Control device, control method, and computer program

Abstract

To further promote manpower saving in a waste incineration facility.SOLUTION: A controller comprises: a communication unit for communicating with another device via a network; a crane control unit for communicating with a user terminal via the network to receive operation information input to the user terminal, and controlling a crane installed in a refuse pit of a waste treatment plant according to the received operation information; a data acquisition unit for acquiring image data photographed by a camera installed in the refuse pit; and an image generation unit for generating a display image using the image data acquired by the data acquisition unit, and transmitting the display image to the user terminal via the network.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a control device, a control method, and a computer program.

Background Art

[0002] The automation of waste incineration facilities has been progressing. For example, in the technology described in Patent Document 1, it is possible to automatically execute an operation of stirring and mixing waste by a crane device for the purpose of supplying waste with a sufficiently low incombustible content rate to an incinerator.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Even in such a situation, a series of operations of a crane from lifting waste in a garbage pit to loading it into a garbage hopper are often performed by visual confirmation by an operator. Such operations are performed in an operation room adjacent to the garbage pit, which is a facility where waste is accumulated. Therefore, labor saving in waste incineration facilities has not progressed sufficiently.

[0005] An object of this invention is to provide a technology that enables further promotion of labor saving in waste incineration facilities.

Means for Solving the Problems

[0006] One aspect of the present invention is a control device comprising: a communication unit that communicates with other devices via a network; a crane control unit that communicates with a user terminal via the network to receive operation information input to the user terminal and controls a crane installed in the waste pit of a waste treatment plant according to the received operation information; a data acquisition unit that acquires image data captured by a camera installed in the waste pit; and an image generation unit that generates a display image using the image data acquired by the data acquisition unit and transmits the display image to the user terminal via the network.

[0007] One aspect of the present invention is the control device described above, wherein the image generation unit changes the display image according to the position of the crane.

[0008] One aspect of the present invention is the control device described above, wherein the image generation unit changes the display image according to the distance between the position of the crane and the position of the surface of the waste stored in the waste pit.

[0009] One aspect of the present invention is the control device described above, wherein the image generation unit generates the display image to include an enlarged image of the surface of the waste near the direct line below the crane when the distance between the position of the crane and the position of the surface of the waste stored in the waste pit is shorter than a predetermined threshold.

[0010] One aspect of the present invention is a control method performed by a control device equipped with a communication unit that communicates with other devices via a network, comprising: a crane control step of receiving operation information input to a user terminal by communicating with the user terminal via the network and controlling a crane installed in a waste pit of a waste treatment plant according to the received operation information; a data acquisition step of acquiring image data captured by a camera installed in the waste pit; and an image generation step of generating a display image using the image data acquired in the data acquisition step and transmitting the display image to the user terminal via the network.

[0011] One aspect of the present invention is a computer program that causes a computer equipped with a communication unit that communicates with other devices via a network to execute the following steps: a crane control step that communicates with a user terminal via the network to receive operation information input to the user terminal and controls a crane installed in a waste pit of a waste treatment plant according to the received operation information; a data acquisition step that acquires image data captured by a camera installed in the waste pit; and an image generation step that generates a display image using the image data acquired in the data acquisition step and transmits the display image to the user terminal via the network. [Effects of the Invention]

[0012] According to the present invention, it is possible to further promote labor-saving in waste incineration facilities. [Brief explanation of the drawing]

[0013] [Figure 1] This is a schematic diagram of the main parts of a waste treatment plant according to this embodiment. [Figure 2] This figure shows a specific example of a display image generated in normal mode. [Figure 3] This figure shows a specific example of a display image generated in zoom mode. [Figure 4] This figure shows a specific example of a display image generated in cross-sectional mode. [Figure 5] This figure shows a specific example of a display image generated in height display mode. [Figure 6] This figure shows another example of a display image generated in height display mode. [Figure 7] This diagram shows the details of the camera 6 and distance sensor 7 attached to the bucket 31a. [Figure 8] This flowchart shows a concrete example of the process flow for moving bucket 31a. [Figure 9]This flowchart shows a modified example of the process flow for moving bucket 31a. [Modes for carrying out the invention]

[0014] <Embodiment> Hereinafter, a waste identification system according to one embodiment of the present disclosure will be described with reference to the figures. Figure 1 is a schematic diagram of the main parts of a waste treatment plant according to the embodiment. As shown in Figure 1, the waste treatment plant system 100 includes a waste pit 1, a hopper 2, a crane system 3, a waste pit control device 10, a crane control device 20, a control device 40, and a user terminal 50.

