Garbage pit management method and garbage pit management device

Abstract

To provide a management method for a refuse pit capable of uniformly agitating refuse accumulated in the refuse pit and evaluating it.SOLUTION: A management method for a refuse pit is designed for managing refuse carried into the refuse pit as refuse management information related to a storage position of the refuse based on movement processing of the refuse performed by using a refuse crane device, where the agitation degree and processing time are included in the refuse management information. The method includes: an operation history acquisition step for acquiring the operation history of opening / closing, vertical movement and lateral movement of a grab bucket; an operation classification determination step for determining the classification of operation executed for the refuse with operations from holding to releasing the refuse using the grab bucket as a unit operation based on the operation history; and a management information update step for updating refuse management information ins response to the operation classification and the change in a storage surface shape of the refuse inside the refuse pit.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present invention relates to a garbage pit management method and a garbage pit management device. [Background technology]

[0002] Conventionally, waste delivered to a waste pit is mixed in advance using a waste crane, and the mixed waste is then fed into an incinerator using either manual or automatic operation. This is because mixing equalizes the quality of the waste, thereby suppressing fluctuations in the combustion state of the waste fed into the incinerator.

[0003] However, when a garbage crane is operated manually, there is the problem that the previous mixing history is not easily reflected in subsequent operations when the operator changes, and when it is operated automatically, the mixing operation is uniform regardless of the condition of the garbage brought into the garbage pit, which the operator can visually confirm, making it difficult to mix efficiently.

[0004] Patent Document 1 proposes a system for evaluating the degree of mixing of waste in a waste pit. The garbage mixing degree evaluation system includes an imaging unit installed to capture images of garbage in a garbage pit from above, a three-dimensional garbage height calculation unit that calculates three-dimensional height information of the garbage, an image conversion unit that converts the image captured by the imaging unit into an aerial viewpoint image based on the installation information of the imaging unit, an image correction unit that obtains a corrected image that is corrected based on the three-dimensional height information of the garbage so that all areas of the aerial viewpoint image are on the same height plane, a binarization processing unit that gradates the corrected image and binarizes it at a predetermined threshold to obtain a binary image, and a mixture degree evaluation unit that divides the binary image into two or more evaluation areas having a plurality of divided areas and evaluates the garbage mixing degree of each evaluation area.

[0005] The mixture evaluation unit is equipped with a variation evaluation unit that calculates the extracted area of ​​the bright or dark parts of each divided area, calculates the variation in the extracted area of ​​the bright or dark parts of the divided area for all evaluation areas or for each evaluation area, and evaluates the mixture degree based on the variation.

[0006] Patent document 2 discloses an information processing device that monitors garbage accumulated in a pit, and includes a data acquisition unit that acquires multiple measurement data indicating the height of the garbage generated by a height measurement device each time a measurement is made, an event determination unit that determines an event that has occurred in the pit by comparing first measurement data generated as a result of a previous measurement with second measurement data generated as a result of a subsequent measurement, and a deposition information generation unit that generates deposition information indicating the state of the garbage accumulated in the pit based on the determined event.

[0007] The accumulation information indicates the state of the garbage pile in the pit, and each XYZ three-dimensional coordinate in the pit is associated with attribute information for the garbage block that belongs to the space at that coordinate position. The attribute information includes the type of garbage contained in the garbage block, the composition ratio of each garbage type, the degree of garbage accumulation or number of accumulations, etc., and the accumulation state of the garbage block can be determined based on the attribute information. [Prior art documents] [Patent documents]

[0008] [Patent Document 1] Japanese Patent Application Publication No. 2019-148409 [Patent Document 2] Japanese Patent Application Publication No. 2019-7633 Summary of the Invention [Problem to be solved by the invention]

[0009] The conventional technology described in Patent Document 1 is an evaluation system that grades a corrected image, for example, by hue, saturation, or brightness, and then binarizes and divides it into multiple evaluation areas, and evaluates the degree of mixing based on the variation in the extracted area of ​​the light or dark parts of the divided areas for all evaluation areas or each evaluation area.

[0010] However, simply increasing the degree of mixing does not necessarily result in waste suitable for incineration, and there is room for further improvement in the method of mixing waste in waste pits in order to achieve stable and good incineration processing in waste incinerators.In addition, when using the above-mentioned corrected images, there are inherent problems in that only the surface condition of the waste can be grasped and the degree of mixing inside the waste below cannot be managed, and the binarized results change when the type of light source or light intensity changes.

[0011] The conventional technology described in Patent Document 2 determines an event that has occurred in a pit based on fluctuations in the height of garbage accumulated in the pit, as measured by a height measuring device, and generates accumulation information indicating the state of the garbage accumulated in the pit based on the determined event.Therefore, there was a problem in that if there was only a slight fluctuation in the height of the garbage accumulated in the pit, as measured by the height measuring device, it was not possible to accurately grasp the state of the garbage.

