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; a height measurement section measuring height of refuse stored in a refuse pit; a calculation section determining height of a bucket when the bucket of the refuse crane performs a refuse catch operation on the basis the height of the refuse; a control section causing the refuse crane to perform the refuse catch operation of the bucket using the determined height; and a weight measuring section measuring weight of the refuse caught by the bucket. The calculation section corrects the height of the bucket when the weight of the refuse caught by the bucket is deviated from a predetermined range, and the control section causes the refuse crane to perform a refuse drop operation of the bucket and the refuse catch operation of the bucket using the corrected height.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 the information processing device of the present invention comprises a height acquisition unit that acquires height data representing the height of garbage stored in a garbage pit, a calculation unit that determines the height of the bucket of a garbage crane when the bucket performs a garbage grabbing operation based on the garbage height, an output unit that outputs a control command to cause the garbage crane to perform a garbage grabbing operation with the bucket using the determined height, and a weight acquisition unit that acquires weight data representing the weight of the garbage grabbed by the bucket, wherein the calculation unit corrects the height of the bucket when the weight of the garbage grabbed by the bucket is outside a predetermined range, and the output unit outputs a control command to cause the garbage crane to perform a garbage dropping operation with the bucket and a garbage grabbing operation with the bucket using the corrected height.

[0007] Another aspect of the garbage crane control system of the present invention comprises a garbage crane, a height measurement unit that measures the height of garbage stored in a garbage pit, a calculation unit that determines the height of the bucket of the garbage crane when the bucket performs a garbage grabbing operation based on the garbage height, a control unit that causes the garbage crane to perform a garbage grabbing operation with the bucket using the determined height, and a weight measurement unit that measures the weight of the garbage grabbed by the bucket, wherein the calculation unit corrects the height of the bucket if the weight of the garbage grabbed by the bucket is outside a predetermined range, and the control unit causes the garbage crane to perform a garbage dropping operation with the bucket and a garbage grabbing operation with the bucket using the corrected height.

[0008] Another aspect of the garbage crane control method of the present invention measures the height of garbage stored in a garbage pit, determines the height of the garbage crane's bucket when it performs a garbage grabbing operation based on the garbage height, causes the garbage crane to perform the garbage grabbing operation with the bucket using the determined height, measures the weight of the garbage grabbed by the bucket, and if the weight of the garbage grabbed by the bucket is outside a predetermined range, corrects the height of the bucket, causes the garbage crane to perform the garbage dropping operation with the bucket, and causes the garbage crane to perform the garbage grabbing operation with the bucket using the corrected height. [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 illustrating an example of correction when the waste weight is smaller than the appropriate weight range. [Figure 6] 10A and 10B are diagrams illustrating an example of correction when the waste weight is smaller than the appropriate weight range. [Figure 7] 10A and 10B are diagrams illustrating an example of correction when the waste weight is larger than the appropriate weight range. [Figure 8] 10A and 10B are diagrams illustrating an example of correction when the waste weight is larger than the appropriate weight range. [Figure 9] FIG. 10 is a diagram showing an example of the relationship between the dust weight and the distance from the dust surface. 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, a grip height 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 measurement 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 gripping height calculation unit 13 determines the height of the bucket 31 of the garbage crane 3 when the bucket 31 performs a garbage gripping operation (hereinafter also referred to as the "grabbing height") based on the garbage height acquired by the height acquisition unit 11.

[0027] The gripping height is expressed in the encoder coordinates of the garbage crane 3, and a coordinate system is set with the highest position of the bucket 31 as the origin, with values ​​increasing as the position goes downward. On the other hand, the garbage height measured by the range sensor 2 is expressed in a coordinate system with the bottom of the garbage pit as the origin, with values ​​increasing as the position goes upward. Then, by using a conversion formula that corresponds between the coordinate system of the range sensor 2 and the encoder coordinate system of the garbage crane 3, the garbage height measured by the range sensor 2 is converted into the gripping height used in the control command for the garbage crane 3. The conversion formula can be, for example, Y E A linear function such as (Y = -ay + b is used. E represents the gripping height, y represents the trash height, and a and b are constants.

