CN109312921B

CN109312921B - Crane control device, control method for crane control device, control program, and recording medium

Info

Publication number: CN109312921B
Application number: CN201780035096.7A
Authority: CN
Inventors: 藤吉诚; 戴英达; 川端馨; 平林照司; 西山由大; 肯尼思·詹姆斯·麦金
Original assignee: Hitachi Zosen Corp
Current assignee: Hitachi Zosen Corp
Priority date: 2016-06-09
Filing date: 2017-05-18
Publication date: 2021-04-13
Anticipated expiration: 2037-05-18
Also published as: WO2017212891A1; EP3470735B1; JP6659474B2; EP3470735A4; CN109312921A; EP3470735A1; JP2017218316A

Abstract

A crane control device (50) is provided with: a stirring agent (64) which determines which zone the garbage catching position when the crane (14) is caused to perform the stirring operation is set to according to the height and the stirring degree of the garbage in each zone formed by dividing the garbage storage part (11) into a plurality of zones; and a crane control unit (66) for causing the crane to execute the garbage catching operation in the determined section.

Description

Crane control device, control method for crane control device, control program, and recording medium

Technical Field

The present invention relates to a crane control device and the like for controlling the operation of a crane provided in a refuse pit of a refuse incineration facility.

Background

The refuse incineration facility is provided with a refuse pit for temporarily storing refuse carried in by a refuse collection vehicle, and the refuse in the refuse pit is stirred by a crane and then sent to an incinerator for incineration. This stirring is performed to homogenize the mass of the refuse fed to the incinerator, and is an important treatment for stable combustion of the refuse. As prior art documents relating to such automatic control of a crane, for example,

patent documents

1 and 2 listed below are cited.

Patent document 1 discloses an automatic crane operation device that detects a color distribution in a refuse pit and moves refuse in the refuse pit so that the entire refuse pit has the same color distribution. Further, patent document 2 discloses an automatic operation device which determines the height of a garbage layer in a garbage pit, picks up garbage at a high position, and automatically transfers the garbage to a low position.

Documents of the prior art

Patent document

Patent document 1: japanese laid-open patent publication No. 64-49815 (published 2.27.1989) "

Patent document 2: japanese laid-open patent publication No. Sho 56-28188 (published 3/19 (1981)) "

Disclosure of Invention

Technical problem to be solved

However, none of the above prior art techniques is sufficient to optimize the operation of the crane. For example, in the technique of patent document 1, although the stirring is performed so that the color distribution is uniform, the color of the waste does not necessarily indicate the quality of the waste, and the degree of stirring cannot be understood only by the color of the waste. Therefore, in the technique of patent document 1, a stirring state in which the waste quality is uniform may not be achieved. Further, at present, there is no evaluation index satisfying the quality of the garbage actually used, which becomes a cause of difficulty in causing the crane to perform an optimum operation (an operation of grasping the garbage at an optimum position and releasing the garbage at the optimum position). In the technique of patent document 2, although it is possible to determine the height of the refuse layer and automatically move the refuse from a high position to a low position, the quality of the refuse is not considered to be equalized, and it is not possible to form a stirred state in which the quality of the refuse is equalized.

Therefore, in most waste incineration facilities, there is a problem that an operator operates a crane empirically and intuitively, and waste quality fluctuation to some extent cannot be avoided due to the qualification of the operator. In addition, in recent years, the size reduction of the waste incineration facility has been advanced, and the manufacturing cost of the waste incineration facility can be reduced by the size reduction, but on the contrary, the waste storage section is narrowed, and the waste is accumulated in a narrow space, and therefore, it is difficult to perform the stirring work for homogenizing the waste quality. Further, since the garbage is continuously carried into a narrow garbage storage section, it takes time to transfer the garbage, and there is a time limit in which the time for stirring the garbage is limited, and the garbage is incinerated without being sufficiently stirred, whereby the combustion of the garbage becomes unstable.

In addition to the above-described stirring operation, there are also an operation of transferring the garbage accumulated in the garbage receiving area to the stirring area, an operation of feeding the stirred garbage into the hopper and into the incinerator, and the like. In addition, in these operations, it is also desirable to determine the garbage catching position and the garbage releasing position in consideration of both the height and the degree of stirring of the garbage.

The present invention has been made in view of the above-described problems, and an object of the present invention is to realize a crane control device and the like capable of setting a garbage catching position when a predetermined work is performed by a crane to an appropriate position according to both the height of garbage and the degree of stirring.

(II) technical scheme

In order to solve the above problem, a crane control device according to the present invention is a crane control device for controlling an operation of a crane that transports garbage in a garbage pit, the crane control device including: a position determination unit that determines which zone the garbage collection position is set to when the crane performs a predetermined operation including a garbage collection operation, based on the height and the degree of stirring of the garbage in each zone into which the garbage storage unit in the garbage pit is divided into a plurality of zones; and a crane control unit that causes the crane to perform a garbage catching operation in the section determined by the position determination unit when causing the crane to perform the predetermined operation.

In order to solve the above problem, a method for controlling a crane control apparatus according to the present invention is a method for controlling an operation of a crane that transports garbage in a garbage pit, the method including: a determining step of determining which zone the garbage collection position is set to when the crane performs a predetermined operation including a garbage collection operation, based on a height and a stirring degree of the garbage in each zone obtained by dividing the garbage storage section in the garbage pit into a plurality of zones; and a crane control step of causing the crane to perform a garbage catching operation in the section determined in the determining step when causing the crane to perform the predetermined work.

(III) advantageous effects

According to the present invention, the following effects are obtained: the garbage catching position when the crane performs a predetermined operation can be set to an appropriate position corresponding to both the height of the garbage and the degree of stirring.

Drawings

Fig. 1 is a block diagram showing an example of a main part configuration of a crane control apparatus according to an embodiment of the present invention.

Fig. 2 is a sectional view showing a schematic configuration of a waste incineration facility including a waste pit.

Fig. 3 is a view showing a state in which the trash storage portion and the hopper in the trash pit are viewed from above.

Fig. 4 is a diagram showing an example of setting the segment in the trash storage.

Fig. 5 is a diagram showing an example of region setting.

Fig. 6 is a diagram showing the relationship between the agents.

Fig. 7 is a diagram showing an example of the operation schedule.

Fig. 8 is a flowchart showing an example of the processing when the crane control device stirs or transfers garbage according to the operation schedule.

Fig. 9 is a flowchart showing an example of processing executed by the crane control apparatus when detecting a throw-in command.

Detailed Description

An embodiment of the present invention will be described with reference to fig. 1 to 9. The present invention relates to a crane control device and the like that control the operation of a crane that transports refuse in a refuse pit, and first, a refuse pit and a refuse incineration facility including the refuse pit will be described with reference to fig. 2.

[ general outline of garbage incineration facility ]

Fig. 2 is a sectional view showing a schematic configuration of a waste incineration facility including a waste pit. The illustrated waste incineration apparatus includes: a refuse pit 1 for temporarily storing refuse loaded by the refuse collection vehicle P, and an incinerator 2 for incinerating refuse in the refuse pit 1. The refuse pit 1 and the incinerator 2 are connected to each other via a hopper 12 for supplying refuse to the incinerator 2, and refuse in the refuse pit 1 is fed to the incinerator 2 via the hopper 12 and incinerated.

The bottom of the refuse pit 1 is a refuse storage section 11, and the refuse collection vehicle P dumps refuse from the loading door 11a into the refuse storage section 11, and the refuse is stored in the refuse storage section 11 (refuse G shown).