[0012] An object of the present invention is to provide a garbage pit management method and a garbage pit management device that can homogenously mix garbage accumulated in the garbage pit and evaluate the result. [Means for solving the problem]

[0013] In order to achieve the above-mentioned object, a first characteristic configuration of the garbage pit management method of the present invention is a garbage pit management method that manages garbage brought into the garbage pit as garbage management information associated with the garbage storage location based on a garbage movement process performed using a garbage crane device equipped with a grab bucket that can be opened, closed, raised, lowered, and moved laterally, wherein the garbage management information includes at least the degree of agitation and the processing time, and the method comprises: an operation history acquisition step that acquires the operation history of opening, closing, raising, lowering, and moving laterally of the grab bucket; an operation type determination step that determines the type of operation performed on the garbage based on the operation history, with the operation from gripping the garbage by the grab bucket to the release operation as a unit operation; and a management information update step that updates the garbage management information in response to the operation history acquired in the operation history acquisition step, the operation type determined in the operation type determination step, and changes in the shape of the garbage storage surface inside the garbage pit.

[0014] The action type determination step determines the action type of the waste crane device for the waste from the grab bucket's gripping action to its release action. For example, it becomes possible to understand how the waste has moved within the waste pit based on lifting / lowering information and lateral movement information generated between the grab bucket's gripping action and the release action, which drops the waste. By updating waste management information, including the degree of agitation and processing time, in response to the resulting change in the waste storage position, it becomes possible to appropriately manage the variation in waste quality caused by agitation due to the movement of the waste stored in the waste pit.

[0015] The second characteristic configuration is that, in addition to the first characteristic configuration described above, the operation types include a transfer process in which garbage is moved to a different position in the garbage pit, and a scattering process in which garbage is moved while falling inside the garbage pit.

[0016] The transfer operation allows us to understand the degree to which the location of the waste has been moved and processed, and the scattering operation allows us to understand the degree to which the waste has been dispersed and mixed.

[0017] The third characteristic configuration is that, in addition to the second characteristic configuration described above, the garbage management information includes the degree of bag breakage, and the operation type includes a loosening process in which garbage is lifted and dropped at the same position in the garbage pit.

[0018] The degree of loosening, including bag breakage, can be determined by the loosening operation.

[0019] The fourth characteristic configuration is that, in addition to the first characteristic configuration described above, the storage location of the garbage stored in the garbage pit is managed by dividing it into rectangular blocks, and garbage management information is assigned to each block, and the management information update step updates the garbage management information for each block.

[0020] The location of waste stored in the waste pit can be grasped on a block-by-block basis, and the waste quality can be grasped on a block-by-block basis using the waste management information assigned to each block. Because the blocks are configured in a rectangular parallelepiped shape, it is easy to coordinate with the operations of grasping and releasing waste using the grab bucket, and the waste management information is updated appropriately for each block in the management information update step.

[0021] The fifth characteristic feature of the present invention is that, in addition to the fourth characteristic feature described above, the change in the location of the waste is managed in block units based on the operation history and the operation type.

[0022] The grab bucket's operation history and operation type can identify the block from which the waste is being moved and the block to which it is being moved, and the amount of waste being moved at that time can be managed appropriately.

[0023] The sixth characteristic configuration is that, in addition to the fourth characteristic configuration described above, the change in the storage position of the garbage is grasped based on the change in the surface shape of the garbage acquired before and after the unit operation by a sensor that acquires the surface shape of the garbage stored in the garbage pit.

[0024] The state of movement of the waste can be appropriately managed in block units based on the degree to which the surface shape of the waste detected by the sensor has changed before and after the unit operation.

[0025] The seventh characteristic feature of the present invention is that, in addition to the fourth characteristic feature described above, the waste management information for a new block formed by mixing waste from a plurality of existing blocks is obtained by combining the waste management information of the existing blocks with the waste management information of the new block. Stirring degree The difference is that the average value of the weighted sum is calculated based on the above.

[0026] When waste from multiple blocks is mixed, the original waste management information is transferred to the waste Stirring degree The weighted sum based on the above can be used as the new waste management information, thereby enabling a simple approximation.

[0027] The eighth characteristic configuration is that, in addition to the first characteristic configuration described above, it includes a garbage evaluation step that evaluates the garbage management information based on a predetermined evaluation value and, based on the evaluation result, determines the next operation of the grab bucket or determines the storage position of the garbage to be put into the garbage hopper.

[0028] By comparing waste management information with predetermined evaluation values, waste quality can be objectively evaluated. By promoting the transfer of waste that is insufficiently mixed based on the evaluation results, the waste can be adjusted to a homogeneously mixed state, and by putting sufficiently mixed waste into the waste hopper, the combustion state of the waste in the incinerator can be stabilized.

