Control device, crane system, control method and program

Abstract

To make the time required for a plurality of crane operations in a refuse incineration plant relatively short when the crane is made to perform the plurality of operations. [Solution] The control device comprises: an operation plan candidate setting unit that sets multiple operation plan candidates based on a combination of multiple operations of a crane installed at a waste incineration plant, based on multiple operation patterns of at least one of the multiple operations; a simulator unit that simulates each operation included in the operation plan candidate for each of the operation plan candidates, using the swing of the hanging part of the crane due to the previous operation as the initial value for the swing of the hanging part; an operation plan determination unit that selects one of the multiple operation plan candidates as an operation plan based on the simulation results of the operation of the crane for each of the operation plan candidates; and a control unit that controls the crane in accordance with the selected operation plan.

Description

[Technical Field]

[0001] The present disclosure relates to a control device, a crane system, a control method, and a program. [Background technology]

[0002] It is conceivable that waste incineration plants are equipped with cranes that move waste, such as by stirring the waste in the pit and feeding it into the incinerator. For example, Patent Document 1 describes that the movement path of a crane at a waste incineration plant is generated taking into account no-entry spaces. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2024-007150 Summary of the Invention [Problem to be solved by the invention]

[0004] When a crane at a waste incineration plant is made to perform multiple operations, the previous operation may cause the crane's suspended part (the part suspended by the wire) to swing like a pendulum, which may cause the suspended part to collide with the waste pile or the wall of the pit during the next operation. To avoid such a collision, it is possible to wait until the suspended part stops swinging before performing the next operation, but this would increase the time required for the crane to perform multiple operations. When a crane at a waste incineration plant is made to perform multiple operations, it is preferable to be able to shorten the time required for the multiple operations of the crane.

[0005] An example of an objective of the present disclosure is to provide a control device, a crane system, a control method, and a program that can relatively shorten the time required for a crane to perform multiple operations at a waste incineration plant. [Means for solving the problem]

[0006] According to a first aspect of the present disclosure, the control device includes: an operation plan candidate setting unit that sets multiple operation plan candidates based on a combination of multiple operations of a crane installed at a waste incineration plant, based on multiple operation patterns of at least one of the multiple operations; a simulator unit that simulates each operation included in the operation plan candidate for each of the operation plan candidates, using the swing of the hanging part of the crane due to the previous operation as an initial value for the swing of the hanging part; an operation plan determination unit that selects one of the multiple operation plan candidates as an operation plan based on the simulation results of the crane operation for each of the operation plan candidates; and a control unit that controls the crane in accordance with the selected operation plan.

[0007] According to a second aspect of the present disclosure, a crane system includes a control device and a crane installed at a waste incineration plant, and the control device includes: a motion plan candidate setting unit that sets multiple motion plan candidates based on combinations of multiple movements of the crane based on multiple movement patterns of at least one of the multiple movements; a simulator unit that simulates each movement included in the motion plan candidate for each of the motion plan candidates, using the swing of the hanging part of the crane due to the previous movement as an initial value for the swing of the hanging part; a motion plan determination unit that selects one of the multiple motion plan candidates as an motion plan based on the simulation results of the crane movement for each of the motion plan candidates; and a control unit that controls the crane in accordance with the selected motion plan.

[0008] According to a third aspect of the present disclosure, a control method includes a computer setting multiple candidate motion plans based on a combination of multiple motions of a crane installed at a waste incineration plant, based on multiple motion patterns of at least one of the multiple motions, simulating each motion included in the candidate motion plan for each candidate motion plan, using the swing of the hanging part of the crane due to the previous motion as an initial value for the swing of the hanging part, selecting one of the multiple candidate motion plans as the motion plan based on the simulation results of the crane motion for each candidate motion plan, and controlling the crane in accordance with the selected motion plan.

[0009] According to a fourth aspect of the present disclosure, the program causes a computer to set multiple candidate motion plans based on a combination of multiple motions of a crane installed at a waste incineration plant, based on multiple motion patterns of at least one of the multiple motions; for each candidate motion plan, simulate each motion included in the candidate motion plan, using the swing of the hanging part of the crane due to the previous motion as the initial value of the swing of the hanging part; based on the simulation results of the crane motion for each candidate motion plan, select one of the multiple candidate motion plans as the motion plan; and control the crane in accordance with the selected motion plan. [Effects of the Invention]