The garbage storage 11 and the hopper 12 are covered by a building 13, and a crane 14 is provided on a ceiling portion of the building 13. The crane 14 includes a main beam 15, a transverse overhead traveling crane 16, a grab bucket 17, a wire rope 18, and a hoist 19. The main beams 15 are disposed so as to span between guide rails (extended in the depth direction in fig. 2) provided on the opposite wall surfaces of the building 13, respectively, and the main beams 15 are movable in the depth direction in fig. 2 along the guide rails. The transverse traveling overhead traveling vehicle 16 is provided on the main beam 15 and is movable on the main beam 15 in the left-right direction of fig. 2 (direction orthogonal to the moving direction of the main beam 15). A hoist 19 (e.g., a winch) is mounted on the overhead traveling crane 16, and a grab bucket 17 for grabbing the garbage G is provided at the tip of a wire rope 18 extending from the hoist 19. The grapple 17 can be opened and closed.

In this way, the main beam 15 can move in the depth direction in fig. 2, and the transverse traveling roof vehicle 16 can move in the left-right direction in fig. 2, so that the grab 17 can be moved to an arbitrary position in the dust storage 11 by a combination of these movements. Further, the wire rope 18 is extended from the hoist 19 to lower the grapple 17, and the grapple 17 can grab the garbage G in the garbage storage 11. The main beam 15, the overhead traveling vehicle 16, the grab bucket 17, and the hoist 19 are controlled to operate, whereby the grabbed refuse G can be transferred to another position in the refuse storage 11 or can be put into the hopper 12.

The operation control of the crane 14 may be manually performed from an operation room 21 provided in the side wall portion 13a of the building 13 so as to monitor the inside of the garbage storage 11, or may be automatically performed by a crane control device as described later.

Although only one crane 14 is shown in fig. 2, a plurality of cranes 14 may be provided. The stirring can be performed more sufficiently by providing a plurality of cranes 14 than by providing only one crane 14. For example, when two cranes 14 are provided, one crane can be used exclusively for stirring by transferring garbage and charging garbage into the hopper 12.

The incinerator 2 includes a combustion chamber 3, a refuse guide passage 4, an ash discharge port 5, and a flue 6. The refuse G put into the hopper 12 is fed into the combustion chamber 3 through the refuse guide passage 4 and incinerated, ash generated by the incineration is taken out from the ash take-out port 5, and smoke generated by the incineration is discharged from the flue 6. Although not shown, the incinerator 2 is provided with a boiler, and is configured to supply heat generated by burning the garbage G to the boiler and generate power using steam generated by the boiler.

[ refuse storage section ]

Next, the garbage storage unit 11 will be described in detail with reference to fig. 3. Fig. 3 is a view showing the state of the waste storage unit 11 and the hopper 12 as viewed from above. The illustrated trash storage section 11 is a horizontally long rectangular shape, and has three loading doors 11a on one of its long sides and two hoppers 12 (hopper 1 and hopper 2) on the opposite long sides. In the illustrated example, the interior of the garbage storage 11 is divided into 80 sections of 5 × 16 vertical rows, two rows of sections on the side of the loading door 11a are receiving areas for the loaded garbage, and three rows of sections on the side of the hopper 12 are stirring areas for the garbage. The hoppers 12 may supply garbage to the same incinerator 2, or may supply garbage to different incinerators 2. That is, the waste incineration facility of the present embodiment may include a plurality of incinerators 2.

In the operation of the refuse pit 1, it is important to efficiently operate the crane 14 in the refuse storage section 11 having a limited capacity to appropriately stir and convey the refuse. The shape of the garbage storage 11 is not limited to a rectangular shape, and may be a square shape. The position, number, and shape of the hopper 12 are not particularly limited.

[ Crane control device ]

Next, a crane control device for automatically operating the crane 14 will be described with reference to fig. 1. Fig. 1 is a block diagram showing an example of a main part structure of a crane control device 50. The crane control device 50 may be disposed in the operation room 21 or may be disposed at another position.

As shown in the drawing, the crane control device 50 includes: a control unit 51 that comprehensively controls each unit of the crane control device 50; and a storage unit 52 that stores various data used by the crane control device 50. Further, the crane control device 50 includes: an input unit 53 that receives a user input to the crane control device 50; and a communication unit 54 for the crane control device 50 to communicate with other devices.

The control unit 51 includes a crane agent (area setting unit/competition adjusting unit) 61, an input agent (position determining unit/input managing unit) 62, a receiving agent (position determining unit/reception managing unit) 63, a stirring agent (position determining unit/stirring managing unit) 64, a block agent (segment managing unit) 65, a crane control unit 66, a height determining unit 67, and a stirring degree determining unit 68. The storage unit 52 stores an operation schedule table 71.

The crane agent 61 is a software agent that decides the operation of the crane 14. When a plurality of cranes 14 are provided, one crane agent 61 may be provided for each crane 14. As will be described in detail later, the crane agent 61 sets a garbage catching area where the garbage catching operation should be performed and a garbage catching area where the garbage releasing operation should be performed, based on the operation schedule 71. Further, details of the operation of the crane 14, that is, the position at which the crane 14 is moved and the work (stirring/transferring/throwing) to be performed by the crane 14 are determined based on instructions from other agents. The determined operation (referred to as a crane mode) and the destination (coordinates) of the crane 14 are notified to the crane control unit 66.

The input agent 62 is a software agent for managing the input operation of the garbage to the hopper 12. Specifically, the input agent 62 detects that there is an input command to input the garbage into the hopper 12 when the notification is received from the hopper height notification device 30 that the garbage height in the hopper 12 is equal to or less than the predetermined lower limit value via the communication unit 54. When the throw-in command is detected, the throw-in agent 62 determines which section of the garbage is thrown into the hopper 12 (which section the garbage catching position is set to) based on the index value calculated by the block agent 65, as will be described later in detail. The details of the "section" will be described later with reference to fig. 4. Further, since the hopper height notification device 30 also notifies information indicating the height of the refuse in the hopper 12, the input agent 62 sets the degree of urgency corresponding to the height notified from the hopper height notification device 30 for the above-described input work (the lower the height, the higher the degree of urgency).

The receiving agent 63 is a software agent that manages a transfer job of transferring garbage from a receiving area, which is an area for receiving garbage carried into the garbage pit 1, to a mixing area for mixing the garbage. As will be described in detail later, the reception agent 63 determines which section the garbage catching position (position in the reception area) and the garbage releasing position (position in the agitation area) are set to in the transfer job based on the index value calculated by the block agent 65.

The mixing agent 64 is a software agent that manages a mixing operation of capturing trash in a mixing area and releasing the captured trash in the same area. As will be described in detail later, the kneading agent 64 determines which section the garbage catching position and the garbage releasing position are set to during the kneading work, based on the index value calculated by the block agent 65.

The block agent 65 is a software agent provided for each of the sections obtained by dividing the garbage storage 11 into a plurality of sections. One block agent 65 manages one section, and holds information indicating the trash height of the managed section and information indicating the degree of stirring of the trash of the section as information indicating the state of the section. Further, the block agent 65 calculates an index value indicating the height of the necessity of the garbage catching work or the garbage releasing work in the managed section according to the height and the stirring degree of the garbage in the section using the information.

The crane control unit 66 causes the crane 14 to perform the operation in the crane mode (stirring, transferring, or inputting) notified from the crane agent 61. The destination (the trash catching position and the trash releasing position) of the crane 14 in the work is determined in accordance with a command from the crane agent 61.