[0015] The waste pit 1 is into which waste transported to the waste treatment plant system 100 is fed and stored. The waste pit 1 includes a storage layer 1a in which the waste is stored, and a space 1b above it. A crane system 3 is installed in space 1b. One or more cameras 4 are installed in the waste pit 1. In the example in Figure 1, at least cameras 4a and 4b are installed on the wall of the waste pit 1. The installation location of cameras 4a and 4b is not limited to the wall of the waste pit 1. For example, cameras 4a and 4b may be installed on a part of the crane system 3 (e.g., the lower part of the running rail or the girder). Some of the cameras 4, for example, photograph the upper part of the storage layer 1a from approximately above. Some of the cameras 4, for example, photograph the approximately horizontal direction from the top of the waste pit 1. Some of the cameras 4, for example, photograph the upward direction from the top of the waste pit 1. By installing the cameras 4 in this way, it is possible to generate images from various viewpoints in various directions within the waste pit 1. Therefore, for example, it becomes possible to display VR (Virtual Reality) images on the user terminal 50.

[0016] On the wall surface of the garbage pit 1, a light source may be provided in addition to the camera 4. The camera 4 may be an imaging device for still images or an imaging device for moving images. The camera 4 transmits the image data obtained by shooting to the control device 40. Such transmission of image data may be performed via the garbage pit control device 10.

[0017] One or more distance measuring sensors 5 for measuring the upper part of the storage layer 1a from substantially above are provided in the garbage pit 1. The distance measuring sensor 5 measures, for example, the distance from its own device to each point on other objects. The distance measuring sensor 5 is preferably provided so as to be able to measure the distance over the entire surface of the storage layer 1a (the surface of the garbage). The distance measuring sensor 5 may output, for example, a distance image as a measurement result. In the example of FIG. 1, at least a distance measuring sensor 5a and a distance measuring sensor 5b are provided on the wall surface of the garbage pit 1. The distance measuring sensor 5 transmits the data indicating the distance obtained by distance measurement to the control device 40. Such transmission of distance data may be performed via the garbage pit control device 10.

[0018] The hopper 2 is a facility that connects the area where the next process of waste treatment is performed and the garbage pit 1. The hopper 2 is provided with an opening. The waste transported by the crane system 3 is put into the opening of the hopper 2. The put-in waste is transported to the area where the next process of waste treatment is performed via the hopper 2.

[0019] The crane system 3 moves within the waste pit 1, grasps the waste stored in the waste pit 1, and loads the waste into the opening of the hopper 2. It is desirable that the crane system 3 be installed in the upper part of the waste pit 1. The crane system 3 comprises, for example, a wire 31, a bucket 31a, a travel rail 32, a travel girder 33, and a club trolley 34. The crane system 3 has a bucket 31a at the bottom. The club trolley 34 can freely change the height (vertical position) of the bucket 31a within a predetermined range via the wire 31. For example, when grasping waste located below with the bucket 31a, the club trolley 34 lowers the bucket 31a to the height of the waste to be grasped. The club trolley 34 is movable in the left-right direction in Figure 1 along the travel girder 33 (referred to as traversing). The club trolley 34 is movable in the depth direction in Figure 1 along the travel rail 32 (referred to as traveling). The Club Trolley 34 can move along the running rail 32 and the running device girder 33 in this manner, thereby moving to a horizontal position within a predetermined area of ​​the waste pit 1.

[0020] The bucket 31a is equipped with one or more cameras. In the example shown in Figure 1, the bucket 31a is equipped with a camera 6 and a distance measuring sensor 7. The installation location of the camera 6 and the distance measuring sensor 7 is not limited to the bucket 31a. For example, the camera 6 and the distance measuring sensor 7 may be installed on the traveling girder 33. The camera 6 may be a still image capturing device or a moving image capturing device. The distance measuring sensor 7 measures the distance from the device to other objects. The camera 6 and the distance measuring sensor 7 are each positioned facing downwards. Therefore, the camera 6 photographs the approximate surface of the reservoir 1a located below the bucket 31a. The distance measuring sensor 7 measures the distance between the approximate surface of the reservoir 1a located below the bucket 31a and the device. The camera 6 transmits the image data obtained by the photography to the control device 40. The distance measuring sensor 7 transmits data indicating the obtained distance to the control device 40. Such data transmission may be performed via the crane control device 20.

