CN109312921A - Crane controller, the control method of crane controller, control program and recording medium - Google Patents

Abstract

Crane controller (50) has: stirring agency (64), the height and stirring extent of the rubbish of its each section according to made of rubbish storing portion (11) are divided into multiple sections, the rubbish crawl position for executing crane (14) when stirring operation which section be set as determined；And crane control portion (66), so that crane is executed rubbish crawl work in the section of decision.

Description

Crane controller, crane controller control method, control program, with And recording medium

Technical field

The present invention relates to the cranes that the work of the crane to the dump pit for being set to garbage incinerating system is controlled Control device etc..

Background technique

Garbage incinerating system has the dump pit for the rubbish that interim storage refuse collector is transported into, the rubbish quilt in dump pit After crane stirring, it is admitted to incinerator burning.The stirring be in order to make be sent into incinerator rubbish quality homogenous and into Capable, in order to make waste steady burn, this is important processing.As relevant to the automatic control of such crane existing Technical literature, for example, the patent document 1 and 2 of lower note can be enumerated.

A kind of crane automatic operating device is described in the patent document 1 of lower note, detects the color in dump pit Distribution makes the rubbish in dump pit mobile in a manner of integrally becoming identical distribution of color.In addition, the patent document 2 of lower note In describe a kind of automatic operating device, differentiate the height of the waste layer in dump pit, grab the rubbish in high place and from It is transferred to low place dynamicly.

Existing technical literature

Patent document

Patent document 1: Japanese Laid-Open Patent Publication " tekiaki 64-49815 bulletin (on 2 27th, 1989 open) "

Patent document 2: Japanese Laid-Open Patent Publication " tekiaki 56-28188 bulletin (on March 19th, 1981 is open) "

Summary of the invention

(1) technical problems to be solved

But above-mentioned such prior art is insufficient to allow the work of crane best.For example, the skill of patent document 1 In art, although being stirred in a manner of keeping distribution of color uniform, the color of rubbish may not indicate rubbish quality, in addition, only By the color of rubbish, the degree of stirring can not be understood.Therefore, in the technology of patent document 1, cannot be formed sometimes makes rubbish Stirring as uniform quality.Moreover, under status, there is no the evaluation index for the rubbish quality for meeting actual use, This, which also becomes, is difficult to make crane execution best effort (to grab rubbish in optimal position, discharge the rubbish in optimal position Work) a reason.In addition, in the technology of patent document 2, it is automatic to carry out although can differentiate the height of waste layer The transfer of rubbish from eminence to lower, still, the equalization for rubbish quality do not account for, and can not be formed makes rubbish The stirring of uniform quality.

Therefore, under status, in most garbage incinerating system, operator rule of thumb, intuition operate crane, deposit Not the problem of not can avoid rubbish quality fluctuation in a way due to the qualification because of operator.In addition, in recent years, waste incineration is set Standby miniaturization is pushed into, and by miniaturization, can reduce the manufacturing cost of garbage incinerating system, on the contrary, rubbish storing portion Narrow, due in narrow steric bulk rubbish, carry out for making the stirring operation of rubbish quality homogenous become tired It is difficult.In addition, since rubbish is constantly transported into narrow rubbish storing portion, the transfer of rubbish expends the time, and exists The temporal limitation for stirring the limited time of rubbish, causes not to be sufficiently stirred and is just incinerated, and the burning of rubbish becomes as a result, It obtains unstable.

In addition, the operation that crane executes is in addition to stirring as described above is made out of trade, there is also will be piled up in the rubbish being transported into The rubbish of the receiving area of rubbish is transferred to the transfer tasks of stirring region, the rubbish investment hopper after stirring is sent into incinerator Investment operation etc..Moreover, in these operations, it is also desirable to consider rubbish height and stirring extent both sides after determine rubbish crawl Position, rubbish releasing position.

The present invention puts in view of the above-mentioned problems and completes, it is intended that realizing can will make as defined in crane execution Rubbish crawl position when operation is set as the crane control of suitable position corresponding with the height of rubbish and stirring extent both sides Device processed etc..

(2) technical solution

In order to solve the above problems, crane controller of the invention is the lifting that rubbish is carried in control in dump pit The crane controller of the work of machine, has: position determination section, draws according to by the rubbish storing portion in above-mentioned dump pit It is divided into the height and stirring extent of the rubbish of each section made of multiple sections, to determine to make above-mentioned crane to execute comprising rubbish Which section rubbish crawl position when rubbish grabs the defined operation of work is set as；And crane control portion, make it is above-mentioned When crane executes above-mentioned defined operation, the section for determining that above-mentioned crane in above-mentioned position determination section executes rubbish crawl Work.

In addition, in order to solve the above problems, the control method of crane controller of the invention is controlled at dump pit The control method of the crane controller of the work of the interior crane for carrying rubbish, it includes deciding step, according to will be above-mentioned Rubbish storing portion in dump pit is divided into the height and stirring extent of the rubbish of each section made of multiple sections, come determine by Which section rubbish crawl position when above-mentioned crane being made to execute the defined operation comprising rubbish crawl work is set as；And Crane control step makes above-mentioned crane by above-mentioned decision when making above-mentioned crane execute above-mentioned defined operation The section that step determines executes rubbish and grabs work.

(3) beneficial effect

According to the present invention, play following effect: can by make crane execute as defined in operation when rubbish crawl position It is set as suitable position corresponding with the height of rubbish and stirring extent both sides.

Detailed description of the invention

Fig. 1 is the block diagram for indicating major part structure an example of the crane controller of one embodiment of the present invention.

Fig. 2 is the cross-sectional view for indicating to have the outline structure of garbage incinerating system of dump pit.

Fig. 3 is the figure for indicating the state in rubbish storing portion and hopper in above-mentioned dump pit viewed from above.