The height determination unit 67 determines the garbage height for each block (each section) in the garbage storage unit 11 based on the detection result of the garbage height detection device 31. Specifically, since the trash level detecting device 31 of the present embodiment is an imaging device that images the image in the trash storage unit 11, the level determining unit 67 receives the image via the communication unit 54 and determines the trash level in each section by analysis. Note that the method of determining the trash level in each section is not limited to this example, and the determination may be made using a sensor or the like, or may be made by the length of the wire rope 18 when the grapple 17 reaches the trash. In fig. 1, an example of communication with the hopper height notification device 30 and the trash height detection device 31 by one communication unit 54 is shown, but communication may be performed via a different communication unit.

The agitation degree judging section 68 judges the agitation degree for each block (each segment) in the trash storage section 11 based on the detection result of the agitation degree detecting device 32. Specifically, the agitation degree detection device 32 of the present embodiment holds and updates the number of times of agitation for each block. Therefore, the agitation degree determining unit 68 obtains the number of times the refuse is agitated (the cumulative number of times the refuse is agitated after being carried into the refuse storage unit 11) for each block from the agitation degree detecting device 32, and determines the number of times as the agitation degree of each block.

The agitation degree detecting device 32 monitors the operation of the crane 14 and the carrying-in of the garbage, and updates the number of times of agitation for each block every time the crane 14 performs the operation or every time the garbage is carried in. More specifically, when the garbage is carried in, the agitation degree detection device 32 sets the number of times of agitation of the garbage at the uppermost layer in the block that receives the garbage to zero. Further, in the case where the piece already has garbage, the number of times of stirring thereof is not updated but maintained. In addition, when the garbage gripping operation is performed by the crane 14, the agitation degree detection device 32 updates the number of times of agitation at the gripping position of the garbage to the number of times of agitation of the garbage at the position that is created as the uppermost layer by the garbage gripper. Then, the agitation degree detection means 32 updates the number of times of agitation at the discharge position of the garbage to a value obtained by adding 1 to the number of times of agitation at the previous garbage catching position. For example, consider the following case: the height of the garbage at the garbage-catching position was 1.0m, the number of times of stirring from the upper surface to the 0.5m layer a was two, and the number of times of stirring from the bottom of the garbage storage section 11 to the 0.5m layer B was one. In this case, when the above-described model is used, the B-floor, in which the number of times of stirring is once, becomes the uppermost floor by the garbage catching operation, and the number of times of stirring at the garbage catching position is updated to one. Further, since the refuse on the a-level, which is agitated twice, falls on the refuse release position, the number of agitation times at the refuse release position is updated to 2+1 to 3. The agitation degree determination unit 68 may update the number of times of agitation.

The operation schedule 71 is information indicating a schedule for operating the crane 14, and more specifically, information indicating how to set the trash holding area and the trash holding area. Details of the operation schedule table 71 will be described later based on fig. 7.

[ section setting ]

Next, an example of setting the segments will be described with reference to fig. 4. Fig. 4 is a diagram showing an example of setting the segment of the trash storage 11. In the illustrated example, the interior of the garbage storage 11 is divided into 80 sections of 5 × 16 vertical sections, and the garbage height and the number of times of stirring in each section are shown. The method of division is not particularly limited, and it is preferable to set the range corresponding to one grab of the crane 14 as one segment because updating of the state after the operation of the crane 14 and the like are simple.

In the figure, the position of each segment is represented by coordinate values (X, Y) (X is 1, 2, …, 16) and (Y is 1, 2, …, 5). The area setting (details will be described later with reference to fig. 5) is represented by color separation. Specifically, the ranges of 1. ltoreq. X.ltoreq.15 and 1. ltoreq. Y.ltoreq.3 are defined as stirring regions, the ranges of 1. ltoreq. X.ltoreq.15 and 4. ltoreq. Y.ltoreq.5 are defined as receiving regions, and the ranges of X16 and 1. ltoreq. Y.ltoreq.3 are defined as non-stirring regions not used for stirring.

When such a section is set, 80 block agents 65 equal in number to the number of sections are provided, and each block agent 65 holds the trash height and the number of times of stirring in the corresponding section as information indicating the state of the section. For example, the segment of the coordinates (5, 3) is a segment of the stirring area, and the block agent 65 that manages this segment holds the height of 1400mm and the number of times of stirring 4 as information indicating the state of this segment. In the present embodiment, an example in which the number of times of stirring is used as the information indicating the degree of stirring of the garbage will be described, but the information indicating the degree of stirring of the garbage is not limited to this example. For example, the fine particle size, bulk specific gravity, and the like of the waste may be used as the information indicating the degree of stirring of the waste.

[ regional settings ]

The trash storage 11 of the trash pit 1 is divided into a plurality of areas and managed. Here, the area setting of the trash storage unit 11 will be described with reference to fig. 5. Fig. 5 is a diagram showing an example of region setting. In the example shown in fig. a, a stirring area, a receiving area, and a non-stirring area (an area with x marks) are set in the rectangular garbage storage 11 in a plan view. The receiving area is an area provided on the side of the loading door 11a, and the garbage loaded by the garbage collection vehicle P is thrown into the area (see fig. 3), and therefore the area is treated as a non-agitation area at least during a time period in which the garbage is loaded. The receiving zone and the agitation zone may be separated by a retaining wall or the like.

In the example of the figure (a), only one stirring region is provided, and in the examples of the figures (b) to (d), a plurality of stirring regions are provided. It is preferable to provide a plurality of stirring areas, because the waste in a certain stirring area can be transferred to another stirring area to stir the waste in a deep portion, as shown in section "a-a" and section "B-B" in fig. 5.

In the example shown in fig. (b), an intermediate region is set between the two stirring regions. The intermediate zone and the agitation zone may be separated by a retaining wall or the like. Further, as shown in section "a-a" of fig. 5, the upper surface of the refuse in the intermediate region may be inclined, and when the grapple 17 falls to such an inclined portion, the grapple 17 may be inclined and may not grab the refuse. Therefore, it is preferable that the intermediate region is also treated as a non-agitation region.

In the operation time table 71, which of the respective areas is set as the garbage catching area and which is set as the garbage disposal area is defined. Thus, the crane 14 is operated according to the operation schedule 71, so that the operation of the crane 14 between predetermined areas can be ensured. For example, when the region (c) forming the graph is set, the operation schedule table 71 can specify that the agitation region 1 is a garbage catching region and the agitation region 2 is a garbage releasing region. Thus, the crane 14 is operated according to the operation schedule 71, whereby the garbage in the mixing area 1 can be surely transferred to the mixing area 2.

In the example of fig. d, half of the stirring area of fig. c is set as the storage area. The storage area is an area for storing the garbage accumulated in the area for a predetermined period (for example, 2 to 3 days). When this area setting is applied, the storage area is not set as any of the trash catching area and the trash releasing area until a predetermined period of time elapses in the operation time table 71. This prevents the waste in the storage area from being stirred until a predetermined period of time has elapsed, and also prevents new waste from being transferred to the storage area. The stirring area 2 can be used as an area for mixing the waste in the stirring area 1 and the stirring area 3, and therefore the stirring area 2 is described as a mixing area. In the examples (c) and (d) in the figure, it goes without saying that the boundary between the stirring areas or between the stirring area and the storage area may be an intermediate area.