[0021] The waste pit control device 10 is configured using an information processing device. The waste pit control device 10 may be configured using a device such as a PLC (Programmable Logic Controller). The waste pit control device 10 controls the operation of, for example, the camera 4. The waste pit control device 10 may, for example, acquire image data captured by the camera 4 and output it to the control device 40. The waste pit control device 10 controls the operation of, for example, the distance measuring sensor 5. The waste pit control device 10 may, for example, acquire distance image data measured by the distance measuring sensor 5 and output it to the control device 40.

[0022] The crane control device 20 is configured using an information processing device. The waste crane control device 20 may be configured using a device such as a PLC. The crane control device 20 controls, for example, the operation of the crane system 3 and the operation of the camera 6 and the distance measuring sensor 7. The crane control device 20 may output to the control device 40 information such as information output from the crane system 3, image data captured by the camera 6, and distance data measured by the distance measuring sensor 7. The information output from the crane system 3 may be, for example, information indicating the position and height of the traveling girder 33 and the bucket 31a.

[0023] The control device 40 is configured using an information processing device such as a personal computer, a server, or a dedicated device. The control device 40 communicates with the user terminal 50 via the network 90. ​​The control device 40 generates a display image showing the state inside the waste pit 1 and transmits the display image to the user terminal 50. When the control device 40 receives operation information from the user terminal 50, it controls the operation of the equipment inside the waste pit 1 and the control device 40 based on the received operation information. For example, if the operation information is control information related to the control of the crane system 3, the control device 40 controls the operation of the crane system 3 based on the operation information. More specifically, the control device 40 controls the position of the traveling girder 33, the height of the bucket 31a, and the closing or opening of the bucket 31a. The control device 40 may also control the mode of the display image displayed on the user terminal 50.

[0024] The user terminal 50 is configured using an information processing device such as a personal computer, smartphone, or VR device. The user terminal 50 includes a communication unit 51, an input unit 52, an output unit 53, a storage unit 54, and a control unit 55. The communication unit 51 communicates data with the control device 40 via the network 90. ​​The input unit 52 receives user input. The input unit 52 may be configured using, for example, buttons, a keyboard, or a pointing device, or it may be configured using a device that is attached to the user and inputs information about the user's movements, such as a gyroscope or an accelerometer. The output unit 53 is configured using a display device and displays an image. The output unit 53 may include devices such as a vibrator or a speaker. The storage unit 54 is configured using a storage device such as a magnetic hard disk drive or a semiconductor storage device. The control unit 55 is configured using a processor and performs information processing. The output unit 53 of the user terminal 50 displays the display image received from the control device 40. The input unit 52 of the user terminal 50 inputs signals corresponding to the user's movements and operations to the control unit 55, which then acquires virtual viewpoint position, virtual line of sight direction, and operation information for the crane system 3. The control unit 55 transmits this information to the control device 40 via the communication unit 51.

[0025] Next, the details of the control device 40 will be described. The control device 40 comprises a communication unit 41, a storage unit 42, and a control unit 43.

[0026] The communication unit 41 is a communication device. The communication unit 41 may be configured, for example, as a network interface. The communication unit 41 communicates data with, for example, the waste pit control device 10 and the crane control device 20. Such communication may be performed using, for example, a LAN (Local Area Network) or a wireless LAN. The communication unit 41 communicates data with other devices via the network 90. ​​The communication unit 41 communicates data with, for example, the user terminal 50 via the network 90. ​​The communication unit 41 may be a wireless communication device or a wired communication device.

[0027] The storage unit 42 is configured using a storage device such as a magnetic hard disk drive or a semiconductor storage device. The storage unit 42 stores programs and data used when the control unit 43 operates.

[0028] The control unit 43 is composed of a processor such as a CPU (Central Processing Unit) and memory. The control unit 43 functions as a data acquisition unit 431, a height determination unit 432, an image generation unit 433, and a crane control unit 434 when the processor executes a program. Note that all or part of the functions of the control unit 43 may be implemented using hardware such as an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), or an FPGA (Field Programmable Gate Array). The above program may be recorded on a computer-readable recording medium. Computer-readable recording media include, for example, portable media such as flexible disks, magneto-optical disks, ROMs, CD-ROMs, semiconductor memory devices (e.g., SSDs: Solid State Drives), and memory devices such as hard disks and semiconductor memory devices built into computer systems. The above program may be transmitted via a telecommunications line.