[0029] A first characteristic configuration of the garbage pit management device of the present invention is a garbage pit management device that manages garbage brought into the garbage pit as garbage management information associated with the garbage storage location based on a garbage movement process performed using a garbage crane device equipped with a grab bucket that can be opened, closed, raised, lowered, and moved laterally, wherein the garbage management information includes at least the degree of agitation and the processing time, and is equipped with: an operation history acquisition unit that acquires the operation history of opening, closing, raising, lowering, and moving laterally of the grab bucket; an operation type determination unit that determines the type of operation to be performed on the garbage based on the operation history, with the operation from gripping the garbage by the grab bucket to the release operation as a unit operation; and a management information update unit that updates the garbage management information in response to the operation history acquired by the operation history acquisition unit, the operation type determined by the operation type determination unit, and changes in the shape of the garbage storage surface inside the garbage pit.

[0030] The second characteristic configuration is that, in addition to the first characteristic configuration described above, the operation types include a transfer process in which garbage is moved to a different position in the garbage pit, and a scattering process in which garbage is moved while falling inside the garbage pit.

[0031] The third characteristic configuration is that, in addition to the second characteristic configuration described above, the garbage management information includes the degree of bag breakage, and the operation type includes a loosening process in which garbage is lifted and dropped at the same position in the garbage pit.

[0032] The fourth characteristic configuration is that, in addition to the second characteristic configuration described above, the storage location of the garbage stored in the garbage pit is managed by dividing it into rectangular blocks, garbage management information is assigned to each block, and the management information update unit updates the garbage management information for each block.

[0033] The fifth characteristic feature of the present invention is that, in addition to the fourth characteristic feature described above, changes in the shape of the surface on which the waste is stored are managed in block units based on the operation history and the operation type.

[0034] The sixth characteristic configuration is that, in addition to the fourth characteristic configuration described above, changes in the surface shape of the stored garbage are grasped based on changes in the surface shape of the garbage acquired before and after the unit operation by a sensor that acquires the surface shape of the garbage stored in the garbage pit.

[0035] The seventh characteristic feature of the present invention is that, in addition to the fourth characteristic feature described above, the waste management information for a new block formed by mixing waste from a plurality of existing blocks is obtained by combining the waste management information of the existing blocks with the waste management information of the new block. Stirring degree The difference is that the average value of the weighted sum is calculated based on the above.

[0036] The eighth characteristic configuration is that, in addition to the first characteristic configuration described above, it is equipped with a garbage evaluation unit that evaluates the garbage management information based on a predetermined evaluation value and, based on the evaluation result, determines the next operation of the grab bucket or determines the storage position of the garbage to be thrown into the garbage hopper. [Effects of the Invention]

[0037] As described above, according to the present invention, it is possible to provide a garbage pit management method and a garbage pit management device that can homogeneously mix garbage accumulated in the garbage pit and evaluate the result. [Brief explanation of the drawings]

[0038] [Figure 1] Illustration of a waste incineration system equipped with a waste incinerator [Figure 2] An explanatory diagram of the crane device installed in the garbage pit [Figure 3] Diagram of a waste incinerator [Figure 4] An explanatory diagram showing the functional blocks of a garbage pit management device. [Figure 5] An explanatory diagram of the blocks that are subject to management of waste accumulated in the waste pit [Figure 6] A flowchart showing a management method executed by a garbage pit management device. DETAILED DESCRIPTION OF THE INVENTION

[0039] The garbage pit management method and garbage pit management device according to the present invention will be described below.

[0040] [Structure of waste incineration facility] Figure 1 shows a waste incineration facility equipped with a stoker-type waste incinerator 1. The waste incineration facility is equipped with a platform A where waste collection trucks can enter, a waste pit B where waste collected by the waste collection trucks is brought in and accumulated, a waste hopper D, a waste crane C that agitates the waste accumulated in the waste pit B and dumps it into the waste hopper D, a furnace chamber E, a waste heat boiler F installed in the space above the furnace chamber E, and an economizer G.

[0041] Furthermore, exhaust gas treatment equipment such as a cooling tower H and a dust collector I that treat the combustion exhaust gas generated in the furnace chamber E are arranged along the flue, and the exhaust gas purified by the exhaust gas treatment equipment is exhausted from a chimney J. An induced draft fan L is provided in the flue to maintain a negative pressure in the furnace chamber E.

[0042] By opening the double-door garbage input door K, which is installed between platform A and garbage pit B to prevent odor leakage and ensure safety, garbage collected and transported by garbage collection trucks is brought into garbage pit B. The garbage input door K is predetermined to correspond to the type of garbage, such as a door for general garbage or a door for crushed garbage.