Such area setting may be determined at the latest before the time when the operation of the crane 14 is started, and for example, the user may set the area via the input unit 53 when the operation of the crane 14 is started. In this case, the user may input the operation schedule 71 through the input unit 53.

[ relationships of Agents ]

Next, the relationship between the agents will be described with reference to fig. 6. Fig. 6 is a diagram showing the relationship between the agents. As illustrated, the agents are divided into three hierarchies. Specifically, the uppermost hierarchy is the crane agent 61, the lowermost hierarchy is the block agent 65, and the middle hierarchies are the input agent 62, the reception agent 63, and the mixing agent 64.

The loading agent 62 determines a segment to be a garbage catching position during the loading operation based on the index value calculated by the block agent 65 of each segment included in the region to be loaded into the hopper 12, and notifies the determined segment to the crane agent 61. Further, the degree of urgency corresponding to the height of the refuse in the hopper 12 is set (the lower the refuse height, the higher the degree of urgency), and the set degree of urgency is also notified to the crane agent 61. The garbage catching position in the operation is basically a section in the stirring area, but the section in the receiving area may be set as the garbage catching position in a time zone in which the receiving area is used for stirring.

The reception agent 63 determines a segment to be a garbage collection position in the transfer operation based on the index value calculated by the block agent 65 for each segment included in the reception area. The reception agent 63 determines the segment to be the trash release position in the transfer operation based on the index value calculated by the block agent 65 of each segment included in the agitation area. Then, the reception agent 63 notifies the crane agent 61 of each of the decided segments.

The reception agent 63 may set an urgency level according to the garbage level in the section in which the garbage collection work is executed (the higher the garbage level is, the higher the urgency level is), and may notify the crane agent 61 of the set urgency level. This is because, if the garbage in the receiving area is too high, there is a problem that the transportation of the garbage is hindered, and it is desirable to control the garbage level in the receiving area more strictly than in the mixing area. For example, the garbage height may be divided into three stages, i.e., high, medium, and low, and the urgency levels corresponding to the respective divisions may be set to 3, 2, and 1, respectively. Thus, the transfer operation can be performed in preference to the stirring operation or the charging operation to the hopper 12 according to the height of the waste in the receiving area. The degree of urgency may be set based on the maximum value of the garbage level in the reception area, or may be set based on the average value of the garbage levels in the reception area.

The stirring agent 64 determines in which section the crane 14 is caused to perform the garbage catching operation and in which section the crane 14 is caused to perform the garbage disposal operation in the stirring operation, based on the index value calculated by the block agent 65 of each section included in the region where the stirring operation is performed. Then, the stirring agent 64 notifies the crane agent 61 of each section decided. In addition, the garbage catching position and the garbage releasing position in the stirring operation are basically sections within the stirring area, but the sections within the receiving area may be the garbage catching position and the garbage releasing position in a time period in which the receiving area is used for stirring.

The crane agent 61 determines to cause the crane 14 to perform the input work based on the notification of the input agent 62, and determines to cause the crane 14 to perform the transfer work based on the notification of the reception agent 63. In addition, the crane 14 is caused to perform the agitation work in response to the notification of the agitation agent 64.

Further, the crane agent 61 determines which notification corresponds to which job the crane 14 is to be preferentially executed in the case where the notifications from the input agent 62, the reception agent 63, and the agitation agent 64 compete.

[ example of work schedule ]

Next, an example of the operation schedule will be described with reference to fig. 7. Fig. 7 is a diagram showing an example of the operation schedule. The illustrated example shows a working day with garbage carried in from 6: 00 to next day 6: 00 for 24 hours. In the illustrated example, two stirring regions are set. As shown in the example of fig. 5 (b), an intermediate region may be set between the two stirring regions.

In the operation schedule of the present embodiment, the trash catching area and the trash releasing area are set for each time slot, and in fig. 7, a "+" mark is displayed in a section set as the trash catching area, and a "-" mark is displayed in a section set as the trash releasing area. That is, in the figure, a section of "+" mark indicates that the garbage catching work is performed, and a section of "-" mark indicates that the garbage releasing work is performed. In addition, in the section (in the illustrated example, the non-agitation area and the receiving area) where any mark is not displayed, neither the garbage catching work nor the garbage releasing work is performed.

Specifically, when the transfer for receiving the garbage (transfer from the receiving area to the stirring area) is completed, that is, 6: at time 00, the left stirring area is set as a trash grasping area, and a "+" mark is displayed in each section in this area. In addition, the right agitation area is set as a trash discharge area, and a "-" mark is displayed in each section in the area. Thus, 6: after 00, the stirring operation is performed in which the garbage is caught in the left stirring area and released in the right stirring area.

Further, at 9: at time 00, the entire receiving area is set as a trash grasping area, and the entire stirring area is set as a trash releasing area. That is, according to the working schedule, when 9: when 00, the positions and ranges of the garbage catching area and the garbage releasing area are changed. Thus, 9: after 00, a transfer operation is performed in which the garbage is caught in the receiving area and released in the stirring area. Since the garbage collection area at this point in time is the reception area, the reception agent 63 determines the section to be the garbage collection position and the section to be the garbage release position.

Then, at 17: at time 00, the entire receiving area and the right agitation area are set as the trash grasping area, and the left agitation area is set as the trash releasing area. Thus, 17: after 00, the garbage is captured in the receiving area and discharged in the left stirring area, and the garbage is captured in the right stirring area and discharged in the left stirring area. Further, the trash holding position and the trash releasing position in the transfer operation are determined by the receiving agent 63, and the trash holding position and the trash releasing position in the stirring operation are determined by the stirring agent 64.

The operation schedule table 71 stored in the storage unit 52 is information indicating the trash holding area and the trash releasing area for each of such time periods. It is to be understood that the setting of the garbage catching area and the garbage disposal area may be changed at a timing other than the three illustrated timings (6: 00, 9: 00, and 17: 00). In addition, the order of setting the garbage catching area and the garbage disposal area may be defined, and the timing at which each setting is applied may be omitted. In this case, after the completion of one setting operation, the operation may be switched to the next setting.

In the example of fig. 7, the reception area is not set as the garbage disposal area in any time zone, but the reception area may be set as the garbage disposal area in a time zone in which no garbage is carried in (17: 00 to 9: 00 on the next day in this example). This makes it possible to perform a garbage transfer operation and a garbage stirring operation that effectively utilize the receiving area.

[ determination of garbage gripping position and garbage releasing position ]

After the garbage catching area and the garbage releasing area are set as described above, a garbage catching position in the garbage catching area (at which section the garbage is caught) and a garbage releasing position in the garbage releasing area (at which section the garbage is released) are determined. That is, after setting the garbage catching area and the garbage releasing area, it is determined in which section the garbage is caught and in which section the garbage is released. Then, the determination is performed based on the index value calculated by the block agent 65 corresponding to each segment included in the garbage capture area and the garbage release area.