Fig. 4 is the figure for indicating the setting example of the section in above-mentioned rubbish storing portion.

Fig. 5 is the figure for indicating the example of region setting.

Fig. 6 is the figure for indicating the relationship of each agency.

Fig. 7 is the figure for indicating an example of operating schedule.

Fig. 8 is the processing indicated when above-mentioned crane controller carries out the stirring or transfer of rubbish according to operating schedule An example flow chart.

Fig. 9 is the flow chart of an example for the processing for indicating that above-mentioned crane controller is executed in detection investment instruction.

Specific embodiment

Based on Fig. 1 to Fig. 9, one embodiment of the present invention is illustrated.The present invention relates to carry in dump pit The crane controller etc. that the work of the crane of rubbish is controlled, here, to dump pit and having firstly, being based on Fig. 2 The garbage incinerating system of dump pit is illustrated.

(summary of garbage incinerating system)

Fig. 2 is the cross-sectional view for indicating to have the outline structure of garbage incinerating system of dump pit.The waste incineration of diagram is set It is standby to include: the dump pit 1 for the rubbish that interim storage refuse collector P is transported into and burnt to what the rubbish in dump pit 1 was burned Burn furnace 2.Dump pit 1 is connect with incinerator 2 by the hopper 12 for supplying rubbish to incinerator 2, and the rubbish in dump pit 1 is logical It crosses hopper 12 and is admitted to incinerator 2 and burned.

The bottom of dump pit 1 be rubbish storing portion 11, refuse collector P by rubbish from be transported into door 11a pour into rubbish storage Portion 11 is deposited, the rubbish storing is in rubbish storing portion 11 (the rubbish G of diagram).

In addition, rubbish storing portion 11 and hopper 12 are covered by building 13, it is arranged in the ceiling portion of the building 13 There is crane 14.The crane 14 has girder 15, row overhead traveling crane 16, grab bucket 17, wirerope 18 and hoist engine 19.Girder 15 are configured in the mode being erected between guide rail (being extended in Fig. 2 along depth direction), and above-mentioned guide rail, which is respectively arranged at, to be built It builds on the opposed wall surface of object 13, girder 15 can move on the depth direction of Fig. 2 along the guide rail.In addition, row overhead traveling crane 16 are set on girder 15 and can be on girder 15 along the left and right directions of Fig. 2 (side orthogonal with the moving direction of girder 15 To) mobile.Hoist engine 19 (such as winch) is placed on the row overhead traveling crane 16, in the wirerope 18 extended from hoist engine 19 Front end is provided with the grab bucket 17 of crawl rubbish G.The grab bucket 17 is able to carry out opening and closing work.

In this way, girder 15 can move on the depth direction of Fig. 2, row overhead traveling crane 16 can be on the left and right directions of Fig. 2 It is mobile, therefore any position of the grab bucket 17 into rubbish storing portion 11 can be made mobile by the combination of these movements.In addition, Wirerope 18 can be stretched out from hoist engine 19 to be made 17 decline of grab bucket and grabs the rubbish G in rubbish storing portion 11 with grab bucket 17.And It, can be by the rubbish of crawl and by controlling girder 15, row overhead traveling crane 16, grab bucket 17 and the work of hoist engine 19 G is transferred to other positions or investment hopper 12 in rubbish storing portion 11.

The job control of such crane 14 can be so that the mode in rubbish storing portion 11 can be monitored from being set to The operating room 21 of the sidewall portion 13a of building 13 manually carries out, and is also possible to pass through crane controller as described later Automatically carry out.

Although more cranes 14 also can be set in addition, only showing a crane 14 in Fig. 2.With only set It is compared when setting a crane 14, more cranes 14 of setting can be more fully stirred.For example, being risen being provided with two In the case where heavy-duty machine 14, make the transfer of a progress rubbish and the investment to hopper 12, so as to make another crane 14 It is exclusively used in stirring.

It include combustion chamber 3, rubbish path of navigation 4, grey outlet 5, flue 6 in incinerator 2.Put into the rubbish of hopper 12 Rubbish G is admitted to combustion chamber 3 by rubbish path of navigation 4 and is burned, and burns generated ash and is taken out from grey outlet 5, and Cigarette caused by burning is discharged from flue 6.Although boiler is provided in incinerator 2 in addition, not illustrating, and be configured to Boiler supplies heat caused by rubbish G burning, and is generated electricity using the steam that boiler generates.

(rubbish storing portion)

Then, it is illustrated based on details of the Fig. 3 to above-mentioned rubbish storing portion 11.Fig. 3 is to indicate viewed from above The figure of the situation of rubbish storing portion 11 and hopper 12.The rubbish storing portion 11 of diagram is horizontally long oblong-shaped, in its long side One side tool is there are three being transported into door 11a, and there are two hopper 12 (hopper 1 and hoppers 2) in opposed long side tool.In diagram In example, 80 sections of vertical 5 × cross 16 will be divided into rubbish storing portion 11, being transported into two column sections of the side door 11a is to be transported into Rubbish receiving area, three column sections of 12 side of hopper are the stirring region of rubbish.Each hopper 12 can both be burnt to same It burns furnace 2 and supplies rubbish, rubbish can also be supplied to different incinerators 2 respectively.That is, the rubbish in present embodiment is burnt Burning in equipment also may include multiple incinerators 2.

In the operation of dump pit 1, crane 14 is made efficiently to work and fit in the rubbish storing portion 11 of limited volume Locality stirring, carrying rubbish are critically important.In addition, the shape in rubbish storing portion 11 is not limited to oblong-shaped, it is also possible to just Square shape.In addition, the position of hopper 12, number, shape are also not particularly limited.