[0028] The gripping height converted from the trash height does not necessarily mean that the bucket 31 will be able to grip the same weight of trash every time, even at the same distance (height) from the trash surface, due to height misalignment and variations in the specific gravity of the trash. Therefore, the gripping height calculation unit 13 corrects the gripping height based on the weight of trash gripped by the bucket 31. The correction of the gripping height will be described in detail later.

[0029] 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.

[0030] Specifically, the command output unit 14 outputs a control command to cause the garbage crane 3 to perform a garbage grabbing operation with the bucket 31 using the gripping height determined by the gripping height calculation unit 13. The command output unit 14 also outputs a control command to cause the garbage crane 3 to perform a garbage dump operation with the bucket 31.

[0031] 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.

[0032] 4 is a diagram showing an example of the processing procedure for the garbage grabbing and garbage dropping operations 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 figure according to a program.

[0033] 5 to 8 are diagrams for explaining gripping height correction. Grip height correction is performed to optimize the weight of garbage that bucket 31 grips by adjusting the distance of bucket 31 from the garbage surface (i.e., adjusting the depth to which bucket 31 bites into the garbage).

[0034] Figures 5 and 6 show examples of correcting the gripping height when the waste weight is smaller than the appropriate weight range. The horizontal axis of Figure 5 represents time, the vertical axis of the upper diagram represents the distance of the bucket 31 from the waste surface, and the vertical axis of the lower diagram represents the waste weight. Figure 6 shows each operation of the bucket 31 in chronological order.

[0035] 7 and 8 are diagrams showing examples of correcting the gripping height when the waste weight is greater than the appropriate weight range. The horizontal axis of Fig. 7 represents time, the vertical axis of the upper diagram represents the distance of the bucket 31 from the waste surface, and the vertical axis of the lower diagram represents the waste weight. Fig. 8 shows each operation of the bucket 31 in chronological order.

[0036] The series of operations of the bucket 31, including the correction of the gripping height, is performed when dumping waste into a hopper leading to an incinerator. However, this is not limited to this, and may also be performed when stirring or transferring waste stored in a waste pit.

[0037] 4 to 8 will be described below. This process is executed after the bucket 31 is positioned at a desired horizontal position.

[0038] First, the control unit 10 of the measurement control PC1 calculates the gripping height from the dust height measured by the range sensor 2 using a conversion formula (S11, processing as the gripping height calculation unit 13).

[0039] Next, the control unit 10 outputs a control command to cause the garbage crane 3 to perform a garbage grabbing operation with the bucket 31 using the determined grabbing height (S12, processing as the control command unit 14).

[0040] In the debris grabbing operation, the bucket 31 is lowered to the gripping height to grab debris. As shown in Figures 6 and 8, the distance from the debris surface of the bucket 31 when it is lowered to the gripping height is not always constant.

[0041] Next, the control unit 10 acquires the weight of the waste measured by the load meter 4 (S13, processing as the weight acquisition unit 12), and determines whether the weight of the waste is within the appropriate weight range (S14).

[0042] If the waste weight is within the appropriate weight range (S14: YES), the control unit 10 ends this process and moves on to a process of putting the waste into a hopper.

[0043] On the other hand, if the waste weight is not within the appropriate weight range (S14: NO), the control unit 10 outputs a control command to cause the waste crane 3 to perform a waste dropping operation (S15, processing as the control command unit 14). In the waste dropping operation, the bucket 31 is opened to drop the garbage that it is holding.

[0044] Next, the control unit 10 calculates the correction amount for the gripping height (S16, processing as the gripping height calculation unit 13), and outputs a control command to cause the garbage crane 3 to perform a garbage gripping operation with the bucket 31 using the corrected gripping height (S17, processing as the control command unit 14).

[0045] 5 and 6, when the trash weight is smaller than the appropriate weight range, the control unit 10 corrects the gripping height to be lower than the gripping height calculated in S11 above. That is, the control unit 10 corrects the gripping height lower so that the bucket 31 comes closer to the trash surface. This increases the trash weight grasped by the bucket 31, making it possible to bring the trash weight within or closer to the appropriate weight range.