Specifically, for the shift operation or the stirring operation, the block agent 65 corresponding to each segment of the garbage disposal area calculates an index value indicating the height of the necessity of performing the garbage disposal operation in the segment. More specifically, the index value F is calculated by the following numerical expression (1) with the garbage height in the section being H and the number of times of stirring being G_P. Furthermore, w of the numerical formula (1)_HIs a weighting of the altitude, w_GIs a weighting of the degree of agitation. The weighting may be set in advance depending on which of the height and the degree of agitation is important. That is, when importance is attached to a section in which the garbage catching position is determined to a high degree, the garbage catching position may be determined with respect to w_GSetting w to a relatively large value_HThat is, when the region of the garbage catching position is determined with importance placed on the degree of stirring, the region may be determined with respect to w_HSetting w to a relatively large value_GAnd (4) finishing. In addition, w may be set to facilitate the specific section to be a trash holding position_HAnd w_GIs set to a value larger than the other sections. On the contrary, w may be set to be a position where a specific section is difficult to catch garbage_HAnd w_GIs set to a smaller value than the other sections. The same applies to the numerical expressions (2) and (3) described later. F_P＝{H×w_H+(1/G)×w_G}… (1)

Index value F calculated by the numerical expression_PThe higher the height, the larger the zone, and the smaller the number of times of stirring. That is, the block agents 65 corresponding to the respective sectors in the garbage correction area are all required to execute the garbage correction work, but the index value F is set as described above_PIndicating the required intensity. Then, by selecting the index value F_PThe large section can be a section having a high height and a small number of times of stirring, that is, a section having a high necessity of performing a garbage catching operation, as a garbage catching position.

In addition, the block agent 65 corresponding to each segment of the garbage disposal area calculatesAn index value indicating the height of the necessity of performing a garbage discharge operation in the section is shown. More specifically, the index value F is calculated by the following numerical expression (2) with the garbage height in the section being H, the number of times of stirring being G, and the index value F being calculated_D. W in the numerical formula (2)_HIs a weighting of the altitude, w_GIs a weighting of the degree of agitation. The weighting values of expressions (1) and (2) may be different or the same. Further, a different value weight may be used for each block agent 65, or a different value weight may be used for the blend area and the reception area. The same applies to the following numerical expression (3). F_D＝{(1/H)×w_H+G×w_G}…(2)

Index value F calculated by the numerical expression_DThe lower the height, the larger the zone size, and the larger the number of times of stirring. That is, the block agents 65 corresponding to the respective sectors in the garbage disposal area are all required to execute the garbage disposal work, but the index value F is set to be equal to or smaller than the predetermined threshold value F_DIndicating the required intensity. Then, by selecting the index value F_DThe large section can be a section having a low height and a large number of times of stirring, that is, a section having a high necessity of performing the garbage discharging operation (suitable for performing the garbage discharging operation), as the garbage catching position.

In this example, the numerical expression for determining the garbage catching position and the numerical expression for determining the garbage releasing position are different, but the same numerical expression may be used. For example, both the garbage catching position and the garbage releasing position may be determined by the above equation (1). In this case, a section having a high evaluation value calculated by the above expression (1) may be set as the trash holding position, and a section having a low evaluation value calculated by the above expression (1) may be set as the trash releasing position.

When the reception agent 63 determines the garbage collection position, the block agent 65 corresponding to each segment in the reception area calculates an index value by the above expression (1). Further, the block agent 65 corresponding to each segment in the garbage disposal area calculates an index value by the above expression (2).

Then, the receiving agent 63 selects the block agent having the largest calculated index value among the block agents 65 corresponding to the blocks in the receiving area, and determines the block agent corresponding to the selected block agent as the garbage disposal position. Similarly, the receiving agent 63 selects the block agent having the largest calculated index value among the block agents 65 corresponding to the segments in the garbage disposal area, and determines the segment corresponding to the selected block agent as the garbage disposal position. Thus, the garbage catching position and the garbage releasing position in the transfer operation are determined.

The same applies to the processing when the stirring agent 64 determines the trash gripping position and the trash releasing position. That is, the stirring agent 64 calculates the index value by the block agent 65 corresponding to each segment in the trash holding area according to the above expression (1), and calculates the index value by the block agent 65 corresponding to each segment in the trash releasing area according to the above expression (2). Then, the kneading agent 64 sets the section having the largest index value calculated by the expression (1) as the garbage collection position, and determines the section having the largest index value calculated by the expression (2) as the garbage release position. Thus, the garbage catching position and the garbage releasing position in the stirring operation are determined.

On the other hand, when the loading agent 62 determines the garbage catching position, it is preferable to load the garbage in a high section after sufficiently stirring into the hopper 12, and therefore, the block agent 65 calculates the index value F according to the following expression (3)_P. By selecting the index value F_PThe large section can be a section having a high height and a large number of times of stirring, that is, a section suitable for being thrown into the hopper 12, as a garbage catching position.

F_P＝{H×w_H+G×w_G}…(3)

[ flow of processing when the work schedule is executed ]

Next, based on fig. 8, the flow of processing (control method of the crane control apparatus) executed by the crane control apparatus 50 when executing the operation schedule is described. Fig. 8 is a flowchart showing an example of processing performed when the crane control device 50 performs stirring or transferring of the garbage according to the operation schedule.

First, the crane agent 61 reads the operation schedule table 71 from the storage unit 52 (S1), and sets a symbol (a "+" or "-" mark as shown in fig. 7) for each area based on the read operation schedule table 71 (S2). In other words, a garbage capture area (an area constituted by a section set with a "+" sign) and a garbage release area (an area constituted by a section set with a "-" sign) are determined. Then, the crane agent 61 notifies the set symbol to the reception agent 63 and the agitation agent 64.

Then, at least one of the reception agent 63 and the mix agent 64 calculates an index value for the block agent 65 corresponding to each segment in the area set with any one of the "+" and "-" (S3).

Specifically, when the reception area is set as the garbage correction area, the reception agent 63 calculates an index value for the block agent 65 corresponding to each segment in the reception area. The receiving agent 63 calculates an index value for the block agent 65 corresponding to each segment set as the garbage disposal area.

On the other hand, when the blend area is set as the garbage correction area, the blend agent 64 calculates an index value for the block agent 65 corresponding to each segment in the garbage correction area and the block agent 65 corresponding to each segment in the area. When both the mixing area and the receiving area are set as the trash holding area, the index values are calculated by both the mixing agent 64 and the receiving agent 63.

Then, at least either one of the receiving agent 63 and the stirring agent 64 determines the trash catching position and the trash releasing position of the crane 14 (S4, determination step). When the reception agent 63 determines the trash catching position and the trash releasing position in S4, the reception agent 63 transmits the determined trash catching position and the trash releasing position and an execution instruction of the transfer job to the crane agent 61. In addition, when the urgency level is set, the set urgency level is also notified.

On the other hand, when the stirring agent 64 determines the trash catching position and the trash releasing position, the stirring agent 64 transmits the determined trash catching position and the trash releasing position and an execution instruction of the stirring work to the crane agent 61. When both the reception agent 63 and the stirring agent 64 determine the trash holding position and the trash releasing position, an execution instruction of the job (transfer and stirring) and the trash holding position and the trash releasing position in the job are transmitted from both the reception agent 63 and the stirring agent 64 to the crane agent 61.

Then, the crane agent 61 determines the operation of the crane 14 based on the above-described pieces of information transmitted from at least one of the reception agent 63 and the agitation agent 64. Then, the crane control unit 66 is notified of the crane mode and the destination of the crane 14, and the crane 14 is operated (S5, crane control step). Specifically, when receiving the execution command of the transfer job from the receiving agent 63, the crane agent 61 determines to execute the transfer job, and notifies the crane control unit 66 of the crane mode (transfer) and the destination (the pickup position and release position of the refuse). On the other hand, when the instruction to execute the stirring job is received from the stirring agent 64, the crane control unit 66 is notified of the crane mode (stirring) and the destination (the grasping position and the releasing position of the garbage).