(crane controller)

Then, the crane controller for making above-mentioned crane 14 automatically work is illustrated based on Fig. 1.Fig. 1 It is the block diagram for indicating an example of major part structure of crane controller 50.In addition, crane controller 50 both can be with It is configured in above-mentioned operating room 21, other positions can also be configured at.

As shown in the drawing, crane controller 50 has: control unit 51, comprehensively control crane controller 50 Each portion；And storage unit 52, the various data that storage crane controller 50 uses.In addition, crane controller 50 Have: input unit 53 receives input of the user to crane controller 50；And communication unit 54, it is used for crane control Device 50 processed is communicated with other devices.

In addition, control unit 51 includes crane agency (region setting part/competition adjustment section) 61, puts into act on behalf of and (determine position Determine portion/investment management department) 62, Receiving Agent (position determination section/reception management department) 63, stirring agency's (position determination section/stirring Management department) 64, block agency (section management portion) 65, crane control portion 66, height judging part 67 and stirring extent judging part 68.Moreover, being stored with operating schedule 71 in storage unit 52.

Crane agency 61 is the ageng for determining the work of crane 14.The case where being equipped with more crane 14 Under, a crane can be arranged to each crane 14 and act on behalf of 61.It is described behind details, crane agency 61 is according to the working time Table 71 come set should execute rubbish crawl work rubbish capture area and should execute rubbish release work rubbish catching block Domain.Moreover, according to the instruction from other agencies, come determine crane 14 work details, that is, keep crane 14 mobile Position and the operation (stirring/transfer/investment) for executing crane 14.Moreover, by the operation determined in this way (referred to as crane mould Formula) and crane 14 destination (coordinate) notify to crane control portion 66.

Investment agency 62 is the ageng that opposite hopper 12 puts into that the investment operation of rubbish is managed.Specifically, Investment agency 62 is becoming defined lower limit value hopper height notice device 30 below from the rubbish height in notice hopper 12 In the case where receiving above-mentioned notice via communication unit 54, it is detected as with the investment instruction for putting into rubbish to hopper 12.Then, it throws Enter agency 62 in the case where detecting investment instruction, the index value calculated based on block agency 65 is determined the rubbish of which section Investment is described behind details to hopper 12 (which section rubbish crawl position is set as).In addition, the details base of above-mentioned " section " It is described below in Fig. 4.In addition, hopper height notice device 30 also notifies to indicate the letter of the rubbish height in hopper 12 together Breath, therefore, investment agency 62 set above-mentioned investment operation corresponding with the height notified from hopper height notice device 30 Urgency (height is lower, and urgency is higher).

Receiving Agent 63 is the ageng being managed to transfer tasks, and above-mentioned transfer tasks are from as receiving to rubbish The operation of rubbish is shifted to the stirring region of stirring rubbish in the receiving area in the region for the rubbish that rubbish hole 1 is transported into.It is chatted behind details It states, Receiving Agent 63 is determined based on the index value that block agency 65 calculates by the rubbish crawl position (receiving area in transfer tasks Interior position) and rubbish releasing position (position in stirring region) which section be set as.

Stirring agency 64 is the ageng being managed to stirring operation, and above-mentioned stirring operation is grabbed in stirring region Take rubbish, and the operation that the rubbish of crawl is discharged in same region.It is described behind details, stirring agency 64 is based on block agency 65 The index value of calculating determines the rubbish crawl position stirred in operation and rubbish releasing position which section are set as.

Block agency 65 is to the ageng that rubbish storing portion 11 is divided into each section setting made of multiple sections.One A 65 one section of management of block agency, and will indicate the information of the rubbish height of managed section and indicate the rubbish of the section Stirring extent information as indicate the section state information and keep.In addition, block agency 65 uses these information, calculate The rubbish crawl work indicated in the section corresponding with the height of the rubbish of the section managed and stirring extent or rubbish out Discharge the index value of the height of the necessity of work.

Crane control portion 66 makes crane 14 execute crane mode (stirring, transfer from 61 notice of crane agency Or investment) operation.In addition, destination (rubbish crawl position and rubbish releasing position) basis of the crane 14 in the operation From crane agency 61 instruction and determine.

Height judging part 67 judges each of rubbish storing portion 11 according to the testing result of rubbish height detecting device 31 The rubbish height of block (each section).Specifically, the rubbish height detecting device 31 of present embodiment is shooting rubbish storing The filming apparatus of image in portion 11, therefore, height judging part 67 receive above-mentioned image via communication unit 54, pass through analysis judgment Rubbish height in each section.In addition, the judgment method of the rubbish height in each section is not limited to the example, sensing also can be used Device etc. judges that the length of the wirerope 18 when can also reach rubbish by grab bucket 17 judges.In addition, being shown in Fig. 1 logical The example that a communication unit 54 notifies device 30 and rubbish height detecting device 31 to communicate with hopper height is crossed, but can also be via not Same communication unit communication.

Stirring extent judging part 68 judges in rubbish storing portion 11 according to the testing result of stirring extent detection device 32 The stirring extent of each piece (each section).Specifically, the stirring extent detection device 32 of present embodiment keeps, updates often The stirring number of a block.Therefore, stirring extent judging part 68 is stirred from the rubbish that stirring extent detection device 32 obtains each piece Number (the accumulative stirring number after being transported into rubbish storing portion 11) is mixed, which is judged as to each piece of stirring extent.

