Information processing device, garbage crane control system, and garbage crane control method

Abstract

To provide a refuse crane control system capable of easily making weight of refuse to be caught by a bucket appropriate.SOLUTION: A refuse crane control system includes: a refuse crane for catching refuse stored in a refuse pit with a bucket; a measuring section measuring weight of the refuse caught by the bucket; a calculation section that when the weight of the refuse exceeds predetermined weight, determines an opening time of an opening / closing operation of the bucket for dropping part of the refuse caught by the bucket in accordance with a difference between the weight of the refuse and the predetermined weight; and a control section causing the refuse crane to perform the opening / closing operation of the bucket using the determined opening time.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to an information processing device, a garbage crane control system, and a garbage crane control method. [Background technology]

[0002] Patent document 1 discloses an apparatus that includes a training data generation unit that generates training data associated with images of waste stored in a garbage pit, a model construction unit that constructs a model by learning using the training data, and an estimation unit that inputs data of new images of waste stored in the garbage pit into the model and obtains a value representing the quality of the waste corresponding to the new image. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-207099 Summary of the Invention [Problem to be solved by the invention]

[0004] A garbage crane uses a bucket to pick up garbage stored in a garbage pit and dump it into a hopper leading to an incinerator. To maintain a constant supply of garbage to the incinerator, it is necessary to dump an appropriate amount of garbage into the hopper. However, because the garbage stored in the garbage pit varies in specific gravity and pile shape, it is difficult to accurately grab the appropriate amount of garbage with the bucket.

[0005] The present invention has been made in consideration of the above-mentioned problems, and its main purpose is to provide an information processing device, a garbage crane control system, and a garbage crane control method that make it easy to optimize the weight of garbage grasped by the bucket. [Means for solving the problem]

[0006] In order to solve the above problem, one embodiment of an information processing device of the present invention comprises a weight acquisition unit that acquires weight data representing the weight of garbage grasped by the bucket of a garbage crane, a calculation unit that determines the opening time of the bucket opening and closing operation to drop some of the garbage grasped by the bucket when the weight of the garbage exceeds a predetermined weight, based on the difference between the weight of the garbage and the predetermined weight, and an output unit that outputs a control command to cause the garbage crane to perform the opening and closing operation of the bucket using the determined opening time.

[0007] Another aspect of the garbage crane control system of the present invention comprises a garbage crane that uses a bucket to grab garbage stored in a garbage pit, a measuring unit that measures the weight of the garbage grabbed by the bucket, a calculation unit that determines the opening time of the bucket's opening and closing operation to drop some of the garbage grabbed by the bucket when the weight of the garbage exceeds a predetermined weight based on the difference between the weight of the garbage and the predetermined weight, and a control unit that causes the garbage crane to perform the bucket opening and closing operation using the determined opening time.

[0008] In addition, another aspect of the garbage crane control method of the present invention measures the weight of garbage grasped by the bucket of a garbage crane, and when the weight of the garbage exceeds a predetermined weight, determines the opening time of the bucket opening and closing operation to drop some of the garbage grasped by the bucket based on the difference between the weight of the garbage and the predetermined weight, and causes the garbage crane to perform the opening and closing operation of the bucket using the determined opening time. [Effects of the Invention]

[0009] According to the present invention, it is easy to optimize the weight of the garbage that the bucket grabs. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram illustrating an example of the configuration of a garbage crane control system. [Figure 2] FIG. 2 is a diagram illustrating an example of the configuration of a measurement control PC. [Figure 3]FIG. 10 is a diagram illustrating an example of three-dimensional point cloud data. [Figure 4] FIG. 10 is a diagram showing an example of the procedure of a garbage crane control method. [Figure 5] 10A and 10B are diagrams for explaining the opening and closing operation of the bucket. [Figure 6] 10A and 10B are diagrams for explaining the opening and closing operation of the bucket. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0012] Figure 1 is a diagram showing an example of the configuration of a garbage crane control system 100. The figure shows a schematic diagram of a garbage crane 3 installed above a garbage pit and the configuration related to its control. The garbage pit is equipped with a receiving pit AP that receives garbage thrown in from the platform, and a storage pit RP that stores garbage transferred from the receiving pit AP.

[0013] The garbage crane 3 grabs garbage stored in the garbage pit with a bucket 31. Specifically, the garbage crane 3 grabs the garbage stored in the storage pit RP with the bucket 31 and dumps it into a hopper (not shown) that leads to the incinerator. The garbage crane 3 is, for example, a trolley-type overhead crane.