[0029] The data acquisition unit 431 acquires data obtained by devices installed in the waste pit 1. For example, the data acquisition unit 431 acquires image data captured by the camera 4. Such acquisition may be performed, for example, by communicating with the camera 4 via the communication unit 41, or by communicating with the waste pit control device 10 via the communication unit 41. For example, the data acquisition unit 431 acquires distance image data measured by the distance measuring sensor 5. Such acquisition may be performed, for example, by communicating with the distance measuring sensor 5 via the communication unit 41, or by communicating with the waste pit control device 10 via the communication unit 41. For example, the data acquisition unit 431 acquires image data captured by the camera 6. Such acquisition may be performed, for example, by communicating with the camera 6 via the communication unit 41, or by communicating with the crane control device 20 via the communication unit 41. For example, the data acquisition unit 431 acquires distance data measured by the distance measuring sensor 7. Such acquisition may be performed, for example, by communicating with the distance measuring sensor 7 via the communication unit 41, or by communicating with the crane control device 20 via the communication unit 41. For example, the data acquisition unit 431 acquires information indicating the position of the traveling girder 33 and the bucket 31a. Such acquisition may be performed, for example, by communicating with the crane system 3 via the communication unit 41, or by communicating with the crane control device 20 via the communication unit 41.

[0030] The height determination unit 432 acquires information indicating the height of the surface of the storage layer 1a (hereinafter referred to as "surface height information"). The height determination unit 432 determines, for example, the height of the surface of the storage layer 1a in the waste pit 1. At this time, the height determination unit 432 may make the determination using, for example, data acquired from the distance measuring sensor 5. For example, the height determination unit 432 may determine the height at multiple points (sampling points) on the surface of the storage layer 1a.

[0031] The height determination unit 432 may determine the distance (relative height) between the bucket 31a and the surface of the reservoir 1a. In this case, the height determination unit 432 may determine the distance using data acquired from, for example, the distance measuring sensor 7, or it may determine the distance based on the height of the surface of the reservoir 1a and the height of the bucket 31a. The distance between the bucket 31a and the surface of the reservoir 1a may be determined as, for example, the distance to the lowest end of the bucket 31a, or as the distance to a predetermined reference point in the bucket 31a (for example, the center of gravity of the space inside the bucket 31a formed when the bucket is closed), or as the distance to other parts of the bucket 31a.

[0032] The image generation unit 433 generates an image (hereinafter referred to as "display image") to be displayed on the image display device of the user terminal 50 and transmits it to the user terminal 50 via the communication unit 41. Several examples of display images generated by the image generation unit 433 are described below.

[0033] Figure 2 shows a specific example of a display image generated in normal mode. When normal mode is selected on the user terminal 50, the image generation unit 433 generates a display image using images captured by the camera 4. At this time, if VR mode is selected on the user terminal 50, the image generation unit 433 obtains information on the user's virtual viewpoint and virtual line of sight direction from the user terminal 50 and generates the image that is visible when viewed from the virtual viewpoint in the virtual line of sight direction as the display image. The image generation unit 433 generates a display image by combining images captured by multiple cameras 4, for example, in magnification mode. In the example in Figure 2, garbage can be seen accumulating downwards in the garbage pit 1.

[0034] Figure 3 shows a specific example of a display image generated in magnified mode. When magnified mode is selected on the user terminal 50, the image generation unit 433 changes the display image depending on whether the proximity condition is met. The proximity condition is a condition corresponding to the state of the crane system 3. For example, the proximity condition may be set when the vertical movement of the bucket 31a in the crane system 3 begins. For example, the proximity condition may be set when the distance between the bucket 31a and the reservoir 1a directly below it in the crane system 3 becomes closer than a predetermined threshold.

[0035] If the proximity condition is not met, the image generation unit 433 generates a display image similar to that in normal mode. On the other hand, if the proximity condition is met, the image generation unit 433 generates a display image that includes an enlarged image of the surface of the reservoir 1a near the area directly below the bucket 31a. For example, as shown in Figure 3, a magnified display frame 84 area may be provided in a part of the display image generated in normal mode, and the display image may be generated so that the magnified image is superimposed and displayed within the area of ​​the magnified display frame 84. The magnified image displayed in the magnified display frame 84 may be generated using an image captured by the camera 4, or it may be generated using an image captured by the camera 6 provided on the bucket 31a.