In addition, stirring extent detection device 32 monitors the work of crane 14 and being transported into for rubbish, whenever crane 14 into Row operation, or whenever being transported into rubbish, just update each piece of stirring number.More specifically, when being transported into rubbish, stirring extent inspection It surveys device 32 and the stirring number of the rubbish of the top layer in the block for receiving the rubbish is set as zero.In addition, being had existed in the block In the case where rubbish, it is not updated and stirs number, and be to maintain.In addition, carrying out rubbish crawl work using crane 14 In the case of, the stirring number of the crawl position of rubbish is updated to grabbing by rubbish in this position by stirring extent detection device 32 Work is taken to be created as the stirring number of the rubbish of top layer.Moreover, the stirring the releasing position of rubbish of stirring extent detection device 32 Mix the value that number is updated to after the stirring number of the crawl position of rubbish before adds 1.For example, it is contemplated that following situations: rubbish Rubbish height on the crawl position of rubbish is 1.0m, is twice, from rubbish storing from upper surface to the stirring number of the A of 0.5m layer The stirring number of B layer of the bottom in portion 11 to 0.5m are primary.In this case, if being grabbed using above-mentioned model by rubbish Work is taken, stirring number is that primary B layer becomes top layer, and the stirring number of rubbish crawl position is updated to once.In addition, stirring It mixes the rubbish that number is A layer twice and falls on rubbish releasing position, therefore the stirring number of rubbish releasing position is updated to 2+1= 3 times.In addition, stirring extent judging part 68 can also carry out the update of such stirring number.

Operating schedule 71 is the information for the timetable for indicating to make crane 14 to work, more specifically, be indicate how Set the information of rubbish capture area and rubbish capture area.The details of operating schedule 71 are described below based on Fig. 7.

(section setting)

Next, being based on Fig. 4, the setting example of section is illustrated.Fig. 4 is to indicate that the section in rubbish storing portion 11 is set The figure of usual practice.In the example of diagram, it will be divided into 80 sections of vertical 5 × cross 16 in rubbish storing portion 11, show each section Rubbish height and stirring number.The method of division is not particularly limited, if the range once grabbed that will be equivalent to crane 14 is set For a section, then the update etc. of the state after the work of crane 14 becomes simply, therefore more preferably.

In addition, in the figure, by the position of each section with the coordinate value of (X, Y) (X=1,2 ..., 16), (Y=1,2 ..., 5) It indicates.Moreover, region setting (details are described below based on Fig. 5) is distinguished by color to be indicated.Specifically, by 1≤X≤ 15, the range of 1≤Y≤3 is set as stirring region, and the range of 1≤X≤15,4≤Y≤5 is set as receiving area, by X=16,1≤ The range of Y≤3 is set as being not used in the non-stirred region of stirring.

In the case where setting such section, in 80 blocks agency 65 identical with the quantity of section, each piece of generation, are set Reason 65 using in corresponding section rubbish height and stirring number as expression the section state information and keep.For example, The section of coordinate (5,3) is the section of stirring region, manages the block agency 65 of the section for height=1400mm and stirs number =4 times as indicate the section state information and keep.In addition, in the present embodiment, stirring as expression rubbish The information for mixing degree is illustrated using the example of stirring number, but indicates that the information of the stirring extent of rubbish is not limited to the example.Example Such as, the fine granularity of rubbish, bulk specific gravity etc. can also be used as to the information for indicating the stirring extent of rubbish.

(region setting)

The rubbish storing portion 11 of dump pit 1 is divided into multiple regions and is managed.Here, Fig. 5 is based on, to rubbish storing portion 11 region is set for illustrating.Fig. 5 is the figure for indicating the example of region setting.In the example of (a) of the figure, oblong-shaped is overlooked Rubbish storing portion 11 in be set with stirring region, receiving area, non-stirred region the region of the marking (record ×).In addition, Receiving area is provided at the region being transported into the side door 11a, casts the rubbish (referring to Fig. 3) that refuse collector P is transported into the region, Therefore, which is at least handled in the period being transported into for carrying out rubbish as non-stirred region.Receiving area and stirring area Domain can be separated by barricade etc..

In the example of (a) of the figure, it is provided only with a stirring region, in the example of (b)~(d) of the figure, is equipped with multiple Stirring region.By the way that multiple stirring regions are arranged, as shown in " Section A-A " of Fig. 5, " section B-B ", by the way that certain is stirred Rubbish in region is transferred to other stirring regions, can be stirred to the rubbish in deep, therefore, more preferably.

In addition, being set with intermediate region between two stirring regions in the example of (b) of the figure.It intermediate region and stirs Mixing region can be separated by barricade etc..In addition, the rubbish of intermediate region is upper sometimes as shown in " Section A-A " of Fig. 5 Surface is inclined state, if grab bucket 17 drop to such sloping portion, there is 17 inclination of grab bucket, can not grab rubbish Situation.It is therefore preferable that intermediate region is also used as non-stirred region to handle.

It is defined in table 71 between at work and which of such each region is set as rubbish capture area, which is set as Rubbish release areas.As a result, by making crane 14 work according to operating schedule 71, it can guarantee defined interregional rise The work of heavy-duty machine 14.For example, in the case where forming the region of (c) of the figure and setting, can provide in operating schedule 71 by Stirring region 1 is set as rubbish capture area, and stirring region 2 is set as rubbish release areas.As a result, by making 14 basis of crane The operating schedule 71 work, so as to make the rubbish of stirring region 1 reliably be transferred to stirring region 2.

In addition, the half of the stirring region of (c) of the figure is set to storage area in the example of (d) of the figure.Storage Region is the region that specified time limit (for example, 2~3 days) are placed for that will be piled up in the rubbish in the region.It is set using the region In the case where, at work between in table 71, before by specified time limit, storage area is not set as rubbish capture area and rubbish Either one or two of rubbish release areas.The rubbish of storage area will not be stirred before by specified time limit as a result, in addition, will not New rubbish is shifted to storage area.In addition, stirring region 2 can be as the rubbish that region 1 and stirring region 3 is mixed Region uses, and therefore, stirring region 2 is recorded as Mixed Zone.In addition, in (c) of the figure, the example of (d), it goes without saying that It can be using the boundary part of between stirring region or stirring region and storage area as intermediate region.