[0043] The garbage brought into the garbage pit B is grasped by a grab bucket type garbage crane device C, which is automatically controlled by the crane control unit or operated by an operator in the control room, and after undergoing stirring processes such as transshipment, loosening, and scattering within the garbage pit B, it is transported to an opening formed at the top of the garbage hopper D and dropped into the garbage hopper D.

[0044] On the upper wall of the garbage pit B, there are installed a number of LiDAR sensors 6 that acquire the surface shape of the garbage thrown into the garbage pit B. In this embodiment, a total of six sensors are installed, two on the wall facing the garbage hopper D and two on each of the front and rear side walls. Note that instead of the LiDAR, an imaging device that can obtain a stereoscopic image can also be used. In the following explanation, the symbol 6 for the sensor will be used as the symbol for the LiDAR.

[0045] A hydraulically driven dust feeder P is installed at the bottom of the garbage hopper D, and the garbage thrown into the garbage hopper D is pushed by the dust feeder P into the furnace chamber E. The garbage thrown into the garbage hopper D functions as a sealing mechanism that blocks the inflow of outside air from the garbage hopper D into the furnace chamber E, and the induction by the induced draft fan L maintains a negative pressure in the furnace chamber E.

[0046] The furnace chamber E is equipped with a main combustion chamber 2 and a secondary combustion chamber 3 that completely burns the combustion exhaust gas generated in the main combustion chamber 2, and multiple water tubes WT of the waste heat boiler F are embedded in the wall of the secondary combustion chamber 3.

[0047] [Waste incinerator structure] As shown in Figure 3, the main combustion chamber 2 is equipped with a stoker mechanism ST in which fixed grates and movable grates are alternately arranged along the direction of waste transport. The movable grates are driven back and forth relative to the fixed grates by hydraulic mechanisms h1, h2, and h3, thereby agitating the waste and transporting it downstream.

[0048] Four wind boxes W1, W2, W3, and W4 are installed below the stoker mechanism ST in order from upstream to downstream along the waste transport direction, and main combustion air is supplied to each of the wind boxes W1, W2, W3, and W4 from a forced draft fan. The upstream region of the stoker mechanism ST corresponding to wind box W1 is the drying zone ST1, the midstream region corresponding to wind boxes W2 and W3 is the combustion zone ST2, and the downstream region corresponding to wind box W4 is the post-combustion zone ST3.

[0049] A pressure sensor is provided in each of the wind boxes W1, W2, W3, and W4, and a pressure sensor is provided in the main combustion chamber 2, so that the pressure difference between each wind box and the main combustion chamber 2 can be detected. In addition, a flow rate sensor is provided to detect the flow rate of combustion air flowing into the main combustion chamber 2 via the stoker mechanism ST.

[0050] The waste pushed into the main combustion chamber 2 by the dust feeder P is mainly heated and dried in the drying zone ST1, and then gasified and burned in the combustion zone ST2. The waste carbonized by gasification and combustion is solid-state burned and incinerated in the post-combustion zone ST3 downstream of the combustion zone ST2, and after being incinerated, falls into an ash chute from the end of the post-combustion zone ST3.

[0051] A constricted portion is formed in the front wall 2F and rear wall 2R of the furnace chamber E from the main combustion chamber 2 to the inlet of the secondary combustion chamber 3, and a gas supply mechanism 4 is provided in the constricted portion. The gas supplied from the gas supply mechanism 4 agitates and straightens the combustion exhaust gas flowing into the secondary combustion chamber 3, and the combustion exhaust gas is completely combusted in the secondary combustion chamber 3.

[0052] The gas supplied from the gas supply mechanism 4 may be air for secondary combustion, exhaust gas extracted from the main combustion chamber 2, recirculated exhaust gas branched from the flue downstream of the dust collector I, or exhaust gas branched from another exhaust gas flow path, or a mixture of air and any of the above exhaust gases.

[0053] The total amount of main combustion air and secondary combustion air needs to be adjusted so that the theoretical air ratio to the material to be incinerated is approximately 1.3. For example, if all the air is supplied by main combustion air so that the theoretical air ratio is approximately 1.3, the gas supplied from the gas supply mechanism 4 may be only flue gas extracted from the flue. Alternatively, the system may be configured so that approximately 1.0% of the air is supplied by main combustion air and approximately 0.3% is supplied by secondary combustion air. A temperature sensor and a gas sensor are provided at the outlet of the secondary combustion chamber 3 to monitor the secondary combustion state in the secondary combustion chamber 3.

[0054] An industrial television camera 5 is installed on the rear wall 2R of the furnace chamber E, and captures the combustion state, including the combustion flame, of the waste being incinerated while being transported on the top surface of the stoker mechanism ST.