[0046] 7 and 8, when the trash weight is greater than the appropriate weight range, the control unit 10 corrects the gripping height to be higher than the gripping height calculated in S11 above. That is, the control unit 10 corrects the gripping height higher so that the bucket 31 is further away from the trash surface. This reduces the trash weight grasped by the bucket 31, making it possible to bring the trash weight within or closer to the appropriate weight range.

[0047] The calculation of the correction amount for the gripping height will now be described. The control unit 10 calculates the correction amount for the gripping height according to the difference between the weight of the trash gripped by the bucket 31 and a predetermined weight (for example, an intermediate weight) that is within the appropriate weight range.

[0048] Specifically, the control unit 10 uses a predetermined regression equation to estimate the distance of the bucket 31 from the garbage surface based on the weight of garbage grasped by the bucket 31, and determines the difference between the estimated distance of the bucket 31 from the garbage surface and a predetermined appropriate distance as the correction amount for the gripping height.

[0049] Figure 9 shows an example of the relationship between the weight of trash and the distance from the trash surface. In the figure, actual measurements are plotted as open black circles. As shown in the figure, the weight of trash that the bucket 31 grabs decreases as the distance from the trash surface increases.

[0050] From these measured values, a regression equation RE is created that shows the relationship between the garbage weight and the distance from the garbage surface. The regression equation RE is expressed as (distance from the garbage surface) = α × (garbage weight) + β, where α is the regression coefficient and β is the intercept.

[0051] The regression formula RE determines the appropriate weight range (W min ~W max The optimum distance range (h min ~h max ) is required. W min is the lower limit of the appropriate weight range, and W max is the upper limit of the appropriate weight range.

[0052] h min is the lower limit of the appropriate weight range W min is the lower limit of the appropriate distance range corresponding to h min = α × W min +β. h max is the upper limit of the appropriate weight range W max is the upper limit of the appropriate distance range corresponding to h max = α × W max It is expressed as +β.

[0053] Appropriate distance range from the dust surface (h min ~h max ) at the optimum distance h op Then, the optimal distance h op is, h op =(h max -h min ) / 2.

[0054] The control unit 10 calculates the weight W of the garbage picked up by the bucket 31 using the regression equation RE. current From the distance h from the garbage surface of the bucket 31 current The distance from the dust surface h current is, h current = α × W current It is expressed as +β.

[0055] Then, the control unit 10 calculates the estimated distance h of the bucket 31 from the surface of the garbage. current (=α×W current +β) and the optimal distance h op The difference between these values ​​is the correction amount Δh for the grip height. The correction amount Δh for the grip height is Δh = h op -α×W current It is expressed as +β.

[0056] If the correction amount is positive, the grip height is corrected downward, and if the correction amount is negative, the grip height is corrected upward.

[0057] Returning to the explanation of Figure 4, the control unit 10 then acquires the waste weight measured by the load meter 4 (S18, processing as the weight acquisition unit 12), and determines whether the waste weight is within the appropriate weight range (S19).

[0058] If the waste weight is within the appropriate weight range (S19: YES), the control unit 10 ends this process and moves on to a process of putting the waste into a hopper.

[0059] On the other hand, if the waste weight is not within the appropriate weight range (S19: NO), the control unit 10 executes the processes of S15 to S19 again. That is, the control unit 10 repeats the processes of S15 to S19 until the waste weight falls within the appropriate weight range.

[0060] The examples of FIGS. 5 to 8 show cases where the weight of the litter falls within the appropriate weight range after the second litter grabbing operation.

[0061] According to the embodiment described above, when the weight of garbage grasped by the bucket 31 falls outside the appropriate weight range, the grasping height is corrected and the garbage crane 3 performs the garbage grasping operation of the bucket 31 using the corrected grasping height, making it easy to optimize the weight of garbage grasped by the bucket 31.

[0062] Specifically, when the weight of garbage grasped by the bucket 31 is smaller than the appropriate weight range, the grasping height is corrected to be lower, thereby increasing the weight of garbage grasped by the bucket 31 and bringing it within or closer to the appropriate weight range.