As long as the setting of such region the latest at the time of starting the work of crane 14 before determine, for example, using Person can set when starting the work of crane 14 via input unit 53.In addition, at this point, user can also be via defeated Enter 53 input working time table 71 of portion.

(relationship respectively acted on behalf of)

Next, being based on Fig. 6, the relationship of each agency is illustrated.Fig. 6 is the figure for indicating the relationship of each agency.Such as figure Show ground, agency is divided into three stratum.Specifically, the stratum of upper is crane agency 61, the stratum of lowermost position is block Agency 65, stratum among them are investment agency 62, Receiving Agent 63 and stirring agency 64.

The block agency for each section that investment agency 62 is included based on the region for becoming the goals of investment put into hopper 12 65 index values calculated determine to be set as the section of rubbish crawl position in investment operation, and the section of decision is notified to lifting Machine agency 61.In addition, setting urgency (rubbish height is lower, and urgency is higher) corresponding with the rubbish height in hopper 12, The urgency of setting is also notified to act on behalf of 61 to crane.In addition, the rubbish crawl position in investment operation is substantially to stir Section in region, but in the period for being used to stir by receiving area, it can also be using the section in receiving area as rubbish Crawl position.

The index value decision that the block agency 65 for each section that Receiving Agent 63 is included based on receiving area calculates is being shifted The section of rubbish crawl position is set as in operation.In addition, the block generation for each section that Receiving Agent 63 is included based on stirring region The index value that reason 65 calculates determines the section that rubbish releasing position is set as in above-mentioned transfer tasks.Then, Receiving Agent 63 will Each section determined notifies to act on behalf of 61 to crane.

In addition, Receiving Agent 63 can also set with make execute rubbish crawl work section in rubbish height it is corresponding Urgency (rubbish height is higher, and urgency is higher) also notifies the urgency of setting to act on behalf of 61 to crane.This is because If the rubbish of receiving area is excessively high, there are problems that generating obstacle to being transported into for rubbish, it is expected that tighter than stirring region Manage the rubbish height in receiving area.For example, rubbish height can be divided into high, medium and low three phases, it will be with each division Corresponding urgency is respectively set as 3,2,1.Thereby, it is possible to according to the rubbish height in receiving area, than stirring operation, to material Carry out transfer tasks to the investment job priority of bucket 12.In addition, above-mentioned urgency can also be high based on the rubbish in receiving area The maximum value of degree is set, and can also be set based on the average value of the rubbish height in receiving area.

The index value that the block agency 65 for each section that stirring agency 64 is included based on the region for executing stirring calculates determines Which section crane 14 to be made to execute rubbish crawl work in stirring operation, which section crane 14 to be made to execute rubbish at Discharge work.Then, stirring agency 64 notifies each section of decision to act on behalf of 61 to crane.In addition, the rubbish in stirring operation Rubbish crawl position and rubbish releasing position are substantially the section in stirring region, but in the time for being used to stir by receiving area Section in receiving area, can also be set as rubbish crawl position, rubbish releasing position by section.

Crane agency 61 determines to make crane 14 to execute investment operation according to the notice of investment agency 62, according to reception 63 notice is acted on behalf of to determine to make crane 14 to execute transfer tasks.In addition, making crane 14 according to the notice of stirring agency 64 Execute stirring operation.

Further, crane agency 61 is in the notice from investment agency 62, Receiving Agent 63 and stirring agency 64 In the case where competition, decision makes preferential execute of crane 14 which notify corresponding operation with.

(example of operating schedule)

Next, being illustrated based on example of the Fig. 7 to operating schedule.Fig. 7 is the figure for indicating an example of operating schedule. The operating schedule for workaday 24 hours from 6:00 to next day 6:00 that rubbish is transported into is shown in the example of diagram.Separately Outside, the example of two stirring regions of setting is shown in the example of diagram.In addition, as shown in the example of (b) of Fig. 5, it can also be at two Intermediate region is set between stirring region.

The operating schedule of present embodiment sets rubbish capture area and the rubbish release areas of each period, is scheming In 7, "+" label is shown in the section for being set as rubbish capture area, shows "-" in the section for being set as rubbish release areas Label.It is, in the figure, the section of "+" label indicates that carrying out rubbish grabs work, and the section of "-" label indicates to carry out Rubbish discharges work.In addition, in the section (in the example of diagram, non-stirred region and receiving area) for not showing any label, both Work is grabbed without rubbish, also discharges work without rubbish.

Specifically, at the time of completing to be used for received transfer (from the receiving area to the transfer of stirring region) of rubbish That is at the time of 6:00, the stirring region in left side is set to rubbish capture area, and each section in the area shows "+" mark Note.In addition, the stirring region on right side is set to rubbish release areas, each section in the area shows "-" label. As a result, after 6:00, carry out grabbing rubbish in the stirring region in left side, the stirring that the stirring region on right side discharges the rubbish is made Industry.

In addition, entire receiving area is set to rubbish capture area at the time of starting the 9:00 of rubbish being transported into, Entire stirring region is set to rubbish release areas.It is, when reaching 9:00, changing rubbish according to the operating schedule The position and range of rubbish capture area and rubbish release areas.As a result, after 9:00, carry out grabbing rubbish in receiving area, Stirring region discharges the transfer tasks of the rubbish.In addition, the rubbish capture area at the moment is therefore receiving area is set as rubbish The section of rubbish crawl position and the section for being set as rubbish releasing position are determined by Receiving Agent 63.