[0014] The garbage crane control system 100 includes a garbage crane 3, a measurement control PC 1, a range sensor 2, a load meter 4, a PLC (Programmable Logic Controller) 5, and a crane control device 6.

[0015] The measurement control PC1 is an example of an information processing device, and is, for example, a computer such as a personal computer or a server computer.

[0016] The range sensor 2 is a height measurement unit that measures the height of the garbage stored in the garbage pit, and outputs height data that indicates the measured height of the garbage to the measurement control PC 1. The range sensor 2 is installed above the garbage pit.

[0017] The range sensor 2 is, for example, a TOF (Time of Flight) range image sensor or LiDAR (Light Detection and Ranging), and outputs three-dimensional point cloud data representing the shape of the surface of the garbage stored in the garbage pit (hereinafter also referred to as "garbage surface"). However, the range sensor 2 is not limited to this, and may be, for example, a stereo range image sensor.

[0018] The load meter 4 is a weight measurement unit that measures the weight of the garbage grabbed by the bucket 31 of the garbage crane 3 (hereinafter also referred to as "garbage weight"), and outputs weight data representing the measured garbage weight to the measurement control PC1.

[0019] The PLC 5 and the crane control device 6 are control units that control the garbage crane 3 in response to control commands output from the measurement control PC 1. The crane control device 6 includes a motor, an inverter, and the like.

[0020] 2 is a block diagram showing an example of the configuration of the measurement control PC 1. The control unit 10 of the measurement control PC 1 is a computer including a CPU, RAM, ROM, nonvolatile memory, an input / output interface, etc. The CPU of the control unit 10 executes information processing according to a program loaded from the ROM or nonvolatile memory to the RAM.

[0021] The program may be supplied via an information storage medium such as an optical disk or a memory card, or may be supplied via a communication network such as the Internet or a LAN.

[0022] The control unit 10 of the measurement control PC1 includes a height acquisition unit 11, a weight acquisition unit 12, an opening / closing time calculation unit 13, and a command output unit 14. These functional units are realized by the control unit 10 executing information processing according to a program.

[0023] The height acquisition unit 11 acquires height data that indicates the height of dust measured by the range sensor 2. The height data is, for example, three-dimensional point cloud data measured by a TOF range image sensor.

[0024] Figure 3 is a diagram showing an example of 3D point cloud data representing the shape of the garbage surface in a garbage pit. The X and Z axes in the figure represent the horizontal direction, and the Y axis represents the height direction. The value on the Y axis of the 3D point cloud data is acquired as a value representing the garbage height.

[0025] Returning to the explanation of Fig. 2, the weight acquisition unit 12 acquires weight data indicating the weight of the waste measured by the load meter 4.

[0026] The opening / closing time calculation unit 13 calculates the opening / closing time for the opening / closing operation of the bucket 31. The opening / closing operation of the bucket 31 is an operation for dropping a portion of the waste picked up by the bucket 31. The calculation of the opening / closing time will be described in detail later.

[0027] The command output unit 14 generates a control command for controlling the garbage crane 3 and outputs it to the PLC 5. The PLC 5 and the crane control device 6 control the garbage crane 3 in accordance with the received control command.

[0028] Specifically, the command output unit 14 outputs a control command to cause the garbage crane 3 to perform the opening and closing operation of the bucket 31 using the opening and closing time determined by the opening and closing time calculation unit 13.

[0029] In addition, the command output unit 14 outputs various control commands, such as a control command for moving the bucket 31 to a specified horizontal position, and a control command for raising or lowering the bucket 31 to a specified height.

[0030] 4 is a diagram showing an example of a procedure for processing related to the opening and closing operation of the bucket 31 in the garbage crane control method realized in the garbage crane control system 100. The control unit 10 of the measurement control PC1 executes the information processing shown in the diagram according to a program.

[0031] 5 is a diagram for explaining the opening and closing operation of the bucket 31. The horizontal axis represents time, and the vertical axis represents the weight of waste. The diagram shows the change in the weight of waste over time as the bucket 31 is opened and closed.

[0032] The opening and closing operation of bucket 31 is an operation in which, when the weight of waste exceeds a predetermined appropriate weight range, bucket 31 is opened and closed instantaneously to drop some of the waste that bucket 31 has picked up (see FIG. 6).

[0033] The opening and closing operation of the bucket 31 is performed when the waste is dumped into a hopper leading to an incinerator. However, the opening and closing operation of the bucket 31 may also be performed when stirring or transferring the waste stored in the waste pit.