[0010] According to aspects of the present disclosure, when a crane at a waste incineration plant is made to perform multiple operations, it is expected that the time required for the multiple operations of the crane will be relatively short. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a diagram illustrating an example of a configuration of a crane system according to an embodiment. [Figure 2] FIG. 1 is a diagram illustrating an example of a crane in a waste incineration plant according to an embodiment. [Figure 3]FIG. 2 is a diagram illustrating an example of the configuration of a control device according to the embodiment. [Figure 4] FIG. 2 is a diagram showing an example of a movement path of a trolley according to an embodiment. [Figure 5] 10A and 10B are diagrams illustrating an example of the speed of a trolley during operation of a crane according to an embodiment. [Figure 6] 10A and 10B are diagrams illustrating an example of the displacement of the trolley during the operation of the crane according to the embodiment. [Figure 7] FIG. 10 is a diagram illustrating an example of the winding speed of the suspended part by the winch during the operation of the crane according to the embodiment. [Figure 8] 10A to 10C are diagrams illustrating an example of the winding height of the suspended part during operation of the crane according to the embodiment. [Figure 9] FIG. 10 is a diagram illustrating an example of the amount of lateral swing of the suspended part during operation of the crane according to the embodiment. [Figure 10] FIG. 4 is a diagram illustrating an example of a procedure of a process performed by a control device according to the embodiment. [Figure 11] FIG. 10 is a diagram illustrating an example of a procedure for a process in which a simulator unit according to the embodiment simulates candidates for an operation plan. [Figure 12] FIG. 1 is a diagram illustrating an example of a configuration of a computer according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, embodiments will be described with reference to the drawings.

[0013] 1 is a diagram showing an example of the configuration of a crane system according to an embodiment. In the configuration shown in FIG. 1, the crane system 1 includes a control device 100 and a crane 200. The crane system 1 is installed in a waste incineration plant and moves waste within the pit, such as receiving waste, mixing it, and dumping it into a hopper. The crane 200 moves the garbage within the pit under the control of the control device 100. The control device 100 controls the crane 200 to move the garbage within the pit.

[0014] Figure 2 is a diagram showing an example of a crane at a waste incineration plant. In the configuration shown in Figure 2, a waste incineration plant 300 includes a crane system 1, a pit 310, a loading entrance 320, a hopper 330, and a stoker 340. A crane 200 of the crane system 1 includes a rail 210, a girder 220, a trolley 230, a wire 240, and a suspension part 250. The trolley 230 includes a winch 231. Also shown in FIG. 2 is a garbage truck (trash collection truck) 410.

[0015] The pit 310 is a space for temporarily storing garbage. The entrance 320 is an entrance through which garbage is transported from the garbage truck 410 into the pit 310. The stoker 340 is a waste combustion furnace. The hopper 330 is a receiving port for throwing the waste from the pit 310 into the stoker 340. The hopper 330 temporarily stores the thrown waste and supplies the waste to the stoker 340 at a fixed rate.

[0016] The rail 210 is provided above the pit 310 . The girder 220 moves on the rails 210 under the control of the control device 100. The movement of the girder 220 on the rails 210 is also referred to as the traveling of the crane 200. In the example of FIG. 2, the traveling of the crane 200 is the movement in the depth direction of the figure.

[0017] The trolley 230 moves on the girder 220 under the control of the control device 100. The movement of the trolley 230 on the girder 220 is also referred to as lateral movement of the crane 200. In the example of FIG. 2, the lateral movement of the crane 200 is movement in the left-right direction in the figure.

[0018] Suspension unit 250 grips and releases waste under the control of control device 100. The following describes an example in which suspension unit 250 is configured as a claw unit. In this case, suspension unit 250 grips waste inside suspension unit 250 by closing the claws under the control of control device 100 from a state in which the claws are open and the claws or a portion of the claws are buried in waste. Then, suspension unit 250 releases the gripped waste by opening the claws under the control of control device 100 from a state in which waste is being gripped inside. However, the configuration of the hanging part 250 is not limited to the configuration of the claw part, and various configurations that can grip and release the waste can be used.

[0019] Wire 240 suspends suspended portion 250 from trolley 230. Since rail 210 is provided above pit 310, crane 200 suspends suspended portion 250 from near the ceiling of pit 310.

[0020] Winch 231 winds up and unwinds wire 240 under the control of control device 100, thereby changing the height of suspended part 250. The act of winch 231 winding up wire 240 to raise suspended part 250 is also referred to as winding up suspended part 250. The act of winch 231 unwinding wire 240 to lower suspended part 250 is also referred to as lowering suspended part 250. The height of suspended part 250 is also referred to as the wound height of suspended part 250. The rate of change of the wound height of suspended part 250 is also referred to as the winding speed of suspended part 250. The amount of swing of the suspended part 250 in the lateral direction of the crane 200 is also referred to as the lateral swing amount of the suspended part 250. The amount of swing of the suspended part 250 in the traveling direction of the crane 200 is also referred to as the traveling swing amount of the suspended part 250.

[0021] Furthermore, arrow B11 shows an example of the movement of garbage when it is carried into the pit 310 from the garbage compactor 410. When the garbage compactor 410 carries garbage in through the carry-in entrance 320, the garbage is piled up near the carry-in entrance 320 inside the pit 310.

[0022] Arrow B21 shows an example of the movement of waste when crane 200 receives the waste. When receiving the waste, crane 200 moves the waste from near entrance 320 to another location within pit 310. By performing the waste receiving operation, crane 200 can disperse the waste that has accumulated near entrance 320 to other locations.

[0023] Arrow B22 shows an example of the movement of waste when the crane 200 mixes the waste. Here, it is considered that the way the waste burns in the stoker 340 may differ depending on conditions such as the time the waste remains in the pit 310, as new and old waste have different moisture contents. By using the crane 200 to mix the waste, it is possible to homogenize the way the waste burns.