Then, at the time of the 17:00 for being transported into end of rubbish, the stirring region on entire receiving area and right side is set For rubbish capture area, the stirring region in left side is set to rubbish release areas.As a result, after 17:00, carry out in reception area Domain grabs rubbish, and the stirring region in left side discharges the transfer tasks of the rubbish, and grab in the stirring region on right side Rubbish, the stirring region in left side discharge the stirring operation of the rubbish.In addition, rubbish crawl position and rubbish in transfer tasks Releasing position is determined that the rubbish crawl position and rubbish releasing position stirred in operation are determined by stirring agency 64 by Receiving Agent 63 It is fixed.

The operating schedule 71 for being stored in storage unit 52 is rubbish capture area and the rubbish for indicating each such period The information of rubbish release areas.Furthermore, it goes without saying that the opportunity other than three moment (6:00,9:00,17:00) of diagram The setting of rubbish capture area and rubbish release areas can be changed.It is released alternatively, it is also possible to regulation rubbish capture area and rubbish The sequence of the setting in region is put, regulation at the time of each setting of application is omitted.As long as in this case, the operation knot set at one Next setting is switched to after beam.

In addition, Duan Jun is not set to rubbish release areas at any time for receiving area, but in no rubbish in the example of Fig. 7 Receiving area can also be set as rubbish release areas by the period (in the example, 17:00~next day 9:00) being transported into.As a result, It is able to carry out the transfer tasks for being effectively utilized the rubbish of receiving area, stirring operation.

(decision of rubbish crawl position and rubbish releasing position)

It is above-mentioned it is such set rubbish capture area and rubbish release areas after, determine rubbish capture area in rubbish crawl Rubbish releasing position (which section discharging the rubbish at) in position (which section grabbing rubbish at) and rubbish release areas. It is, determining behind setting rubbish capture area and rubbish release areas in which section crawl rubbish and in which section Discharge the rubbish.Then, the decision is based on corresponding piece of each section for being included with rubbish capture area and rubbish release areas The index value that 65 calculate is acted on behalf of to carry out.

Specifically, acting on behalf of 65 with corresponding piece of each section of rubbish capture area for transfer tasks or stirring operation Calculating indicates to carry out the index value of the height of the necessity of rubbish crawl work in the section.More specifically, by the section Rubbish height is set as H, and stirring number is set as G, calculates index value F by the numerical expression (1) of lower note_P.In addition, the w of numerical expression (1)_HIt is Weighting to height, w_GIt is the weighting to stirring extent.As long as weighting is preparatory according to which of attention height and stirring extent Setting.It is, in the case where paying attention to highly determining the section of rubbish crawl position, as long as relative to w_G, setting The w of relatively large value_H, in the case where determining the section of rubbish crawl position with paying attention to stirring extent, as long as relative to w_H, set the w of relatively large value_G?.Alternatively, it is also possible in order to make specific section easily become rubbish crawl position, and incite somebody to action w_HAnd w_GAt least any one be set as the value all bigger than other sections.In addition, opposite, or be difficult to specific section As rubbish crawl position, and by w_HAnd w_GAt least any one be set as the value all smaller than other sections.For aftermentioned numerical expression (2), (3) are also the same.F_P={ H × w_H+(1/G)×w_G}…(1)

The index value F calculated by the numerical expression_PIt is the higher section of height just bigger value, in addition, being got over for stirring number Few just bigger value.It is, being required to execute rubbish crawl with corresponding piece of each section agency 65 in rubbish capture area Work, still, These parameters value F_PIndicate the intensity of the requirement.Then, pass through selective goal value F_PBig section, can will be high Degree is high and stirs the few section of number, i.e. the section that the necessity of progress rubbish crawl work is high is set as rubbish crawl position.

In addition, calculating with corresponding piece of each section agency 65 of rubbish release areas indicates to carry out rubbish release in the section The index value of the height of the necessity of work.More specifically, the rubbish height of the section is set as H, stirring number is set as G calculates index value F by the numerical expression (2) of lower note_D.W in numerical expression (2)_HIt is the weighting to height, w_GIt is to add to stirring extent Power.In addition, the value of the weighting of numerical expression (1) and (2) can be different, it can also be identical.Furthermore it is possible to use each piece of agency 65 The weighting of different values can also use the weighting of different values in stirring region and receiving area.For aftermentioned numerical expression (3) Similarly.F_D={ (1/H) × w_H+G×w_G}…(2)

The index value F calculated by the numerical expression_DIt is the lower section of height just bigger value, in addition, being got over for stirring number More just bigger value.It is, being required to execute rubbish release with corresponding piece of each section agency 65 in rubbish release areas Work, but These parameters value F_DIndicate the intensity of the requirement.Then, pass through selective goal value F_DBig section, can be low by height And stirring section often, carry out high (be adapted for rubbish and the discharge work) section of the necessity of rubbish release work It is set as rubbish crawl position.

In addition, in this example, being used in the numerical expression for determining rubbish crawl position and the number for determining rubbish releasing position Formula is different, but identical numerical expression also can be used.For example, it is also possible to determine rubbish crawl position and rubbish by above-mentioned numerical expression (1) Rubbish releasing position both sides.As long as in this case, the high section of the evaluation of estimate calculated by above-mentioned numerical expression (1) is set as rubbish crawl The low section of the evaluation of estimate calculated by above-mentioned numerical expression (1) is set as rubbish releasing position by position.

In the case that Receiving Agent 63 determines rubbish crawl position, make and corresponding piece of each section agency in receiving area 65 calculate index value by above-mentioned numerical expression (1).In addition, making to pass through with corresponding piece of each section agency 65 in rubbish release areas Above-mentioned numerical expression (2) calculates index value.