[0034] The following describes the process for opening and closing the bucket 31 shown in Figures 4 and 5. This process is executed after the bucket 31 has grabbed the trash.

[0035] First, the control unit 10 of the measurement control PC1 acquires the weight of the waste measured by the load meter 4 (S11, processing as the weight acquisition unit 12), and determines whether the weight of the waste falls within the upper limit W of the appropriate weight range. limit It is determined whether or not the value exceeds the predetermined value (S12).

[0036] Garbage weight limit W limit If the result is equal to or less than the above (S12: NO), the control unit 10 ends this process and moves to a process of putting the waste into the hopper.

[0037] On the other hand, the garbage weight limit W limit If it exceeds the upper limit W (S12: YES), the control unit 10 calculates the bucket opening / closing time (S13, processing as the opening / closing time calculation unit 13). Specifically, the control unit 10 calculates the opening time of the opening / closing operation of the bucket 31 based on the waste weight and the upper limit W limit Furthermore, the control unit 10 makes the closing time between the opening time and the next opening time longer than the opening time.

[0038] As shown in FIG. 5, the control unit 10 determines the opening time t1 of the first bucket opening operation based on the waste weight W1 and the upper limit W limit The difference between W1 and W limit As α>β, t α >t β >t γ When the weight of the garbage W1 is W limit If it exceeds +α, set the opening time t1 to t α The weight of the waste W1 is W limit +α or less, W limit If +β is exceeded, the opening time t1 is set to t β The weight of the waste W1 is W limit +β or less, W limit If it is exceeded, the opening time t1 is set to t γ Let's say.

[0039] However, the control unit 10 may set the opening time t1 of the first bucket opening operation based on the waste weight W1 and the upper limit W limit The time may be increased continuously as the difference between the two increases.

[0040] The control unit 10 also determines the closing time t of the bucket closing operation after the first bucket opening operation. C is set to be longer than the opening time t1 of the first bucket opening operation. For example, when ε>1, the closing time t C Furthermore, the control unit 10 determines the closing time t C In addition, time will be set aside to measure the weight of the waste.

[0041] Returning to the explanation of FIG. 4, the control unit 10 then outputs a control command to the garbage crane 3 to open and close the bucket 31 using the determined opening and closing time (S14, processing as the command output unit 14). That is, the control unit 10 determines whether the opening time t1 (=t α ) Bucket opening and closing time t C A control command is output to cause the garbage crane 3 to perform the bucket closing operation at (=ε×t1).

[0042] Next, the control unit 10 acquires the weight of the waste measured by the load meter 4 (S15, processing as the weight acquisition unit 12), and determines whether the weight of the waste falls within the upper limit W of the appropriate weight range. limit Specifically, the control unit 10 determines whether the closing time t c After (=ε×t1) has elapsed, the weight of the waste measured by the load meter 4 is obtained.

[0043] Garbage weight limit W limit If the result is equal to or less than the above (S16: NO), the control unit 10 ends this process and moves to a process of throwing the waste into the hopper.

[0044] On the other hand, the garbage weight limit W limit If the weight of the waste exceeds the upper limit W (S16: YES), the control unit 10 executes the processes of S13 to S16 again. limit The processes of S13 to S16 are repeated until the following is true:

[0045] As shown in Fig. 5, the control unit 10 determines the opening time t2 of the second bucket opening operation based on the weight W1-W2 of the waste that fell from the bucket 31 during the previous opening time t1. Specifically, the control unit 10 determines the weight W1-W2 of the waste that fell from the bucket 31 during the previous opening time t1. limit The difference between W2 and W limit The weight of the waste that fell from the bucket 31 during the previous opening time t1 is calculated as (W1-W2) / t α By dividing by this, the open time t2 is determined. In other words, the open time t2 is (W2 - W limit )÷{(W1-W2)÷t α}.

[0046] In the example shown in Figure 5, the second bucket opening operation causes the waste weight W3 to exceed the upper limit W limit The following example shows what happened:

[0047] The second bucket opening operation also causes the waste weight W3 to exceed the upper limit W limitIf it is not equal to or less than this, the control unit 10 determines the opening time of the third bucket opening operation based on the weight W2-W3 of the waste that fell from the bucket 31 during the previous opening time t2, as described above. The same applies to the opening times of the fourth and subsequent bucket opening operations.

[0048] According to the embodiment described above, the weight of the waste is within the upper limit W of the appropriate weight range. limit When the upper limit W is exceeded, the opening time of the opening and closing operation of the bucket 31 is set based on the weight of the garbage. limit By determining the weight based on the difference between the two, it becomes easy to adjust the weight of the waste to fall within the appropriate weight range.