[0024] Arrow B23 shows an example of the movement of waste when crane 200 dumps waste into hopper 330. During the waste dumping operation, crane 200 dumps the waste in pit 310 into hopper 330. For example, when the waste is burned in stoker 340 and the waste level in the hopper drops (i.e., when the amount of waste decreases), a sensor provided in hopper 330 detects the drop in level and outputs a waste dump request signal to control device 100. Upon receiving the waste dump request signal, control device 100 controls crane 200 to dump the waste into hopper 330. The dumping of garbage into the hopper 330 by the crane 200 can also be considered as the supply of fuel to the stoker 340 via the hopper 330.

[0025] The waste incineration plant 300 may be equipped with a plurality of cranes 200. For example, a plurality of cranes 200 may be provided on a rail 210 (thus in the depth direction of FIG. 2) so as to share the rail 210.

[0026] Fig. 3 is a diagram showing an example of the configuration of the control device 100. In the configuration shown in Fig. 3, the control device 100 includes an action plan candidate setting unit 110, a simulator unit 120, an action plan determination unit 130, and a control unit 140.

[0027] The motion plan candidate setting unit 110 sets a plurality of candidates for the motion plan of the crane 200. The motion plan of the crane 200 here refers to a series of motions to be performed by the crane 200, or data indicating a series of motions to be performed by the crane 200. When the crane 200 is to perform multiple operations, the operation plan candidate setting unit 110 sets multiple operation plan candidates based on a combination of multiple operations of the crane 200, based on multiple operation patterns of at least one of the multiple operations. The action pattern here refers to a more specific action for executing a certain action.

[0028] For example, consider a case where the crane 200 is operated in the order of receiving waste and then dumping the waste. Also, assume that the crane 200 is moved to a position over the waste pile when receiving the waste. In this case, the operation plan candidate setting unit 110 sets, for example, as operation patterns for receiving garbage, a first operation pattern in which the hanging part 250 is first wound up and moved over the pile of garbage, and then the hanging part 250 is lowered, and a second operation pattern in which the height of the hanging part 250 is not changed and the crane 200 is moved to go around the pile of garbage. Then, the operation plan candidate setting unit 110 sets a first operation plan candidate that combines receiving garbage using the first operation pattern with throwing garbage, and a second operation plan candidate that combines receiving garbage using the second operation pattern with throwing garbage.

[0029] A motion pattern template may be provided in advance. Then, the motion plan candidate setting unit 110 may generate a motion pattern by setting parameter values ​​in the motion pattern template. The parameters of the motion pattern template are not limited to parameters indicating specific information. For example, the position of the trolley 230 and the height of the suspension part 250 at the start of the motion and the position of the trolley 230 and the height of the suspension part 250 at the end of the motion may be parameterized, but are not limited to this.

[0030] Furthermore, the waiting time from the end of an operation to the start of the next operation may also be set as a parameter of the operation pattern template. The operation plan candidate setting unit 110 may randomly set the parameter values ​​of the operation pattern templates or the values ​​of some of the parameters.

[0031] Simulator unit 120 simulates the operation of crane 200 for each candidate operation plan set by operation plan candidate setting unit 110. In particular, simulator unit 120 simulates not only the operation of trolley 230 and the lifting and lowering of suspended part 250 by winch 231, but also the swing of suspended part 250 for each operation included in the candidate operation plan.

[0032] When simulating the second or subsequent movement among the movements included in the candidate movement plan, the simulator unit 120 sets the swing of the hanging part 250 caused by the immediately preceding movement as the initial value of the swing of the hanging part 250 in the movement being simulated. This allows the next operation to be started without having to wait for the swing of the suspended part 250 caused by a certain operation to sufficiently stop, thereby shortening the time required for the crane 200 to operate in accordance with a candidate operation plan.

[0033] The simulator unit 120 may also be capable of simulating a movement in which the trolley 230 travels and traverses simultaneously. This allows the motion plan candidate setting unit 110 to generate motion plan candidates that include a movement in which the trolley 230 travels and traverses simultaneously, and in this respect, it is possible to shorten the time required for the crane 200 to operate in accordance with the motion plan candidates.

[0034] The motion plan determination unit 130 selects one of the motion plan candidates based on the simulation results by the simulator unit 120, and determines the selected motion plan candidate as the motion plan to be executed by the crane 200. For example, from the motion plan candidates set by the motion plan candidate setting unit 110, the motion plan determination unit 130 selects the motion plan candidate with the shortest required time from the start to the end of the motion of the motion plan candidate, among the motion plan candidates for which the swing amount of the suspended part 250 does not exceed a predetermined threshold, and determines the candidate as the motion plan.

[0035] Regarding the feasibility of the candidate operation plans, the operation plan candidate setting unit 110 may determine whether each candidate operation plan is feasible, and delete or not generate an operation plan that is determined to be infeasible. Alternatively, the simulator unit 120 or the action plan determination unit 130 may determine whether each of the action plan candidates is feasible or not based on the simulation results of the action plan candidates by the simulator unit 120. Then, the action plan determination unit 130 may exclude the action plan candidates determined to be unfeasible from the candidates to be selected as action plans.