Then, Receiving Agent 63 selects the index value of the calculating in corresponding with the section in receiving area piece of agency 65 most Big block agency, and corresponding section is determined as rubbish crawl position.Similarly, the selection of Receiving Agent 63 is released with rubbish Maximum piece of index value agency of the calculating in corresponding piece of section agency 65 in region is put, and corresponding section is determined It is set to rubbish releasing position.The rubbish crawl position and rubbish releasing position in transfer tasks are determined as a result,.

Stirring agency 64 determine rubbish crawl positions and rubbish releasing position in the case where processing also as described above. That is, stirring agency 64 makes to calculate index according to above-mentioned numerical expression (1) with corresponding piece of each section agency 65 in rubbish capture area Value makes to calculate index value according to above-mentioned numerical expression (2) with corresponding piece of each section agency 65 in rubbish release areas.Then, it stirs It mixes agency 64 and the maximum section of index value calculated according to numerical expression (1) is set as rubbish crawl position, will be calculated according to numerical expression (2) The maximum section of index value be determined as rubbish releasing position.The rubbish crawl position and rubbish in stirring operation are determined as a result, Releasing position.

On the other hand, in the case where investment agency 62 determines rubbish crawl position, preferably by the height after being sufficiently stirred The rubbish of high section puts into hopper 12, and therefore, block agency 65 calculates index value F according to the numerical expression (3) of lower note_P.Pass through selection Index value F_PBig section, can height is high and stirring section often, i.e. suitable for being set to the section that hopper 12 is put into For rubbish crawl position.

F_P={ H × w_H+G×w_G}…(3)

(process of processing when operating schedule executes)

Next, being based on Fig. 8, the processing (crane executed to crane controller 50 when executing operating schedule The control method of control device) process.Fig. 8 is to indicate that crane controller 50 carries out stirring for rubbish according to operating schedule The flow chart of an example of processing when mixing or shifting.

Firstly, crane agency 61 reads operating schedule 71 (S1) from storage unit 52, and according to the working time of reading Table 71 is to each region setting symbol ("+" or "-" as shown in Figure 7 marks) (S2).In other words, rubbish capture area is determined (section by being set with "-" symbol is constituted for (region that the section by being set with "+" symbol is constituted) and rubbish release areas Region).Then, crane agency 61 notifies the symbol of setting to Receiving Agent 63 and stirring agency 64.

Then, Receiving Agent 63 and stirring agency 64 at least any one make and be set with either one or two of "+" and "-" accord with Number region in corresponding piece of each section agency 65 calculate index value (S3).

Specifically, Receiving Agent 63 makes and receiving area in the case where receiving area is set as rubbish capture area Corresponding piece of each section interior agency 65 calculates index value.In addition, Receiving Agent 63 makes and is set as each of rubbish release areas Corresponding piece of section agency 65 calculates index value.

On the other hand, in the case where stirring region is set as rubbish capture area, stirring agency 64 makes to grab with rubbish Corresponding piece of each section in region is acted on behalf of 65 and calculates index values with corresponding piece of each section agency 65 in region.In addition, In the case where stirring region and receiving area both sides are set to rubbish capture area, make stirring agency 64 and Receiving Agent 63 Both sides calculate index value respectively.

Then, at least the rubbish crawl position of any one decision crane 14 and the rubbish of Receiving Agent 63 and stirring agency 64 Rubbish releasing position (S4, deciding step).Receiving Agent 63 determines the feelings of rubbish crawl position and rubbish releasing position in S4 Under condition, Receiving Agent 63 executes instruction transmission for the rubbish crawl position of decision and rubbish releasing position and transfer tasks To crane agency 61.In addition, also notifying the urgency of setting in the case where setting urgency.

On the other hand, in the case where stirring agency 64 determines rubbish crawl position and rubbish releasing position, generation is stirred The rubbish crawl position of decision and rubbish releasing position and executing instruction for stirring operation are sent to crane agency by reason 64 61.In addition, in the case where Receiving Agent 63 and stirring 64 both sides of agency determine rubbish crawl position and rubbish releasing position, From both sides by operation (transfer and stirring) execute instruction and the operation in rubbish crawl position and rubbish releasing position send To crane agency 61.

Then, crane acts on behalf of 61 according to the above-mentioned of at least any one transmission from Receiving Agent 63 and stirring agency 64 Each information determines the work of crane 14.Then, the purpose of crane mode and crane 14 is notified to crane control portion 66 Ground makes crane 14 work (S5, crane control step).Specifically, crane agency 61 receives from Receiving Agent 63 It in the case where the executing instruction of transfer tasks, determines to execute transfer tasks, notifies crane mode to crane control portion 66 (transfer) and destination (crawl position and releasing position of rubbish).On the other hand, stirring work is being received from stirring agency 64 In the case where the executing instruction of industry, crane mode (stirring) and the destination (crawl of rubbish are notified to crane control portion 66 Position and releasing position).

In addition, being somebody's turn to do after stirring agency 64 determines the rubbish crawl position and rubbish releasing position of stirring operation Before stirring operation, in the case that Receiving Agent 63 determines rubbish crawl position and rubbish releasing position, crane agency 61 is taken Disappear and stirs executing instruction for operation.Then, crane agency 61 sends executing instruction for transfer tasks to crane control portion 66. In this case, the stirring operation of 64 instruction of stirring agency can carry out after executing transfer tasks, it can also be without.In addition, In the case where being set with urgency to transfer tasks, it can also determine to determine preferential execution transfer tasks according to urgency and stir Mix which of operation.For example, the execution that can also cancel transfer tasks refers in the case where the urgency of transfer tasks is low It enables, and is stirred executing instruction for operation.

After crane control portion 66 makes crane 14 work, the shape kept at least is updated with the block of business relationship agency 65 State, i.e. rubbish height and stirring number (S6).