[0055] [Garbage crane device structure] As shown in Figure 2, the garbage crane device C includes a grab bucket 10, a hydraulic or electric opening / closing mechanism 11 that opens and closes the grab bucket 10, a lifting mechanism 12A that moves the grab bucket 10 up and down (in the Z-axis direction), a moving mechanism 12 that includes a traveling mechanism 12B that moves the grab bucket 10 left and right (in the Y-axis direction) and in the depth direction (in the X-axis direction), and a load cell 14 that is a weighing scale that detects the load on the grab bucket 10. The opening / closing mechanism 11 and the moving mechanism 12 are controlled by a crane control unit 21.

[0056] The crane control unit 21 is an electronic control device equipped with a computer, and is configured to operate the opening / closing mechanism 11 and the moving mechanism 12 by the operator operating the operating tools, or to automatically operate the opening / closing mechanism 11 and the moving mechanism 12 based on an automatic control program stored in memory.

[0057] The lifting mechanism 12A includes a wire that suspends the grab bucket 10 and a hoisting device that moves the grab bucket 10 up and down along the Z-axis direction by winding up or letting out the wire. Height information of the grab bucket 10, which is the distance along the Z-axis, is obtained from the amount of wire that is let out by the lifting mechanism 12A.

[0058] The traveling mechanism 12B includes a girder 15 that is installed between a pair of rails 18 that are installed in the depth direction along the left and right side walls of the garbage pit B, a traveling chassis 16 that causes the grab bucket 10 to travel in the Y-axis direction along the girder 15, and traveling wheels 17 that move the girder 15 in the X-axis direction. Therefore, the grab bucket 10 is configured to be able to move freely on the XY plane. In addition, the travel distance in the Y-axis direction is obtained by the travel distance of the traveling chassis 16 that travels on the girder 15 by the traveling mechanism 12B, and the travel distance in the X-axis direction is obtained by the travel distance of the traveling wheels 17.

[0059] A load cell 14 is mounted on the traveling chassis 16, and is configured to be able to detect the weight of the grab bucket 10 and the waste grasped by the grab bucket 10. The weight of the waste grasped by the grab bucket 10 is determined by subtracting the weight of the grab bucket 10 not grasping waste from the weight of the grab bucket 10 grasping waste.

[0060] [Structure of garbage pit management device] FIG. 4 shows functional blocks of a garbage pit management device 20 that mixes and processes garbage carried into the garbage pit B to homogenize it. The management device 20 of the garbage pit B is an information processing device equipped with a computer that manages the garbage brought into the garbage pit B as garbage management information associated with the garbage storage location based on the garbage movement process carried out using a garbage crane device C equipped with a grab bucket 10 that can be opened, closed, raised, lowered, and moved laterally, and has a built-in weighing scale.

[0061] The management device 20 of the garbage pit B includes an operation history acquisition unit 22 that acquires the operation history of the grab bucket 1's opening and closing, lifting and lowering, lateral movement, and moved garbage weight, an operation type determination unit 23 that determines the type of operation to be performed on the garbage based on the operation history, with the grab bucket 10's operation from gripping the garbage to releasing it as a unit operation, a pile height information acquisition unit 24, a management information update unit 25 that updates the garbage management information in response to changes in the shape of the garbage storage surface, and a garbage evaluation unit 26.

[0062] The operation history acquisition unit 22 acquires operation information such as opening and closing information by the opening and closing mechanism 11 of the grab bucket 10 obtained from the crane control unit 21, lifting and lowering movement information by the lifting mechanism 12A, traveling movement information by the traveling mechanism 12B, and load information obtained from the load cell 14.

[0063] The action type determination unit 23 determines the type of action performed on the garbage until the garbage gripped by the grab bucket 10 is released, that is, from the start of the gripping operation of the grab bucket 10 to the end of the release operation, as a unit action.

[0064] The types of operations include a "transfer operation" that moves waste from an arbitrary position in the waste pit B to a different position, a "releasing operation" that lifts up waste and drops it at the same position in the waste pit B, and a "scattering operation" that moves while dropping waste between an arbitrary position and a different position in the waste pit B. Other types of operations may also be defined.

[0065] To elaborate on the "unraveling operation," if the unraveling operation is performed at a position where the drop height from the garbage surface is higher than a predetermined height, there is a strong tendency for the bag to break, that is, for the bag containing the garbage to be torn, and if the drop height from the garbage surface is lower than the predetermined height, there is a weak tendency for the bag to break, and the garbage will simply be unraveled. By combining the above-mentioned transfer operation, unraveling operation, and scattering operation, the mixing of the garbage is promoted.

[0066] The difference between the weight of the waste held by the grab bucket 10 and the weight after the grab bucket 10 is released and the waste falls is calculated as the weight of the waste moved, and the volume of the waste moved by the grab bucket 10 is determined by dividing this weight by a preset waste density (specific gravity). The thickness of the waste at the destination is determined by dividing the calculated waste volume by the planar area of ​​the block, which will be described later. In this embodiment, the waste density is set to 0.3 based on past accumulated data. This value is not particularly limited and can be set appropriately depending on the characteristics of the waste being brought into the waste pit.