[0036] The control unit 140 controls the crane 200 to operate in accordance with the operation plan determined by the operation plan determination unit 130. In particular, the control unit 140 uses feedforward control to control the crane 200. By having the simulator unit 120 simulate the operation of the crane 200, it is possible to obtain a relatively highly accurate operation plan, and it is expected that the operation of the crane 200 can be controlled with high accuracy even when the control unit 140 uses feedforward control to control the crane 200. By having the control unit 140 perform feedforward control of the operation of the crane 200, sensors for detecting the state of the crane 200 are no longer necessary, and the installation costs and operation costs of the sensors can be reduced.

[0037] Fig. 4 is a diagram showing an example of the movement path of the trolley 230. Fig. 4 shows a two-dimensional coordinate space when the inside of the pit 310 is viewed from the ceiling side (i.e., when viewed from above downwards).

[0038] In Figure 4, coordinate values ​​from 1 to 14 are assigned along the horizontal axis from the right as you face the figure, and coordinate values ​​from 1 to 8 are assigned along the vertical axis from the bottom up. When indicating coordinates in the example of Figure 4, they are written as (coordinate value along the horizontal axis, coordinate value along the vertical axis). FIG. 4 shows the movement of the trolley 230 from point A at coordinates (10,8) to point B at coordinates (10,1). The horizontal axis direction in FIG. 4 corresponds to the traveling direction of the crane 200, and the vertical axis direction corresponds to the lateral movement direction of the crane 200.

[0039] 5 is a diagram showing an example of the speed of the trolley 230 during the operation of the crane 200. The horizontal axis of the graph in FIG. 5 represents time, and the vertical axis represents the speed of the trolley 230. Figure 5 shows an example of the speed of the trolley 230 on the movement path of the trolley 230 shown in Figure 4. The time when the trolley 230 departs from point A is set to 0, and the time when the trolley 230 arrives at point B is set to t1. After arriving at point B, the trolley 230 stops.

[0040] 6 is a diagram showing an example of the displacement of the trolley 230 during the operation of the crane 200. The horizontal axis of the graph in Fig. 6 represents time, and the vertical axis represents the displacement of the trolley 230. Figure 6 shows the displacement (travel distance) when the trolley 230 moves at the speed shown in Figure 5. The displacement increases from time 0 when the trolley 230 departs from point A to time t1 when the trolley 230 arrives at point B. After time t1 when the trolley 230 arrives at point B, the displacement remains constant.

[0041] 7 is a diagram showing an example of the winding speed of the suspended part 250 by the winch 231 during the operation of the crane 200. The horizontal axis of the graph in Fig. 7 represents time, and the vertical axis represents the winding speed of the wire 240 by the winch 231. FIG. 7 shows an example of the winding speed of the suspension part 250 when the trolley 230 moves along the movement path shown in FIG. 4 at the speed shown in FIG. 5. The winch 231 winds back the wire 240 from time 0 to t2, and the winding speed of the suspension part 250 is negative. After time t2, the winch 231 stops winding the wire, and the winding speed of the suspension part 250 becomes 0. Time 0 is the time when the trolley 230 departs from point A. Also, time t2 satisfies 0 < t2 < t1. Time t1 is the time when the trolley 230 arrives at point B.

[0042] FIG. 8 is a diagram showing an example of the winding height of the suspension part 250 in the operation of the crane 200. The horizontal axis of the graph in FIG. 8 represents time. The vertical axis represents the winding height of the suspension part 250. FIG. 8 shows the winding height of the suspension part 250 when the winch 231 winds back the wire 240 at the speed shown in FIG. 7. The winding height of the suspension part 250 decreases from time 0 to t2, and the winding height becomes constant after time t2.

[0043] FIG. 9 is a diagram showing an example of the lateral swing amount of the suspension part 250 in the operation of the crane 200. The horizontal axis of the graph in FIG. 9 represents time. The vertical axis represents the lateral swing amount of the suspension part 250. FIG. 9 shows an example of the lateral swing amount of the suspension part 250 when the trolley 230 moves along the movement path shown in FIG. 4 at the speed shown in FIG. 5 and the winch 231 lowers the suspension part 250 at the winding speed shown in FIG. 7.

[0044] At time 0, the lateral swing amount is 0, and the lateral swing amount changes according to the movement of the trolley 230 and the lowering of the suspension part 250. After time t1 when the crane 200 stops, the lateral swing amount of the suspension part 250 also vibrates. To prevent the suspension part 250 from colliding with the garbage pile, the wall of the pit 310, or another crane 200 due to vibration, or to prevent the wire 240 from becoming tangled, it is conceivable to have the crane 200 begin its next operation after the suspension part 250 has come to a standstill. However, in this case, it may take time for the suspension part 250 to come to a standstill, which may delay the start of the next operation of the crane 200. If the start of the operation of the crane 200 is delayed, the efficiency of operations such as receiving and discharging garbage at the pit 310 may decrease, which may delay the receipt of garbage delivered to the garbage incineration plant into the pit 310, resulting in an overflow of the delivered garbage. Furthermore, if the start of the operation of discharging garbage by the crane 200 is delayed, it may be possible that the garbage will not be able to be discharged into the hopper 330 in time.