[0036] The enlarged image may be recorded in the memory unit 42. In this case, the enlarged image may be recorded in association with identification information indicating the location being displayed in enlargement. For example, the identification information indicating the location may be represented using location information (so-called address) defined in advance by dividing the area within the waste pit into predetermined sizes. Since the size of the bucket 31a is fixed at each facility, address division (XZ) corresponding to the size of the bucket 31a may be made. When recorded in this manner, the latest enlarged image of that location may be transmitted to and displayed on the user terminal 50 in response to the identification information indicating the location being specified by the user terminal 50. With this configuration, the user can examine in detail the work to be done at the enlarged location. For example, the operator (user) can examine in detail the candidates for when to have the crane system 3 automatically go to that location to grab the waste.

[0037] Figure 4 shows a specific example of a display image generated in cross-sectional mode. When cross-sectional mode is selected on the user terminal 50, the image generation unit 433 generates a display image using the height information determined by the height determination unit 432. At this time, if VR mode is selected on the user terminal 50, the image generation unit 433 obtains information on the user's virtual viewpoint and virtual line of sight direction from the user terminal 50, and generates a display image of a cross section that includes the position of the coordinates on the horizontal plane among the coordinates of the virtual viewpoint and is perpendicular to the virtual line of sight direction. In this case, the display image may be generated so that the cross section appears as if viewed from a position a predetermined distance down in the opposite direction to the virtual line of sight from the coordinates of the virtual viewpoint.

[0038] Furthermore, if VR mode is not selected on the user terminal 50, the image generation unit 433 may operate as follows: The image generation unit 433 obtains the position of the bucket 31a from the data acquisition unit 431 and generates a display image of a cross-section of the position directly below the bucket 31a. At this time, the orientation of the cross-section may be predetermined, or it may be set to be changeable by the user. In this case, the display image may be generated so that it looks as if the cross-section is viewed from a position a predetermined distance below the position directly below the bucket 31a. With this configuration, when the bucket 31a descends while the position of the traveling device girder 33 on the horizontal plane remains at its current position, it becomes possible to operate the bucket 31a using the user terminal 50 while viewing the cross-section of the part that will be grasped and lifted by the bucket 31a. Furthermore, if VR mode is selected, the distance from the bucket 31a to the surface of the waste may be displayed.

[0039] Figure 5 shows a specific example of a display image generated in height display mode. When height display mode is selected on the user terminal 50, the image generation unit 433 generates a display image using the height information determined by the height determination unit 432. Specifically, a display image including visual information indicating height is generated. For example, as shown in Figure 5, a display image including information showing contour lines corresponding to the height at each part of the surface of the reservoir 1a may be generated. Furthermore, display images may be generated with different display modes (e.g., color, pattern, line type, etc.) for each range of height indicated by the contour lines. With respect to the surface of the reservoir 1a, only such visual information indicating height, such as contour lines, may be displayed, or an image may be displayed in which visual information indicating height, such as contour lines, is superimposed on the image captured by the camera 4, as is displayed in normal mode. In height display mode, the image of the crane system 3 may be displayed as visual information indicating height, or as an image captured by the camera 4. The boundaries of each region corresponding to the location identification information (e.g., number value) described above may be displayed superimposed in a grid pattern.

[0040] Figure 6 shows another specific example of a display image generated in height display mode. When height display mode is selected on the user terminal 50, the image generation unit 433 may change the display image depending on whether the proximity condition is met or not. If the proximity condition is not met, the image generation unit 433 generates a display image that includes visual information indicating height as described above. On the other hand, if the proximity condition is met, the image generation unit 433 changes the display manner of the visual information indicating height on the surface of the reservoir 1a near the bottom of the bucket 31a. That is, for a certain area, the display manner when the bucket 31a is approaching is different from the display manner when the bucket 31a is not approaching.

[0041] Furthermore, in height display mode, as in the magnification mode described above, the display image may be generated so that a magnified image is displayed in the magnified display frame 84 for the area where the proximity condition is met. In this case, visual information indicating height may be superimposed on the magnified image, or it may not be superimposed. If visual information indicating height is not superimposed on the magnified image, the user can see the magnified portion more clearly, making it possible to check in more detail the area that the bucket 31a is approaching.