[0067] The waste stored in the waste pit B is managed by dividing it into rectangular blocks of a size associated with the grab bucket 10, and the storage location is managed by block, and waste management information indicating the state of the waste being mixed is assigned to each block. Blocks will be described in detail later.

[0068] The waste management information includes "type of waste," "mixing degree," "bag breakage degree," and "processing time." "Types of waste" are labeled and managed for each block as "today's waste," "accumulated waste," "crushed waste," and "bottom waste." "Today's waste" is waste that has just been put in through the waste inlet door K for general waste. "Bottom waste" is waste that has been there since the beginning of management. "Crushed waste" is waste that has been put in through the waste inlet door K for crushed waste. "Accumulated waste" is waste that has been moved after the "today's waste" has been moved. When multiple types of waste are mixed due to the movement of waste by the grab bucket 10, the component ratios of each are expressed between 0 and 1.

[0069] The "mixing degree" is the cumulative number of "transshipment operations" performed by the grab bucket 10, and the initial value for "today's waste" is set to "0", and "1" is added each time a "transshipment operation" is performed. When waste with different "mixing degrees" are mixed due to "transshipment operations" or "scattering operations", the degree is calculated as the average of the sum values ​​obtained by multiplying each "mixing degree" by the volume ratio as a weight.

[0070] For example, if two-thirds of the volume of waste in a block with a mixing level of 3 and one-third of the volume of waste in a block with a mixing level of 1 are moved to another location and mixed together, the mixing level of the new block is calculated as (3 + 1) x 2 / 3 + (1 + 1) x 1 / 3 = 10 / 3. The higher the value, the more mixed the waste is, and the more stable the waste is, with less variation in waste quality and easier to burn.

[0071] The "bag breaking rate" is a value indicating the degree to which plastic garbage bags containing garbage are broken. When the grab bucket 10 drops the bags at the same location, if the drop height is equal to or greater than a predetermined height, the bag breaking effect is considered to be large, and "1" is added. If the drop height is less than the predetermined height, the bag breaking effect is considered to be small, and "0.2" is added. When different blocks of garbage are mixed, the "bag breaking rate" is calculated as the average of the sum values ​​obtained by multiplying each block's "bag breaking rate" by its volume ratio as a weight, as described above. Similarly, the larger the value, the higher the degree of "unraveling" and the garbage is judged to be more combustible. Note that the above values ​​are merely examples and are not limited to these values.

[0072] The "processing time" is the most recent time that any of the following operations was performed: loading, unpacking, or scattering. The quality of the waste is evaluated based on the amount of time that has passed since that time. The longer the elapsed time, the thicker the waste is evaluated to be and the more difficult it is to burn.

[0073] As shown in Figure 5, the waste accumulated in the waste pit B is partitioned vertically so that squares measuring x0 in length and y0 in width are arranged in a plan view. Within each partition, rectangular areas partitioned in the height direction from the bottom of the waste pit B to the top surface of the waste at a pitch of z0 are the blocks to which waste management information is assigned.

[0074] The size of the block is not particularly limited, but is set to the same size as the square area of ​​the grab bucket 10 when the grab bucket 10 is open, specifically x0 = 3m, y0 = 3m, and the height is set to z0 = 0.5m. In one garbage grasping operation by the grab bucket 10, garbage with a maximum volume of 3m x 3m x 3m can be grasped, and the grab bucket is configured to be able to grasp garbage six times the amount of the smallest unit block at one time.

[0075] In this embodiment, the size of the garbage pit B is set to Y=15 m and X=51 m, so the number of blocks in the X direction is 17 and the number of blocks in the Y direction is 5. In other words, the storage location of the garbage stored in the garbage pit B is managed by dividing it into blocks of a size associated with the grab bucket 10, and garbage management information is assigned to each block.

[0076] The pile height information acquisition unit 24 allocates a distance image, which is a collection of points represented by coordinates (x, y, z) and is measurement data acquired from the LiDAR 6, to multiple square planar areas arranged at a pitch of x0 vertically and y0 horizontally in a planar view based on the (x, y) components, and sets the average value of the z components of the distance images allocated to each planar area as the height of each planar area. When garbage is moved by the grab bucket 10, the height of the area from which it was moved decreases and the height of the area to which it was moved increases. Each block is partitioned from the bottom of the garbage pit B, with the surface height of the garbage thus determined as the upper limit.

[0077] A management information updating section 25 allocates waste management information to each block, and every time any of "transshipment operation," "unpacking operation," and "scattering operation" is performed, it reconstructs the changed block and updates the waste management information of the changed block.

[0078] The measurement data obtained by the LiDAR 6 may be obtained after a predetermined time has elapsed or after each unit operation of the grab bucket 10 is completed, but it is preferable to obtain the measurement data when the grab bucket 10 is positioned sufficiently high up so that the grab bucket 10 does not become an obstacle during measurement.

