the amount of debris near the edge of the pit in advance.

[0073] Furthermore, the configuration that prioritizes positions closer to the outer edge EG is not limited to correcting the debris height. For example, the priority for determining a gripping position may be set higher for positions closer to the outer edge EG within the outer edge vicinity range VG, thereby increasing the frequency with which positions closer to the outer edge EG are determined as gripping positions.

[0074] The first and second embodiments may be used in combination. That is, when a candidate gripping position is included in the vicinity of the outer edge range VG, the method of forcibly rewriting the gripping position to the position Pn closest to the outer edge EG may be combined with the method of correcting the debris height in the vicinity of the outer edge range VG to be higher the closer the position is to the outer edge EG, making it easier for that position to be selected as a gripping position.

[0075] Although embodiments of the present invention have been described above, the present invention is not limited to the embodiments described above, and various modifications are of course possible for those skilled in the art.

[0076] In the above embodiment, the gripping position was determined based on the height of the accumulated waste AG at each position measured by the range sensor 2. However, the embodiment is not limited to this, and image recognition technology may be used to recognize a suitable gripping position for grasping the waste based on image data generated by the image sensor 4. [Explanation of Symbols]

[0077] 1 Measurement and control PC, 2 Range sensor, 3 Waste crane, 31 Bucket, 4 Image sensor, 5 PLC, 6 Crane control device, 11 Height acquisition unit, 12 Height processing unit, 13 Image acquisition unit, 14 Image processing unit, 15 Association unit, 16 Operation determination unit, 100 Waste crane control system, PT Waste pit, AP Receiving area, RP Storage area, AG Accumulated waste, PF Platform, DR Loading door

Claims

1. A garbage crane with a bucket, A visual sensor that senses the surface of the accumulated waste in the waste pit, Within the operational range of the waste crane, whose outer edge is defined along the edge of the waste pit, a position determination unit determines the gripping position of the waste crane's bucket for grasping waste based on visual data acquired by the visual sensor, A crane control unit controls the garbage crane so that the bucket of the garbage crane grasps the garbage at the grasping position, Equipped with, The position determination unit prioritizes determining the position closest to the outer edge as the gripping position. Garbage crane control system.

2. The position determination unit, A calculation unit that calculates candidate gripping positions, A correction unit that corrects the gripping position to the position closest to the outer edge when the candidate gripping position is within a predetermined range from the outer edge of the operable range, Equipped with, The waste crane control system according to claim 1.

3. A garbage crane with a bucket, A visual sensor that senses the surface of the accumulated waste in the waste pit, Within the operating range of the waste crane, whose outer edge is defined along the edge of the waste pit, a position determination unit determines the gripping position of the waste crane's bucket based on visual data acquired by the visual sensor, A crane control unit controls the garbage crane so that the bucket of the garbage crane grasps the garbage at the grasping position, Equipped with, The position determination unit determines the gripping position by prioritizing positions closer to the outer edge within a predetermined range from the outer edge of the operable range. Garbage crane control system.

4. The aforementioned visual sensor is a range sensor that measures the height of each position of the accumulated waste. The position determination unit determines the gripping position based on the height of each position of the accumulated waste. The waste crane control system according to claim 3.

5. The position determination unit, A calculation unit that calculates the gripping position based on the height of each position of the accumulated waste so that the height of the accumulated waste is made uniform, A correction unit that corrects the height of the accumulated waste at each position input to the calculation unit, specifically the height of the accumulated waste within the predetermined range from the outer edge of the operable range, so that the height of the waste is higher as it is closer to the outer edge. Equipped with, The waste crane control system according to claim 4.

6. The aforementioned visual sensor is an image sensor that captures images of the surface of the accumulated waste. The position determination unit recognizes the grasping position based on the image data generated by the image sensor. The waste crane control system according to claim 1.

7. Using a visual sensor, the surface of the accumulated waste in the waste pit is sensed. Within the operating range of the waste crane, whose outer edge is defined along the edge of the waste pit, the gripping position for the waste with the bucket of the waste crane is determined based on the visual data acquired by the visual sensor. The bucket of the aforementioned garbage crane grasps the garbage at the grasping position. A method for controlling a garbage crane, The gripping position is determined by prioritizing the position closest to the outer edge. A method for controlling a garbage crane.

8. Acquiring visual data from a visual sensor that senses the surface of accumulated waste in the waste pit, and Within the operating range of the waste crane, whose outer edge is defined along the edge of the waste pit, the gripping position of the waste crane's bucket is determined based on the visual data generated by the visual sensor. Have the computer run it, The gripping position is determined by prioritizing the position closest to the outer edge. program.

Images