[0045] In response to this, in the control device 100, the simulator unit 120 sets the amount of swing of the Suspended Section 250 as an initial value for the next operation of the crane 200 while the swing of the Suspended Section 250 remains, and simulates the next operation. The operation plan determination unit 130 selects, for example, the operation plan candidate in which the amount of swing of the Suspended Section 250 does not exceed a predetermined threshold, the one with the shortest distance between required points. In this way, the control device 100 can ensure safety against swing of the Suspended Section 250 and shorten the operation time of the crane 200.

[0046] Hanging unit 250 may scatter the trash along a curved path during the trash agitation operation. Scattering the trash here means that hanging unit 250 releases the trash over a certain amount of time as it moves (rather than releasing the trash in one place from hanging unit 250). Scattering the trash can be performed by slightly opening the claws of hanging unit 250 to drop the trash little by little while moving while holding the trash (rather than fully opening the claws all at once to release the trash).

[0047] By having the hanging part 250 scatter the garbage in a curved trajectory, the garbage can be scattered two-dimensionally, which is expected to allow for more uniform mixing of the garbage compared to when the garbage is released in one place or when the garbage is scattered in a straight line.

[0048] The curved trajectory of the hanging part 250 can be realized by utilizing the swing of the hanging part 250. For example, when the hanging part 250 swings laterally relative to the traveling direction of the trolley 230, the hanging part 250 traces an S-shaped trajectory. Furthermore, when the trolley 230 stops while the hanging part 250 swings laterally or diagonally relative to the traveling direction of the trolley 230, the hanging part 250 traces a circular spiral trajectory, an elliptical spiral trajectory, or a linear trajectory depending on the degree and timing of deceleration of the trolley 230.

[0049] When hanging part 250 scatters trash along a curved trajectory, simulator unit 120 may perform a simulation to calculate the trajectory of hanging part 250. Simulator unit 120 can more accurately calculate the trajectory of hanging part 250 by performing a simulation taking into account the weight of the trash held by hanging part 250. The simulator unit 120 may be configured to obtain, by simulation or numerical calculation, the operation of the trolley 230 (travel and traverse of the trolley 230) such that the suspended part 250 traces a desired trajectory.

[0050] The control unit 140 controls the crane 200 in accordance with the operation of the crane 200 acquired by the simulator unit 120, and causes the suspended part 250 to scatter the waste along a curved trajectory. For example, one of the multiple operations included in the operation plan candidates set by the operation plan candidate setting unit 110 may be stirring up the waste.

[0051] The crane 200 may be configured to break down the pile of garbage while the suspended part 250 is swinging. Here, a high layer of garbage may remain near the wall of the pit 310 due to a large angle of repose and low fluidity of the garbage. When breaking down such a layer of garbage, it is necessary to prevent the hanging part 250 from colliding with the wall of the pit 310.

[0052] One method for preventing the suspended section 250 from colliding with the wall of the pit 310 is to allow the swing of the suspended section 250 to sufficiently stop before the crane 200 approaches the wall, and then move the crane 200 closer to the wall and lower the suspended section 250 from above the sediment layer. However, this method requires time to wait until the swing of the suspended section has sufficiently stopped, and it takes time to complete the operation of breaking down the sediment layer.

[0053] In response to this, the control device 100 adjusts the position of the trolley 230 so that the trolley 230 is positioned on the opposite side of the wall as viewed from the sediment layer and so that the suspended part 250 is positioned above the sediment layer when the amplitude of the suspended part 250 is maximum. Then, the control device 100 winds down the suspended part 250 at the timing when the amplitude of the suspended part 250 is maximum, causing the suspended part 250 to land on the sediment layer, thereby breaking down the sediment layer. The control device 100 allows the piled layer at the wall to be broken down without having to wait until the swinging of the suspended part 250 has sufficiently stopped, and in this respect the availability rate of the crane 200 can be improved.

[0054] When the crane 200 is made to break down a pile of garbage while the hanging part 250 is swinging, the simulator unit 120 may use simulation or numerical calculation to calculate the operation of the crane 200 and the stopping position of the trolley 230 so that the hanging part 250 is positioned above the pile of garbage when it is at its maximum amplitude, as well as the timing for lowering the hanging part 250 to land it on the pile of garbage. The control unit 140 controls the crane 200 in accordance with the operation of the crane 200, the stopping position of the trolley 230, and the timing of lowering the hanging part 250 acquired by the simulator unit 120, and causes the crane 200 to break down the pile of garbage. For example, one of the multiple operations included in the operation plan candidates set by the operation plan candidate setting unit 110 may be breaking down a layer of accumulated garbage along a wall.

[0055] FIG. 10 is a diagram showing an example of a procedure of processing performed by the control device 100.