[0079] The waste evaluation unit 26 evaluates the waste management information based on a predetermined evaluation value, and based on the evaluation results, determines the next operation of the grab bucket 10 and issues a command to the crane control unit 21, thereby determining the storage location of the waste to be dumped into the waste hopper D. "Evaluation values" are set for each of the "waste type," "mixing degree," "bag breakage degree," and "processing time." For "waste type," the ratio of each component is set to a predetermined intermediate value between 0 and 1, for example, in the range of 0.4 to 0.6. "mixing degree" is set to a value that indicates sufficient mixing, and "bag breakage degree" is set to a value that indicates each type of waste has been evenly and sufficiently broken and opened. Since the "processing time" is the time elapsed since the last processing, it is set to a value that falls within a predetermined elapsed time.

[0080] By comparing the waste management information with the above-mentioned evaluation values, the state of the waste can be objectively evaluated. Based on the evaluation results, one of the following operations is selected for the block of waste with a low degree of mixing: "transloading operation," "unpacking operation," or "scattering operation," and a command is given to the crane control unit 21 so that the "type of waste," "mixing degree," "bag breakage degree," and "processing time" reach the evaluation values.

[0081] For a "transfer operation," you simply specify the source and destination blocks, and for a "scatter operation," you simply specify the source block and multiple destination blocks. For example, you can prioritize blocks with low evaluation results as the source block, and blocks with high evaluation results as the destination block.

[0082] Based on the evaluation results, waste from blocks whose "type of waste," "mixing degree," "bag breakage degree," and "processing time" have reached their evaluation values ​​can be dumped into waste hopper D as sufficiently mixed waste, thereby achieving stable incineration processing.

[0083] FIG. 6 shows a method for managing the garbage pit B executed by the management device 20 of the garbage pit B. The garbage pit management method is a method of managing garbage brought into the garbage pit as garbage management information associated with the garbage storage location based on a garbage movement process performed using a garbage crane device.

[0084] When the garbage movement process is performed using the garbage crane device (SA1), the operation history acquisition unit 22 executes an operation history acquisition step to acquire the operation history of the grab bucket's opening and closing, lifting and lowering, lateral movement, and garbage weight (SA2).

[0085] The operation type determination unit 23 executes an operation type determination step (SA3) to determine the type of operation to be performed on the garbage, based on the operation history, with the unit operation being the operation from gripping the garbage with the grab bucket to the release operation, and the management information update unit 25 executes a management information update step (SA4) to update the garbage management information in response to changes in the shape of the garbage storage surface.

[0086] The waste evaluation unit 26 executes a waste evaluation step to evaluate the waste management information based on a predetermined evaluation value (SA5), and based on the evaluation results, determines the next operation of the grab bucket for the block of waste that is not sufficiently mixed, outputs a command to the crane control unit 21 (SA7), and dumps the block of waste that is sufficiently mixed into the waste hopper D (SA6).

[0087] The height of the waste surface of the block that has changed due to the "transfer operation," "unloading operation," and "scattering operation" is obtained by the pile height information acquisition unit 24, and is also obtained by the operation type determination unit 23 from the change in weight of the grab bucket and the specific gravity of the waste. If the difference in the heights obtained by both operations falls within a predetermined tolerance range, it is determined that the "transfer operation," "unloading operation," and "scattering operation" have been performed properly. If the difference in the heights obtained by both operations deviates from the predetermined tolerance range, it is determined that there is an error in the measurement data obtained from the LiDAR 6, and the block is updated with priority given to the height obtained by the operation type determination unit 23. In other words, changes in the waste storage position are managed on a block-by-block basis based on the operation history and operation type.

[0088] In the above-described embodiment, an example was described in which the waste management information was managed as "type of waste," "mixing degree," "bag breakage degree," and "processing time." However, the waste management information only needs to include "mixing degree" and "processing time," and may also include either "type of waste" or "bag breakage degree."

[0089] In the above-described embodiment, an example was described in which the operation history acquisition unit 22 acquires the operation history of the opening / closing, lifting / lowering, lateral movement, and weight of moved garbage of the grab bucket 1, but the weight of moved garbage may not be the object of acquisition. In this case, the volume of moved garbage can be determined based on changes in the surface shape of the garbage acquired before and after the unit operation by a sensor that acquires the surface shape of the garbage stored in the garbage pit.