Further, after the stirring agent 64 determines the garbage catching position and the garbage releasing position for the stirring work, if the receiving agent 63 determines the garbage catching position and the garbage releasing position before the stirring work is performed, the crane agent 61 cancels the execution command for the stirring work. Then, the crane agent 61 transmits an execution command of the transfer job to the crane control unit 66. In this case, the mixing job instructed by the mixing agent 64 may or may not be performed after the transfer job is executed. When the degree of urgency is set for the shift work, it may be determined which of the shift work and the agitation work is to be executed preferentially according to the degree of urgency. For example, when the urgency level of the transfer job is low, the execution instruction of the transfer job may be cancelled and the execution instruction of the mixing job may be executed.

After the crane control unit 66 operates the crane 14, at least the block agent 65 associated with the operation updates the held state, that is, the trash height and the number of times of stirring (S6).

The height of the garbage may be determined by the height determining unit 67. In addition, it is also possible to previously model and store how the height of the garbage is changed by what operation of the crane 14, and update the height using the model. For example, the heights of the grab and release positions may be updated using the following model: in the stirring or transferring operation, the height of each garbage grabbing work is reduced by 0.5m, and the height of each garbage releasing work is increased by 0.5 m. In addition, the height of the garbage can be calculated from the length of the wire rope 18 at each time of the garbage catching operation, and the height can be updated.

Further, since the agitation degree detection device 32 updates the number of times the garbage is agitated during the operation by the crane 14, the agitation degree determination unit 68 obtains the updated number of times of agitation and notifies the block agent 65 of the updated number of times of agitation, whereby the block agent 65 updates the number of times of agitation to be maintained.

Then, the crane agent 61 determines whether or not the operations (stirring operation and transfer operation) of the target areas (the trash catching area and the trash releasing area) in which the symbols are set at S2 are ended (S7).

The criterion for this determination is not particularly limited as long as it is determined according to the purpose and goal of the work for each time slot in the operation schedule of the crane 14. For example, when it is desired to sufficiently stir the garbage to a deep portion in a time zone in which the garbage is not carried in, whether or not the target region is in a predetermined state may be used as a criterion for the determination. Specific examples of the reference include, for example, that the maximum height of the refuse in the receiving area is equal to or less than a predetermined value, and that the number of times of stirring in each zone in the stirring area is equal to or more than a predetermined number of times. In addition, for example, when the surface layer is to be stirred quickly in a time zone in which the garbage is carried in, whether or not the garbage catching operation is performed once in each of all the sections in the garbage catching area may be used as a criterion for determination. In addition, for example, the time when the garbage collection area and the garbage release area are reached (the symbol of S2) may be used as a criterion for determination. In this case, the operation can be performed as much as possible before the predetermined time. The determination criterion may be used in combination with another determination criterion. That is, if the other determination criterion is satisfied before the predetermined time, the job may be ended at the time, and if not, the job may be ended at the predetermined time.

If it is determined at S7 that the processing is not to be ended (no at S7), the processing returns to S3, and the processing of the target region is continued. On the other hand, when the determination is made as end (yes at S7), the crane agent 61 determines whether or not all schedules defined in the operation schedule 71 are ended (S8). If it is determined that the processing is ended (yes at S8), the illustrated processing is ended, and if it is determined that the processing is not ended (no at S8), the processing returns to S2.

[ flow of processing when detecting an input instruction ]

Next, a flow of processing executed when a garbage input command to the hopper 12 is detected will be described with reference to fig. 9. Fig. 9 is a flowchart showing an example of processing executed by the crane control device 50 when the input command is detected.

When the loading agent 62 detects a loading command for garbage into the hopper 12 based on the notification from the hopper height notification device 30, the index value is calculated by the block agents 65 corresponding to all the sections except the section targeted for the non-agitation area, etc. (S10). It is preferable that the refuse put into the hopper 12 is sufficiently stirred, and the higher the refuse height is, the easier the refuse is to be picked up by the crane 14, and therefore, the index value is calculated by the above equation (3).

Then, the loading agent 62 determines the pick-up position of the refuse loaded into the hopper 12 based on the calculated index value (S11). For example, the drop agent 62 may determine the segment with the largest metric value as the fetch position. Then, the input agent 62 notifies the crane agent 61 of the determined gripping position, and instructs to perform the input operation of the garbage into the hopper 12. The input agent 62 sets the degree of urgency corresponding to the height notified from the hopper height notification device 30, and notifies the set degree of urgency to the crane agent 61.

The crane agent 61 that has received the execution command for the input work determines whether or not there is a work being executed by the crane 14 (S12). If there is no job (no at S12), the process proceeds to S16, and if there is a job (yes at S12), the process proceeds to S13. Then, at S13, the crane agent 61 determines whether or not an emergency input is necessary based on the notified emergency degree. In addition, it is determined in advance what value the degree of urgency is, and it is determined that the urgent input is necessary.

If it is determined at S13 that emergency input is necessary (yes at S13), the crane agent 61 instructs the crane control unit 66 to interrupt the work being executed (S14), and the process proceeds to S16. On the other hand, if it is determined that the emergency input is not necessary (NO at S13), the crane agent 61 waits until the ongoing job is completed, terminates the job (S15), and proceeds to the process of S16. Further, which of the processes of S14 and S15 is performed may be determined according to the degree of urgency of the current local job and the degree of urgency of the drop job. For example, when a transfer job with a high degree of urgency is being executed, if the degree of urgency of the input job is lower than this, the process of S15 is executed, and if higher, the process of S14 may be executed.

At S16, the crane agent 61 notifies the crane control unit 66 of the crane mode (input) and the destination (the pickup position of the refuse), and inputs the refuse into the hopper 12. After the crane control unit 66 operates the crane 14, at least the block agent 65 associated with the operation updates the held state, that is, the trash height and the number of times of stirring (S17). The update of the status can be performed in the same manner as S6 in fig. 8. Further, when the garbage is charged into the hopper 12, the state may be updated by a model different from stirring and transferring because the adjustment of the volume of the garbage, which is not performed during stirring and transferring, is performed.

[ modified example ]

The trash holding position and the trash release position may be determined in consideration of the position of the crane 14 (more specifically, the position of the grapple 17) in addition to the index value. This makes it possible to determine an appropriate garbage catching position and an appropriate garbage release position while suppressing the travel distance of the crane 14 and suppressing the power consumption consumed by the operation of the crane 14.

Specifically, when the garbage catching position and the garbage release position for the stirring work are determined, a section closest to the position of the crane before the stirring work is performed among sections having an index value of at least a predetermined value may be determined as the garbage catching position. Then, a section closest to the determined trash holding position among the sections having the index value equal to or greater than the predetermined value may be determined as the trash release position. The same applies to the case where the trash catching position and the trash releasing position of the transfer work are determined.

In addition, when the garbage catching position for the input work is determined, a section on a straight line connecting the position of the crane before the input work and the hopper 12 or a section closest to the straight line among the sections having the index value of at least a predetermined value may be determined as the garbage catching position. This can minimize the path length of the crane 14 when the garbage is captured and thrown into the hopper 12.