[0042] Figure 7 shows details of the camera 6 and distance sensor 7 attached to the bucket 31a. The camera 6 may be equipped with a movable cover 61. The movable cover 61 transitions between a state that covers the lens portion of the camera 6 and a state that does not cover the lens portion of the camera 6. When it is in the covering state, it is possible to prevent the camera 6 from becoming contaminated by waste or other materials coming into contact with the lens portion of the camera 6. The movable cover 61 may, for example, be in the state that covers the lens portion of the camera 6 when the contact condition is met, and in the state that does not cover the lens portion of the camera 6 when the contact condition is not met. The contact condition is a condition corresponding to the state of the crane system 3. For example, the contact condition may be set as when the distance between the bucket 31a and the surface of the storage tank 1a becomes closer than a predetermined threshold after the vertical movement of the bucket 31a has started in the crane system 3. The threshold value in the contact condition is defined to be smaller than the threshold value in the proximity condition. Therefore, the proximity condition is met first, and then the contact condition is met. That is, there is a state in which the proximity condition is met even if the contact condition is not met. In this state, the movable cover 61 may not cover the lens of the camera 6, and the magnified image may be displayed. In this case, it is possible to display the image captured by the camera 6 as the magnified image. The camera 6 and the distance sensor 7 may be built into the bucket hydraulic system 35. In this case, it is preferable that the camera 6 and the distance sensor 7 be protected with tempered glass (acrylic) or the like.

[0043] Figure 8 is a flowchart illustrating a specific example of the process flow for moving the bucket 31a. First, the user operates the user terminal 50 to specify the destination of the bucket 31a (step S101). The user terminal 50 transmits position information indicating the destination of the bucket 31a to the control device 40. When the crane control unit 434 of the control device 40 receives the destination position information of the bucket 31a from the user terminal 50, it starts the automatic movement of the traveling girder 33 (step S102). At this time, the crane control unit 434 instructs the crane control device 20 to transmit the destination position information and to execute the automatic movement.

[0044] When the crane control device 20 receives an instruction for automatic movement, it moves the bucket 31a toward the instructed destination position. At this time, the crane control device 20 controls the movement of the bucket 31a in a manner that minimizes the risk of problems occurring with the bucket 31a. For example, it controls the movement of the bucket 31a so that the sway of the bucket 31a does not exceed a predetermined threshold. The crane control device 20 determines whether the distance from the current position of the bucket 31a to the destination position is less than or equal to a predetermined threshold (step S103). The predetermined threshold may be zero, or it may be a value greater than zero. If the predetermined threshold is zero, automatic movement continues to the position specified by the user. If the predetermined threshold is greater than zero, automatic movement ends before the position specified by the user. After that, the user needs to move the bucket to the specified position.

[0045] If the distance from the bucket 31a's position to the destination position is greater than a predetermined threshold (step S103-NO), the crane control device 20 continues to control the automatic movement and moves the bucket 31a toward the destination position. If the distance from the bucket 31a's position to the destination position becomes less than or equal to the predetermined threshold (step S103-YES), the crane control device 20 terminates the automatic movement control (step S104) and moves the bucket 31a according to the instructions received from the user terminal 50 (step S105).

[0046] This configuration allows the bucket 31a to be moved more safely to the position specified by the user. For example, if the user directly controls the movement of the bucket 31a, there is a risk that the bucket 31a, which is suspended by a wire, may swing like a pendulum. This problem can be prevented by moving it with automatic control. Note that the automatic movement control may be performed by the crane control unit 434 instead of the crane control device 20. Also, the judgment process in step S103 may be performed by the crane control unit 434 instead of the crane control device 20. Furthermore, the entire operation process of the crane system 3 may be performed manually by the user. In that case, since adjustment of the swing of the bucket 31a is also necessary, the display image may be a VR or similar image of the entire pit or the bucket 31a with a certain degree of remote viewing until it reaches the predetermined address.

[0047] Furthermore, this configuration also yields the following benefits: Users located outside the target facility can easily and safely observe and respond to the homogenization of waste through agitation, which is considered important in incineration facilities. For example, even if automatic control for homogenizing waste quality (for example, automatic control implemented using machine learning) were possible, such control would not be able to completely replicate the agitation that has traditionally been done by human hands. There is still the idea that it is best for a crane operator (user) to directly observe the condition of the waste surface and judge its quality. With the above configuration of the present invention, this approach can also be carried out by users located outside the target facility.