[0056] (Step S101) The operation plan candidate setting unit 110 sets a plurality of operation plan candidates. After step S101, the process proceeds to step S102.

[0057] (Step S102) The simulator unit 120 starts a loop L11 for processing each candidate of the motion plan. The candidate of the motion plan that is the processing target in the loop L11 is also referred to as a candidate to be processed. After step S102, the process proceeds to step S103.

[0058] (Step S103) The simulator unit 120 simulates the operation of the crane 200 indicated by the processing target candidate. After step S103, the process proceeds to step S104.

[0059] (Step S104) The simulator unit 120 determines whether or not the processing of loop L11 has been performed on all the motion plan candidates set by the motion plan candidate setting unit 110 in step S101. If it is determined that there are motion plan candidates for which the processing of loop L11 has not yet been performed, the simulator unit 120 continues to perform the processing of loop L11 on the unprocessed motion plan candidates. On the other hand, if it is determined that the processing of loop L11 has been performed on all the motion plan candidates, the simulator unit 120 ends loop L11. When the simulator unit 120 ends the loop L11, the process proceeds to step S105.

[0060] (Step S105) The operation plan determination unit 130 determines an operation plan. For example, the operation plan determination unit 130 selects, from the operation plan candidates set by the operation plan candidate setting unit 110 in step S101, for example, the operation plan candidate in which the amount of swing of the hanging part 250 does not exceed a predetermined threshold, the operation plan candidate with the shortest distance between required points. After step S105, the process proceeds to step S106.

[0061] (Step S106) The control unit 140 controls the crane 200 in accordance with the operation plan determined by the operation plan determination unit 130 in step S105. After step S106, the control device 100 ends the processing of FIG.

[0062] 11 is a diagram showing an example of a procedure for simulating candidates for an action plan by the simulator unit 120. The simulator unit 120 performs the process of FIG. 11 in step S103 of FIG.

[0063] (Step S201) The simulator unit 120 simulates the first operation among the operations indicated as candidates for processing. After step S201, the process proceeds to step S202.

[0064] (Step S202) The simulator unit 120 determines whether or not there is a next action (the action following the action that was last simulated) among the actions indicated as candidates for processing. Hereinafter, the action that was last simulated will also be referred to as the immediately preceding action. The next action can be considered as the action following the immediately preceding action.

[0065] If the simulator unit 120 determines that there is a next action, the process proceeds to step S203. On the other hand, if it is determined that there is no next action, the simulator section 120 ends the processing of FIG.

[0066] (Step S203) Simulator unit 120 sets an initial value of the swing of suspension unit 250 for the next action. Specifically, simulator unit 120 sets the swing at the end of the simulation of the immediately preceding action as the initial value of the swing for the next action. If a waiting time is provided at the end of the immediately preceding action, simulator unit 120 sets the swing after the waiting time has elapsed as the initial value of the swing for the next action. After step S203, the process proceeds to step S204.

[0067] (Step S204) The simulator unit 120 simulates the following operations. After step S204, the process returns to step S201.

[0068] As described above, the operation plan candidate setting unit 110 sets multiple operation plan candidates based on a combination of multiple operations of the crane 200 installed in the waste incineration plant 300, based on multiple operation patterns of at least one of the multiple operations. For each candidate operation plan, the simulator unit 120 simulates each operation included in the candidate operation plan, using the swing of the suspended part 250 of the crane 200 due to the previous operation as the initial value of the swing of the suspended part 250. The motion plan determination unit 130 selects one of the multiple motion plan candidates as the motion plan based on the simulation results of the motion of the crane 200 for each of the motion plan candidates. The control unit 140 controls the crane 200 in accordance with the selected operation plan.

[0069] According to the control device 100, by simulating the operation of the crane 200 using the swing of the Suspended Section 250 due to the previous operation as the initial value of the swing of the Suspended Section 250, it is possible to perform the simulation without waiting for the Suspended Section 250 to come to a standstill. By having the operation plan determination unit 130 select one of the operation plan candidates based on the simulation results, it is expected that the crane 200 can perform the next operation without waiting for the Suspended Section 250 to come to a standstill. In this respect, when a crane at a waste incineration plant is made to perform a plurality of operations, the control device 100 is expected to make the time required for the plurality of operations of the crane relatively short.

[0070] Furthermore, the control unit 140 performs feedforward control of the crane 200 in accordance with the operation plan. According to the control device 100, a sensor for detecting the state of the crane 200 is not required, and the installation cost and operation cost of the sensor can be reduced.

[0071] Additionally, the crane's movements include agitating the refuse. The simulator unit 120 simulates the movement of the suspended part 250 along a curved trajectory due to the traveling and traversing of the crane 200. The control unit 140 controls the running and traversal of the crane 200 so that the hanging part 250 moves on a curved trajectory in accordance with an operation plan selected based on the simulation results, and causes the crane 200 to stir the garbage by scattering it from the hanging part 250. By having the hanging part 250 scatter the garbage in a curved trajectory, the garbage can be scattered two-dimensionally, which is expected to allow for more uniform mixing of the garbage compared to when the garbage is released in one place or when the garbage is scattered in a straight line.