Further, by adding an item relating to the path length of the crane 14 to the calculation formula of the index value, it is possible to determine the garbage catching position and the garbage release position in which the movement distance of the crane 14 is suppressed. In this case, an entry having a higher index value may be added as the path length of the crane 14 until the end of the operation is shorter. For example, a term representing the reciprocal of the distance from the position of the crane 14 to the section may be added to the above equation (1). Then, by determining the garbage catching position by using the index value calculated by the equation (1) to which the term is added, a term indicating the reciprocal of the distance from the position to the section may be added to the equation (2). Then, the route length of the crane 14 can be kept short by determining the garbage release position by the index value calculated by the equation (2) to which the term is added. In addition, in the case of the input work, a term representing the reciprocal of the distance from the position of the crane 14 to the section just before may be added to the above equation (3).

In the above embodiment, the example in which the crane 14 is operated according to the operation schedule 71 stored in the storage unit 52 has been described, but the crane control device 50 may create an operation schedule and operate the crane 14 according to the created operation schedule. In this case, the method of creating the operation schedule is not particularly limited, and may be created using a genetic algorithm, for example. Specifically, first, a plurality of "individuals" are generated, which is set as a garbage catching region and which is set as a garbage disposal region, and how to switch the garbage catching region and the garbage disposal region, among regions set as gene expressions (see fig. 5). Then, the following series of treatments were repeated, and the best gene was searched: individuals with high fitness calculated by the fitness evaluation function f (x) are preferentially selected, individuals of the next generation are generated by performing crossover, abrupt variation, and the like, and the fitness of each individual is evaluated. In addition, as the evaluation function, the setting of the garbage catching area and the garbage release area indicated by the above-mentioned genes using the crane 14 and the garbage of the garbage storage 11 after the excessive operation are closer to the ideal state, become a function of higher fitness. In addition, the ideal state may be a state according to the purpose of the work table or the like, and may be a state in which the number of times of stirring and the height of each zone are uniform, or a state in which the height of the waste in the receiving area is low, for example. By such a search, an operation schedule can be created in which the garbage in the garbage storage 11 can be brought close to an ideal stirring state. Of course, the work schedule created by such a method may be stored as the work schedule 71 in advance.

Further, the same function as that of the crane control apparatus 50 described above can be realized by a master-slave system in which a part of the processing unit included in the control unit 51 is provided in a server communicable with the crane control apparatus 50. Further, for example, each agent may be provided in a terminal device such as a notebook PC or a tablet PC, and the operation content of the crane 14 determined by the terminal device may be notified to a crane control device provided with the crane control unit 66 to operate the crane 14.

[ example of implementation by software ]

The control block (particularly, the control Unit 51) of the crane control device 50 may be realized by a logic circuit (hardware) formed in an integrated circuit (IC chip) or the like, or may be realized by software using a CPU (Central Processing Unit).

In the latter case, the crane control device 50 includes: a CPU that executes instructions of a program that is software for realizing each function, a ROM (Read Only Memory) or a storage device (these are referred to as "storage medium") that stores the program and various data so as to be readable by a computer (or CPU), a RAM (Random Access Memory) that develops the program, and the like. The object of the present invention is achieved by reading and executing the program from the storage medium by a computer (or CPU). As the storage medium, a "non-transitory tangible medium" such as a magnetic tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like can be used. The program may be provided to the computer via an arbitrary transmission medium (a communication network, a broadcast wave, or the like) through which the program can be transmitted. The present invention can also be realized by a data signal embedded in a carrier wave, the data signal embodying the program by electronic transmission.

The present invention is not limited to the above embodiments, and various modifications can be made within the scope shown in the claims, and embodiments obtained by appropriately combining technical means disclosed in different embodiments are also included in the technical scope of the present invention.

[ conclusion ]

In order to solve the above problem, a crane control device according to the present invention is a crane control device that controls an operation of a crane that transports garbage in a garbage pit, and includes:

a position determination unit that determines which zone the garbage collection position is set to when the crane performs a predetermined operation including a garbage collection operation, based on the height and the degree of stirring of the garbage in each zone into which the garbage storage unit in the garbage pit is divided into a plurality of zones; and a crane control unit that causes the crane to perform a garbage catching operation in the section determined by the position determining unit when the crane is caused to perform the predetermined operation.

According to the above configuration, the garbage catching position is determined not only by the height of the garbage in each section but also by the degree of stirring. Thus, the garbage catching position when the crane performs a predetermined operation can be set to an appropriate position (section) corresponding to both the height and the stirring degree of the garbage in each section.

Further, the position determination unit may determine which zone the garbage release position when the crane is caused to perform the predetermined work is set to, based on the height of the garbage and the degree of stirring in each zone.

According to the above configuration, even in the garbage discharge position when the crane is caused to perform a predetermined operation, an appropriate position (section) can be set in accordance with both the height and the stirring degree of the garbage in each section.

Further, the crane control device may include a zone management unit that manages one of the plurality of zones for each of the plurality of zones, wherein the zone management unit may calculate an index value indicating a height of the garbage catching operation in the zone according to a height and a stirring degree of the garbage in the managed zone, and the position determination unit may determine which zone the garbage catching position is set to using the index value.

According to the above configuration, the operation using the index values corresponding to the height and the agitation degree of the refuse enables the refuse catching position when the crane performs the predetermined work to be set to an appropriate position (section) corresponding to both the height and the agitation degree of the refuse in each section.

The crane control device may further include an area setting unit configured to set a garbage catching area in which a garbage catching operation should be performed and a garbage releasing area in which a garbage releasing operation should be performed in the predetermined operation, wherein the position determining unit may determine an area to be a garbage catching position from among areas included in the garbage catching area, and may determine an area to be a garbage releasing position from among areas included in the garbage releasing area.

According to the above configuration, the garbage catching area and the garbage releasing area are set, the area to be the garbage catching position is determined from the areas included in the garbage catching area, and the area to be the garbage releasing position is determined from the areas included in the garbage releasing area. This ensures the movement of the garbage from the garbage catching area to the garbage release area.

Further, the area setting unit may set the trash holding area and the trash release area so that at least one of the position and the range is different for each time zone.

According to the above configuration, since the garbage catching area and the garbage releasing area which are different in at least any one of position and range are set for each time zone, the garbage can be moved appropriately according to the time zone.

In addition, the area setting unit may set a trash release area from an area other than the receiving area of the garbage loaded in the area in the garbage storage unit during a time period when the garbage is loaded into the garbage pit, and may set a trash release area from an area including the receiving area during a time period when no garbage is loaded.

According to the above configuration, the receiving area is not set as the trash release area during the time zone when the trash is carried in, and therefore, it is possible to prevent the trash from being carried in due to the excessive accumulation of the trash in the receiving area. On the other hand, in the time zone in which no garbage is carried in, the receiving area can be set as the garbage disposal area, and therefore, the garbage can be transferred and stirred while effectively using the receiving area.

Further, the crane control device may include a loading management unit as the position determination unit, the loading management unit determining which zone the garbage catching position is set to during loading work, and the loading work may be a work of loading the garbage into a hopper of the incinerator by the crane.

According to the above configuration, the garbage catching position for the input operation can be automatically determined. Further, since the garbage catching position is determined according to the height and the stirring degree of the garbage in each section as described above, the garbage that has been sufficiently stirred in the section where the garbage is highly piled can be put into the hopper.

Further, the crane control device may include: a mixing management unit that manages a mixing operation, which is an operation of picking up and releasing waste in a mixing area set in the waste storage unit, and that determines, as the position determination unit, which section the waste picking position and the waste releasing position are set to during the mixing operation; a receiving management unit that manages a transfer operation that is an operation of moving the garbage from a receiving area of the loaded garbage to the stirring area, and determines, as the position determination unit, which zone the garbage catching position and the garbage releasing position in the transfer operation are to be set; and a competition adjusting unit that cancels the execution of the stirring operation and executes the transfer operation when the reception managing unit determines the garbage catching position and the garbage release position before the stirring operation after the stirring managing unit determines the garbage catching position and the garbage release position.