[0090] It goes without saying that the above-described embodiment is merely one example of the present invention, and the specific configuration of each part can be appropriately changed and designed within the scope of the effects of the present invention. [Explanation of symbols]

[0091] 1: Waste incinerator 6: Sensor (LiDAR) 20: Garbage pit management device 22: Operation history acquisition unit 23: Operation type determination unit 24: Pile height information acquisition unit 25: Management information update department 26: Garbage Assessment Department A: Platform B: Garbage pit C: Crane mechanism D: Garbage hopper E: Furnace room

Claims

1. A garbage pit management method for managing garbage carried into a garbage pit as garbage management information associated with the storage location of the garbage, based on a garbage movement process performed using a garbage crane device equipped with a grab bucket that can be opened, closed, raised, lowered, and moved laterally, comprising: The waste management information includes at least a mixing degree and a processing time, an operation history acquisition step of acquiring an operation history of opening / closing, lifting / lowering, and lateral movement of the grab bucket; an action type determination step of determining an action type to be performed on the waste, with the unit action being from the action of gripping the waste by the grab bucket to the action of releasing the waste, based on the action history; a management information update step of updating the waste management information in response to the operation history acquired in the operation history acquisition step, the operation type determined in the operation type determination step, and changes in the surface shape of the waste stored inside the waste pit; A method for managing a garbage pit that includes the following.

2. 2. The method for managing a garbage pit according to claim 1, wherein the types of operations include a transshipment process for moving garbage to a different position in the garbage pit, and a scattering process for moving garbage while dropping it inside the garbage pit.

3. The waste management information includes a bag breakage rate, 3. The method for managing a garbage pit according to claim 2, wherein the type of operation includes a loosening process for lifting and dropping garbage at the same position in the garbage pit.

4. The storage location of the waste stored in the waste pit is managed by dividing it into rectangular parallelepiped blocks, and waste management information is assigned to each block.

2. A method for managing a garbage pit according to claim 1, wherein said management information updating step updates said garbage management information for each of said blocks.

5. 5. A method for managing a garbage pit according to claim 4, wherein changes in the shape of the garbage storage surface are managed in units of blocks.

6. A garbage pit management method as described in claim 4, wherein changes in the surface shape of the garbage stored in the garbage pit are grasped based on changes in the surface shape of the garbage acquired before and after the unit operation by a sensor that acquires the surface shape of the garbage stored in the garbage pit.

7. A garbage pit management method as described in claim 4, wherein the garbage management information for a new block formed by mixing garbage from multiple existing blocks is calculated as the average value of the garbage management information of the existing blocks weighted based on the degree of garbage mixing.

8. A garbage pit management method as described in claim 1, further comprising a garbage evaluation step of evaluating the garbage management information based on a predetermined evaluation value and determining the next operation of the grab bucket or the storage location of the garbage to be dumped into the garbage hopper based on the evaluation result.

9. A garbage pit management device that manages garbage carried into a garbage pit as garbage management information associated with the garbage storage location based on a garbage movement process performed using a garbage crane device equipped with a grab bucket that can be opened, closed, raised, lowered, and moved laterally, and that: The waste management information includes at least a mixing degree and a processing time, an operation history acquisition unit that acquires operation histories of opening / closing, lifting / lowering, and lateral movement of the grab bucket; an action type determination unit that determines the type of action to be performed on the waste, with the unit action being from the action of gripping the waste by the grab bucket to the action of releasing the waste, based on the action history; a management information update unit that updates the waste management information in response to the operation history acquired by the operation history acquisition unit, the operation type determined by the operation type determination unit, and changes in the surface shape of the waste stored inside the waste pit; A garbage pit management device equipped with the above.

10. 10. The garbage pit management device according to claim 9, wherein the operation types include a transshipment process in which garbage is moved to a different position in the garbage pit, and a scattering process in which garbage is moved while dropping inside the garbage pit.

11. The waste management information includes a bag breakage rate, 11. The garbage pit management device according to claim 10, wherein the operation type includes a loosening process that lifts and drops garbage at the same position in the garbage pit.

12. The storage location of the waste stored in the waste pit is managed by dividing it into rectangular parallelepiped blocks, and waste management information is assigned to each block. The garbage pit management device according to claim 10, wherein the management information update unit updates the garbage management information for each block.

13. 13. The garbage pit management device according to claim 12, wherein the change in the shape of the garbage storage surface is managed in units of blocks based on the operation history and the operation type.

14. A garbage pit management device as described in claim 12, wherein changes in the surface shape of the garbage stored in the garbage pit are grasped based on changes in the surface shape of the garbage acquired before and after the unit operation by a sensor that acquires the surface shape of the garbage stored in the garbage pit.

15. A garbage pit management device as described in claim 12, wherein the garbage management information for a new block formed by mixing garbage from multiple existing blocks is calculated as the average value of the garbage management information of the existing blocks weighted based on the degree of garbage mixing.

16. A garbage pit management device as described in claim 9, which is equipped with a garbage evaluation unit that evaluates the garbage management information based on a predetermined evaluation value and determines the next operation of the grab bucket or the storage position of the garbage to be dumped into the garbage hopper based on the evaluation result.

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