[0072] Additionally, the multiple movements of the crane 200 include breaking up piles of garbage. The simulator unit 120 simulates the operation of the crane 200 such that the suspension part 250 lands on the sediment layer when the swing of the suspension part 250 is at its maximum, with the crane 200 positioned in a position where the sediment layer is closer to the wall of the pit 310 of the waste incineration plant 300. The control unit 140 controls the operation of the crane 200 in accordance with an operation plan selected based on the simulation results, so that the hanging part 250 lands on the deposition layer when the swing of the hanging part 250 is at its maximum, with the crane positioned so that the deposition layer is closer to the wall of the pit 310 of the waste incineration plant 300. The control device 100 allows the piled layer at the wall to be broken down without having to wait until the swinging of the suspended part 250 has sufficiently stopped, and in this respect the availability rate of the crane 200 can be improved.

[0073] 12 is a diagram showing an example of the configuration of a computer according to an embodiment. In the configuration shown in Fig. 12, a computer 700 includes a CPU (Central Processing Unit) 710, a main memory device 720, an auxiliary memory device 730, and an interface 740.

[0074] The control device 100 or a part thereof may be implemented in a computer 700. In this case, the operation of each of the above-described processing units is stored in the auxiliary storage device 730 in the form of a program. The CPU 710 reads the program from the auxiliary storage device 730, loads it into the main storage device 720, and executes the above-described processing in accordance with the program. The CPU 710 also allocates a storage area in the main storage device 720 for the control device 100 to perform processing in accordance with the program.

[0075] Communication between the control device 100 and other devices is performed by the interface 740 having a communication function and performing communication under the control of the CPU 710. Interaction between the control device 100 and a user is performed by the interface 740 having an input device and an output device, presenting information to the user via the output device under the control of the CPU 710, and accepting user operations via the input device.

[0076] It is also possible to record a program for realizing all or part of the functions of the control device 100 on a computer-readable recording medium, and have the computer system read and execute the program to perform processing of each part. Note that the term "computer system" here includes the OS (Operating System) and hardware such as peripheral devices. Furthermore, "computer-readable recording media" refers to portable media such as flexible disks, optical magnetic disks, ROMs (Read Only Memory), and CD-ROMs (Compact Disc Read Only Memory), as well as storage devices such as hard disks built into computer systems. The program may be one that realizes part of the aforementioned functions, or may be one that can realize the aforementioned functions in combination with a program already stored in the computer system.

[0077] Although the present disclosure has been described above with reference to the embodiments, the present disclosure is not limited to the above-described embodiments. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present disclosure within the scope of the present disclosure. Furthermore, the above-described embodiments may be combined with other embodiments as appropriate.

[0078] A part or all of the above-described embodiments can be described as, but not limited to, the following supplementary notes.

[0079] (Appendix 1) an operation plan candidate setting unit that sets a plurality of operation plan candidates by combining a plurality of operations of a crane installed in a waste incineration plant based on a plurality of operation patterns of at least one operation of the plurality of operations; a simulator unit that simulates each operation included in each candidate operation plan for each candidate operation plan, using a swing of the hanging part of the crane due to a previous operation as an initial value of the swing of the hanging part; a motion plan determination unit that selects one of the plurality of motion plan candidates as a motion plan based on a simulation result of the motion of the crane for each of the motion plan candidates; a control unit that controls the crane in accordance with a selected operation plan; A control device comprising:

[0080] (Appendix 2) The control unit feedforward controls the crane in accordance with the operation plan. 10. The control device of claim 1.

[0081] (Appendix 3) the crane movements include agitating the refuse; the simulator unit simulates the movement of the curved trajectory of the suspension part due to traveling and traversing of the crane, The control unit controls the traveling and traversing of the crane so that the hanging part moves on a curved trajectory in accordance with an operation plan selected based on the simulation results, and causes the crane to agitate the waste by scattering the waste from the hanging part. 10. The control device of claim 1 or 2.

[0082] (Appendix 4) the crane movements include breaking up a pile of refuse; the simulator unit simulates the operation of the crane such that the suspension part touches down on the sedimentary layer when the swing of the suspension part is maximum, with the crane being at a position where the sedimentary layer is closer to the wall of the pit of the waste incineration plant; The control unit controls the operation of the crane in accordance with the operation plan selected based on the simulation results, so that the hanging part lands on the piled layer when the swing of the hanging part is maximum, with the crane at a position where the piled layer is closer to the wall of the pit of the waste incineration plant. 4. The control device according to any one of claims 1 to 3.

[0083] (Appendix 5) A control device and a crane installed at a waste incineration plant, The control device a motion plan candidate setting unit that sets a plurality of motion plan candidates by combining a plurality of motions of the crane based on a plurality of motion patterns of at least one motion among the plurality of motions; a simulator unit that simulates each operation included in each candidate operation plan for each candidate operation plan, using a swing of the hanging part of the crane due to a previous operation as an initial value of the swing of the hanging part; a motion plan determination unit that selects one of the plurality of motion plan candidates as a motion plan based on a simulation result of the motion of the crane for each of the motion plan candidates; a control unit that controls the crane in accordance with a selected operation plan; Equipped with Crane system.