According to the above configuration, the garbage catching position and the garbage releasing position in the stirring operation and the transferring operation can be automatically determined. In addition, as described above, the trash catching position and the trash releasing position are determined according to the height and the degree of stirring of the trash in each section. This makes it possible to stir the waste with a uniform degree of stirring and with little variation in height in each zone, and to transfer the waste without causing any trouble in receiving the waste and without dropping the waste insufficiently stirred into the hopper.

Further, according to the above configuration, when the receiving management unit determines the garbage catching position and the garbage release position before the stirring operation is performed after the stirring management unit determines the garbage catching position and the garbage release position, the execution of the stirring operation is cancelled and the transfer operation is performed. Thus, even when a state of competition between the stirring work and the transferring work occurs, the competition can be eliminated, and the transferring work is performed with priority, so that it is possible to prevent an obstacle from occurring in the carrying-in of the garbage. Further, the agitation job whose execution is cancelled may be performed after the transfer job is ended.

In order to solve the above-described problems, a method for controlling a crane control apparatus according to the present invention is a method for controlling a crane control apparatus that controls an operation of a crane that transports garbage in a garbage pit, the method including: a determining step of determining which zone the garbage collection position is set to when the crane performs a predetermined operation including a garbage collection operation, based on a height and a stirring degree of the garbage in each zone obtained by dividing the garbage storage section in the garbage pit into a plurality of zones; and a crane control step of causing the crane to perform a garbage catching operation in the section determined in the determining step when causing the crane to perform the predetermined work. This provides the same effect as the crane control device.

In this case, a control program of the crane control apparatus that causes the computer to implement the crane control apparatus by the computer and a computer-readable storage medium storing the control program are also included in the scope of the present invention by causing the computer to operate as each unit (software element) provided in the crane control apparatus.

Description of the reference numerals

1: garbage pit, 11: garbage storage, 14: a crane, 50: crane control device, 61: crane agent (area setting unit/competition adjusting unit), 62: input agent (position determination unit/input management unit), 63: reception agent (location determination unit/reception management unit), 64: mixing agent (position determination unit/mixing management unit), 65: block agent (segment management unit), 66: a crane control part.

Claims

1. A crane control device for controlling an operation of a crane for transporting garbage in a garbage pit, the crane control device comprising:

a position determination unit that determines which zone the garbage collection position is set to when the crane performs a predetermined operation including a garbage collection operation, based on the height and the degree of stirring of the garbage in each zone into which the garbage storage unit in the garbage pit is divided into a plurality of zones; and

a crane control unit that causes the crane to perform a garbage catching operation in the section determined by the position determination unit when causing the crane to perform the predetermined operation,

a section management unit configured to manage one of the plurality of sections for each of the plurality of sections,

the section management part is a software agent,

the section management unit as a software agent calculates an index value indicating the height required for the garbage catching operation in the section by weighting the value indicating the height of the garbage in the managed section and the value indicating the degree of stirring,

the position determination unit determines which segment the garbage catching position is set to using the index value calculated by each software agent,

and, when the position determining unit determines the garbage catching position for the stirring work or the transferring work, the position determining unit determines, as the garbage catching position, a section closest to the position of the crane before the stirring work or the transferring work is performed among the sections having the index value of the predetermined value or more,

the position determination unit determines, as the garbage catching position, a section located on a straight line connecting a position of the crane before the garbage storage unit is loaded with the garbage to the hopper of the incinerator or a section closest to the straight line, among the sections in which the index value is equal to or greater than a predetermined value, when determining the garbage catching position for the loading operation, which is an operation of loading the garbage in the garbage storage unit into the hopper of the incinerator by the crane.

2. Crane control according to claim 1,

the position determination unit further determines which zone the garbage release position when the crane is caused to perform the predetermined work is set to, based on the height of the garbage and the degree of stirring in each zone.

3. Crane control according to claim 2,

an area setting unit that sets a garbage catching area where the garbage catching operation should be performed and a garbage releasing area where the garbage releasing operation should be performed in the predetermined operation,

the position determination unit determines a section to be a garbage collection position from among the sections included in the garbage collection area, and determines a section to be a garbage release position from among the sections included in the garbage release area.

4. Crane control apparatus according to claim 3,

the region setting unit sets the garbage catching region and the garbage disposal region differently for each time zone depending on at least one of a position and a range.

5. Crane control apparatus according to claim 3 or 4,

the area setting unit sets a garbage disposal area from an area other than a receiving area of the garbage to be carried in, among areas in the garbage storage unit, in a time zone in which the garbage is carried into the garbage pit, and sets a garbage disposal area from an area including the receiving area in a time zone in which no garbage is carried in.

6. Crane control according to any one of claims 1 to 4,

an input management unit for managing the input work,

the input management unit is configured to determine, as the position determination unit, which zone the garbage catching position in the input operation is set to.

7. The crane control apparatus according to claim 2, comprising:

a mixing management unit that manages a mixing operation, which is an operation of picking up and releasing waste in a mixing area set in the waste storage unit, and that determines, as the position determination unit, which section the waste picking position and the waste releasing position are set to during the mixing operation;

a receiving management unit that manages a transfer operation that is an operation of transferring the refuse from a receiving area of the refuse being carried in to the stirring area, and that determines, as the position determination unit, which zone the refuse catching position and the refuse releasing position in the transfer operation are to be set; and

and a competition adjusting unit that cancels the execution of the mixing operation and executes the transfer operation when the receiving management unit determines the garbage catching position and the garbage release position before the mixing operation is executed after the mixing management unit determines the garbage catching position and the garbage release position.

8. A control method of a crane control device for controlling the operation of a crane for transporting garbage in a garbage pit,

the method for controlling a crane control device includes:

a determining step of determining which zone the garbage collection position is set to when the crane performs a predetermined operation including a garbage collection operation, based on the height and the stirring degree of the garbage in each zone obtained by dividing the garbage storage section in the garbage pit into a plurality of zones; and

a crane control step of causing the crane to perform a garbage catching operation in the section determined in the determination step when causing the crane to perform the predetermined work,

the crane control device includes, for each of the plurality of segments, a segment management unit that manages one of the plurality of segments,

the section management part is a software agent,

the control method comprises the following steps: a step of calculating an index value indicating a level of necessity of a garbage catching operation in the section by weighting a value indicating a level of garbage in the managed section and a value indicating a degree of stirring by the section management unit as a software agent,

in the determining step, the index value calculated by each software agent is used to determine which segment the garbage capture position is set to,

in the determining step, when the garbage catching position for the stirring work or the transferring work is determined, a section closest to the position of the crane before the stirring work or the transferring work among the sections having the index value of the predetermined value or more is determined as the garbage catching position,

in the determining step, when a garbage catching position for a charging operation, which is an operation of charging garbage in the garbage storage section into a hopper of an incinerator by the crane, is determined, a section located on a straight line connecting a position of the crane before the charging operation and the hopper or a section located closest to the straight line, among sections where the index value is equal to or greater than a predetermined value, is determined as the garbage catching position.

9. A computer-readable recording medium that records a control program for causing a computer to function as the crane control apparatus according to claim 1 and causing a computer to function as the position determining unit and the crane control unit.