[0048] Figure 9 is a flowchart showing a modified version of the process for moving the bucket 31a. In Figure 9, processes that are the same as those in Figure 8 are denoted by the same reference numerals as in Figure 8 and their explanations are omitted. In the modified version of Figure 9, the crane control device 20 blocks the acceptance of user input for the movement of the bucket 31a before automatic movement begins (step S201). Also in the modified version of Figure 9, the crane control device 20 resumes accepting user input for the movement of the bucket 31a after automatic movement has finished (step S202). This configuration makes it possible to ensure the safe movement of the bucket 31a through automatic movement control.

[0049] (modified version) The user terminal 50 does not necessarily have to display VR images. In that case, the camera 4 installed in the waste pit 1 may be only a camera that photographs the upper part of the storage layer 1a from approximately above. In this case, the user terminal 50 does not need to transmit the user's virtual viewpoint and virtual line of sight direction to the control device 40. Furthermore, the image generation unit 433 of the control device 40 may generate images regardless of the user's virtual viewpoint and virtual line of sight direction.

[0050] Although embodiments of this invention have been described in detail above with reference to the drawings, the specific configuration is not limited to these embodiments and includes designs and the like that do not depart from the spirit of this invention. [Explanation of Symbols]

[0051] 100…Waste treatment plant system, 1…Waste pit, 1a…Storage layer, 1b…Space, 2…Hopper, 3…Crane system, 10…Waste pit control device, 20…Crane control device, 31…Wire, 31a…Bucket, 32…Travel rail, 33…Girder for travel device, 34…Crab trolley, 35…Bucket hydraulic system, 4…Camera, 5…Distance sensor, 6…Camera, 7…Distance sensor, 40…Control device, 41…Communication unit, 42…Storage unit, 43…Control unit, 431…Data acquisition unit, 432…Height determination unit, 433…Image generation unit, 434…Crane control unit, 50…User terminal, 51…Communication unit, 52…Input unit, 53…Output unit, 54…Storage unit, 55…Control unit, 90…Network

Claims

1. A communication unit that communicates with other devices via a network, A crane control unit that communicates with a user terminal via the aforementioned network to receive operation information input to the user terminal and controls a crane installed in the waste pit of a waste treatment plant according to the received operation information, A data acquisition unit that acquires image data captured by a camera installed in the aforementioned waste pit, An image generation unit generates a display image using the image data acquired by the data acquisition unit and transmits the display image to the user terminal via the network. Equipped with, The image generation unit changes the displayed image according to the distance between the position of the crane and the position of the surface of the waste stored in the waste pit. The image generation unit is a control device that generates the display image to include an enlarged image of the surface of the waste near the direct line below the crane when the distance between the position of the crane and the position of the surface of the waste stored in the waste pit is shorter than a predetermined threshold.

2. The control device according to claim 1, wherein the image generation unit changes the displayed image according to the position of the crane.

3. A control method performed by a control device equipped with a communication unit that communicates with other devices via a network, A crane control step that communicates with a user terminal via the aforementioned network to receive operation information input to the user terminal and controls a crane installed in the waste pit of a waste treatment plant according to the received operation information, A data acquisition step involves acquiring image data captured by a camera installed in the aforementioned waste pit, An image generation step which generates a display image using the image data acquired in the data acquisition step and transmits the display image to the user terminal via the network, It has, In the image generation step, the display image is changed according to the distance between the position of the crane and the position of the surface of the waste stored in the waste pit. A control method that, in the image generation step, generates the display image to include an enlarged image of the surface of the waste near the crane when the distance between the position of the crane and the position of the waste stored in the waste pit is shorter than a predetermined threshold.

4. For a computer equipped with a communication unit that communicates with other devices via a network, A crane control step that communicates with a user terminal via the aforementioned network to receive operation information input to the user terminal and controls a crane installed in the waste pit of a waste treatment plant according to the received operation information, A data acquisition step involves acquiring image data captured by a camera installed in the aforementioned waste pit, An image generation step which generates a display image using the image data acquired in the data acquisition step and transmits the display image to the user terminal via the network, Make it run, In the image generation step, the display image is changed according to the distance between the position of the crane and the position of the surface of the waste stored in the waste pit. The image generation step includes a computer program for generating a display image that includes an enlarged image of the surface of the waste near the crane when the distance between the position of the crane and the position of the surface of the waste stored in the waste pit is shorter than a predetermined threshold.

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