[0084] (Appendix 6) The computer A plurality of candidate motion plans based on a combination of a plurality of motions of a crane installed at a waste incineration plant are set based on a plurality of motion patterns of at least one motion of the plurality of motions; For each candidate motion plan, a simulation of each motion included in the candidate motion plan is performed using the swing of the hanging part of the crane due to the previous motion as an initial value of the swing of the hanging part; selecting one of the plurality of motion plan candidates as a motion plan based on a simulation result of the operation of the crane for each of the motion plan candidates; controlling the crane in accordance with a selected motion plan; A control method comprising:

[0085] (Appendix 7) On the computer, Setting a plurality of candidate motion plans by combining a plurality of motions of a crane installed at a waste incineration plant based on a plurality of motion patterns of at least one motion among the plurality of motions; For each candidate motion plan, a simulation of each motion included in the candidate motion plan is performed using a swing of the hanging part of the crane due to a previous motion as an initial value of the swing of the hanging part; selecting one of the plurality of motion plan candidates as a motion plan based on a simulation result of the operation of the crane for each of the motion plan candidates; controlling the crane in accordance with a selected motion plan; A program that executes the following. [Explanation of symbols]

[0086] 1 Crane System 100 control device 110 Motion plan candidate setting unit 120 Simulator Section 130 Motion planning determination unit 140 Control Unit 200 Crane 210 Rail 220 Guarda 230 Trolley 231 Winch 240 wire 250 Hanging part 300 Incinerator 310 Pit 320 Loading entrance 330 Hopper 340 Stalker 410 Refuse Truck

Claims

1. an operation plan candidate setting unit that sets a plurality of operation plan candidates by combining a plurality of operations of a crane installed in a waste incineration plant based on a plurality of operation patterns of at least one operation of the plurality of operations; a simulator unit that simulates each operation included in each candidate operation plan for each candidate operation plan, using a swing of the hanging part of the crane due to a previous operation as an initial value of the swing of the hanging part; a motion plan determination unit that selects one of the plurality of motion plan candidates as a motion plan based on a simulation result of the motion of the crane for each of the motion plan candidates; a control unit that controls the crane in accordance with a selected operation plan; A control device comprising:

2. The control device according to claim 1 , wherein the control unit performs feedforward control of the crane in accordance with the operation plan.

3. the crane movements include agitating the refuse; the simulator unit simulates the movement of the curved trajectory of the suspension part due to traveling and traversing of the crane, The control unit controls the traveling and traversing of the crane so that the hanging part moves on a curved trajectory in accordance with an operation plan selected based on the simulation results, and causes the crane to agitate the waste by scattering the waste from the hanging part. The control device according to claim 1 .

4. the crane movements include breaking up a pile of refuse; the simulator unit simulates the operation of the crane such that the suspended portion touches the sedimentary layer when the swing of the suspended portion is maximum, with the trolley of the crane at a position where the sedimentary layer is closer to the wall of the pit of the waste incineration plant; The control unit controls the operation of the crane in accordance with the operation plan selected based on the simulation results, so that the hanging part lands on the piled layer when the swing of the hanging part is maximum, with the trolley of the crane at a position where the piled layer is closer to the wall of the pit of the waste incineration plant. The control device according to claim 1 .

5. A control device and a crane installed at a waste incineration plant, The control device a motion plan candidate setting unit that sets a plurality of motion plan candidates by combining a plurality of motions of the crane based on a plurality of motion patterns of at least one motion among the plurality of motions; a simulator unit that simulates each operation included in each candidate operation plan for each candidate operation plan, using a swing of the hanging part of the crane due to a previous operation as an initial value of the swing of the hanging part; a motion plan determination unit that selects one of the plurality of motion plan candidates as a motion plan based on a simulation result of the motion of the crane for each of the motion plan candidates; a control unit that controls the crane in accordance with a selected operation plan; Equipped with Crane system.

6. The computer A plurality of candidate motion plans based on a combination of a plurality of motions of a crane installed at a waste incineration plant are set based on a plurality of motion patterns of at least one motion of the plurality of motions; For each candidate motion plan, a simulation of each motion included in the candidate motion plan is performed using the swing of the hanging part of the crane due to the previous motion as an initial value of the swing of the hanging part; selecting one of the plurality of motion plan candidates as a motion plan based on a simulation result of the operation of the crane for each of the motion plan candidates; controlling the crane in accordance with a selected motion plan; A control method comprising:

7. On the computer, Setting a plurality of candidate motion plans based on a combination of a plurality of motions of a crane installed at a waste incineration plant, based on a plurality of motion patterns of at least one motion among the plurality of motions; For each candidate motion plan, a simulation of each motion included in the candidate motion plan is performed using a swing of the hanging part of the crane due to a previous motion as an initial value of the swing of the hanging part; selecting one of the plurality of motion plan candidates as a motion plan based on a simulation result of the operation of the crane for each of the motion plan candidates; controlling the crane in accordance with a selected motion plan; A program that executes the following.

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