[0063] Furthermore, when the weight of the waste is greater than the appropriate weight range, the gripping height can be corrected to be higher, thereby reducing the weight of waste gripped by the bucket 31 and bringing it within or closer to the appropriate weight range.

[0064] In addition, the weight of the garbage picked up by the bucket 31 and a predetermined weight included in the appropriate weight range (for example, an intermediate weight, i.e., the optimum distance h op By correcting the gripping height in accordance with the difference between the weight of the garbage picked up by the bucket 31 and the weight of the garbage picked up by the bucket 31 (weight corresponding to the weight of the garbage picked up by the bucket 31), it becomes easy to keep the weight of the garbage picked up by the bucket 31 within the appropriate weight range.

[0065] In addition, a predetermined regression equation is used to estimate the distance of the bucket 31 from the garbage surface based on the weight of garbage picked up by the bucket 31, and the estimated distance of the bucket 31 from the garbage surface and the optimal distance h op By using the difference between these values ​​as the correction amount for the gripping height, it is possible to directly determine the correction amount for the gripping height to keep the weight of garbage gripped by the bucket 31 within the appropriate weight range.

[0066] 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. [Explanation of symbols]

[0067] 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 Grab height calculation unit, 14 Command output unit, 100 Crane control system, AP Receiving pit, RP Storage pit

Claims

1. a height acquisition unit that acquires height data representing the height of the waste stored in the waste pit; a calculation unit that determines the height of the bucket of the garbage crane when the bucket performs a garbage grabbing operation based on the height of the garbage; an output unit that outputs a control command to cause the garbage crane to perform a garbage grabbing operation of the bucket using the determined height; and a weight acquisition unit that acquires weight data representing the weight of the waste grabbed by the bucket; Equipped with the calculation unit corrects the height of the bucket relative to the determined height when the weight of the waste grasped by the bucket is outside a predetermined range; the output unit outputs a control command to cause the garbage crane to perform a garbage dropping operation with the bucket and a garbage grabbing operation with the bucket using the corrected height. Information processing device.

2. the calculation unit corrects the height of the bucket to be lower when the weight of the waste grabbed by the bucket is smaller than the predetermined range; The information processing device according to claim 1 .

3. the calculation unit corrects the height of the bucket to be higher when the weight of the waste grabbed by the bucket is greater than the predetermined range; 3. The information processing device according to claim 1.

4. the calculation unit corrects the height of the bucket in accordance with the difference between the weight of the waste grasped by the bucket and a predetermined weight included in the predetermined range.

4. The information processing device according to claim 1.

5. the calculation unit determines the difference between the distance of the bucket from the surface of the garbage estimated from the weight of the garbage picked up by the bucket and a predetermined appropriate distance as a correction amount for the height of the bucket.

5. The information processing device according to claim 1.

6. The calculation unit estimates the distance of the bucket from the surface of the garbage based on the weight of the garbage picked up by the bucket using a regression equation obtained in advance. The information processing device according to claim 5 .

7. A garbage crane and a height measuring unit that measures the height of the waste stored in the waste pit; a calculation unit that determines the height of the bucket of the garbage crane when the bucket performs a garbage grabbing operation based on the height of the garbage; a control unit that causes the garbage crane to perform a garbage grabbing operation of the bucket using the determined height; a weight measuring unit that measures the weight of the waste grabbed by the bucket; Equipped with the calculation unit corrects the height of the bucket relative to the determined height when the weight of the waste grasped by the bucket is outside a predetermined range; The control unit causes the garbage crane to perform a garbage dropping operation with the bucket and a garbage grabbing operation with the bucket using the corrected height. Garbage crane control system.

8. Measure the height of the garbage stored in the garbage pit, determining a height of the bucket of the garbage crane when the bucket performs a garbage grabbing operation based on the height of the garbage; causing the garbage crane to perform a garbage grabbing operation of the bucket using the determined height; Measure the weight of the waste picked up by the bucket; If the weight of the waste grasped by the bucket is outside a predetermined range, correct the height of the bucket relative to the determined height; causing the garbage crane to perform a garbage dumping operation of the bucket; causing the garbage crane to perform a garbage grabbing operation of the bucket using the corrected height; Garbage crane control method.

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