[0049] Specifically, for the first bucket opening operation, the opening time t1 is set based on the waste weight W1 and the upper limit W limit The difference between W1 and W limit By lengthening the length as the length increases, it becomes easier to adjust the waste weight to within the appropriate weight range.

[0050] In addition, for the bucket closing operation after the first bucket opening operation, the closing time t c By making the open time t1 longer than the open time t1, it becomes possible to measure the weight of the waste stably. In other words, the longer the open time t1, the more likely it is that waste will spill out of the bucket 31, making it more difficult to measure the weight of the waste stably. c By making the open time longer than the open time t1, it becomes possible to measure the weight of the waste stably.

[0051] Furthermore, by determining the opening time t2 for the second bucket opening operation based on the weight W1-W2 of the waste that fell from the bucket 31 during the previous opening time t1, it becomes easy to adjust the weight of the waste to within an appropriate weight range. That is, although the way the waste falls varies depending on the shape, size, specific gravity, etc. of the waste, the weight of the waste that falls from the bucket 31 during opening time t2 shows the same tendency as during the previous opening time t1, so by determining the opening time t2 as described above, it becomes easy to adjust the weight of the waste to within an appropriate weight range.

[0052] Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and it goes without saying that various modifications can be made by those skilled in the art.

[0053] In the above embodiment, the opening and closing time of the bucket 31 is determined based on the weight of garbage currently gripped by the bucket 31, the difference between the garbage weight and the upper limit of the appropriate weight range, or the weight of garbage that fell from the bucket 31 during the previous opening time. However, in addition to these, the time may also be determined based on, for example, the open / closed state of the bucket 31, the shape and size of the bucket 31, the past trend in the weight of garbage that has fallen, the degree of mixing of the garbage at the gripping position, the area attributes of the gripping position, or the inclination of the garbage at the gripping position. [Explanation of symbols]

[0054] 1 Measurement control PC (example of information processing device), 2 Range sensor, 3 Garbage crane, 31 Bucket, 4 Load meter, 5 PLC, 6 Crane control device, 10 Control unit, 11 Height acquisition unit, 12 Weight acquisition unit, 13 Opening / closing time calculation unit, 14 Command output unit, 100 Crane control system, AP Receiving pit, RP Storage pit

Claims

1. a weight acquisition unit that acquires weight data representing the weight of the waste grabbed by the bucket of the waste crane; a calculation unit that, when the weight of the waste exceeds a predetermined weight, determines an opening time for the opening and closing operation of the bucket to drop a portion of the waste grasped by the bucket, according to the difference between the weight of the waste and the predetermined weight, before opening and closing the bucket; an output unit that outputs a control command to cause the garbage crane to perform an opening and closing operation of the bucket using the determined opening time; An information processing device comprising:

2. the calculation unit gradually increases the open time as the difference between the weight of the waste and the predetermined weight increases. The information processing device according to claim 1 .

3. the calculation unit and the output unit repeat determining the open time and outputting the control command until the weight of the waste becomes equal to or less than the predetermined weight.

3. The information processing device according to claim 1.

4. The calculation unit determines the open time based on the weight of waste that fell from the bucket during the previous open time. The information processing device according to claim 3 .

5. The calculation unit determines the opening time by dividing the difference between the weight of the waste and the predetermined weight by the weight of waste that fell from the bucket per unit time during the previous opening time.

5. The information processing device according to claim 3.

6. the calculation unit sets a closing time between the opening time and the next opening time to be longer than the opening time, 6. The information processing device according to claim 3.

7. a garbage crane that uses a bucket to grab garbage stored in the garbage pit; a measuring unit that measures the weight of the waste grabbed by the bucket; a calculation unit that, when the weight of the waste exceeds a predetermined weight, determines an opening time for the opening and closing operation of the bucket to drop a portion of the waste grasped by the bucket, according to the difference between the weight of the waste and the predetermined weight, before opening and closing the bucket; a control unit that causes the garbage crane to perform an opening and closing operation of the bucket using the determined opening time; A garbage crane control system comprising:

8. The weight of the garbage picked up by the garbage crane bucket is measured, When the weight of the waste exceeds a predetermined weight, an opening time of the opening and closing operation of the bucket for dropping a portion of the waste grasped by the bucket is determined according to the difference between the weight of the waste and the predetermined weight before the opening and closing operation of the bucket is performed; causing the garbage crane to perform an opening and closing operation of the bucket using the determined opening time; Garbage crane control method.

Images