In addition, as long as rubbish height is judged by height judging part 67.Alternatively, it is also possible to model and store logical in advance The work for crossing what kind of crane 14 makes how rubbish height changes, and uses the model modification height.It is, for example, possible to use as follows The height of model modification crawl position and releasing position: in stirring or transfer tasks, the work for grabbing rubbish each time is reduced 0.5m height, the work for discharging rubbish each time increase 0.5m height.In addition to this, rubbish crawl can also be carried out according to each The length of wirerope 18 when work calculates rubbish height, and more new high degree.

In addition, stirring extent detection device 32 updates the stirring number of rubbish when carrying out operation by crane 14, because This, stirring extent judging part 68 obtains updated stirring number, and notifies to block agency 65, and thus block agency 65, which updates, keeps Stirring number.

Then, crane agency 61 judge whether to terminate S2 set symbol target area (rubbish capture area and Rubbish release areas) operation (stirring operation and transfer tasks) (S7).

As long as purpose of the benchmark of the judgement according to the operation of each period in the operating schedule of crane 14, mesh Mark determines, is not particularly limited.For example, the period being transported into no rubbish, it is desirable to fully stir rubbish to deep In the case of, whether target area can also be become to the benchmark that defined state is set as judgement.As the concrete example of the benchmark, example Such as, the maximum height of the rubbish in receiving area can be enumerated as the stirring time of each section below specified value, in stirring region Number is stipulated number with first-class.In addition, only wanting to the case where rapidly stirring surface layer in the period for for example thering is rubbish to be transported into Under, it can also be by whether whole sections in rubbish capture area have respectively carried out the base that the crawl work of rubbish is set as judgement It is quasi-.In addition to this, for example, it is also possible to by whether reach update rubbish capture area and release areas (setting of the symbol of S2) At the time of be set as judgement benchmark.In this case, work can be executed as much as possible before the regulation moment.In addition, the judgement base Standard can also be with it is judged that benchmark is used in combination.If it is, be also possible to meet before the regulation moment it is judged that benchmark, Terminate operation at the moment, if not satisfied, then terminating operation at the time of regulation.

In the case where S7, which is judged as, not to be terminated (in S7, no), processing returns to S3, continue the processing of target area.It is another Aspect, in the case where being judged as terminates (in S7, yes), when crane agency 61 judges whole as defined in operating schedule 71 Between table whether terminate (S8).Then, in the case where being judged as terminates (in S8, yes), terminate the processing of diagram, be judged as not (in S8, no) in the case where end, the processing of S2 is returned.

(process of processing when detection investment instruction)

Next, being based on Fig. 9, the process of the processing executed when instructing to the investment detected to the rubbish of hopper 12 is carried out Explanation.Fig. 9 is the flow chart of an example for the processing that crane controller 50 executes when indicating detection investment instruction.

Investment agency 62 notifies the notice detection of device 30 to the investment of the rubbish of hopper 12 when basis from hopper height When instruction, make and whole corresponding piece of generations of section except the section other than the targets such as the section that is set as non-stirred region Reason 65 calculates index value (S10).In addition, be preferably sufficiently agitated to the rubbish that hopper 12 is put into, in addition, rubbish height is higher, It is easier to be grabbed by crane 14, therefore, index value is calculated by above-mentioned numerical expression (3).

Then, 62 index values based on calculating of investment agency determine the crawl position (S11) of the rubbish put into hopper 12. For example, the maximum section of index value can be determined as crawl position by investment agency 62.Then, 62 grabbing decision of investment agency Position informing is taken to be indicated to crane agency 61, and in a manner of executing the investment operation to the rubbish of hopper 12.Separately Outside, 62 setting of investment agency and the corresponding urgency of height from the hopper height notice notice of device 30, and by the urgent of setting Degree notice is to crane agency 61.

The crane agency 61 executed instruction for receiving investment operation judges whether with the work in execution of crane 14 Industry (S12).Operation (in S12, no) if it does not exist, then processing enters S16, if having operation (in S12, yes), then processing enters S13.Then, in S13, crane agency 61 judges whether to need promptly to put into according to the urgency of notice.In addition, pre-determined It is judged as that needs are promptly put into the case where what kind of value is urgency be.

In the case where S13 is judged as that needs are urgent and puts into (in S13, yes), crane acts on behalf of 61 pairs of crane control portions 66 are indicated, so that active job is interrupted (S14), into the processing of S16.On the other hand, it is being judged as without urgent throwing (in S13, NO) in the case where entering, the operation of crane agency 61 in commission is standby before terminating, and the operation is made to terminate (S15), And enter the processing of S16.In addition, carry out S14 and S15 which processing can also according in execution operation urgency and throwing Enter the urgency of operation to determine.For example, in the case where the high transfer tasks of urgency are in situation in execution, if investment operation Urgency is lower than it, then executes the processing of S15, and Ruo Genggao can also then carry out the processing of S14.

In S16, crane agency 61 to crane control portion 66 notify crane mode (investment) and destination (rubbish Crawl position), carry out the investment of the rubbish to hopper 12.Then, crane control portion 66 make crane 14 work after, at least with The block agency 65 of the business relationship updates state, the i.e. rubbish height kept and stirring number (S17).The update of state can be with The S6 of Fig. 8 is carried out similarly.In addition, to hopper 12 put into rubbish when, carry out stirring, transfer in without rubbish body Long-pending adjustment etc., accordingly it is also possible to by from stir, shift different model modification states.

(variation)

Rubbish crawl position, rubbish releasing position can also be on the basis of above-mentioned index values, it is also contemplated that crane 14 Position (more specifically, grab bucket 17 position) and determine.Thereby, it is possible to inhibit the moving distance of crane 14, press down on one side The power consumption of the consumption in operation of crane 14 processed determines suitable rubbish crawl position, rubbish releasing position on one side.

Specifically, can will refer in the case where determining the rubbish crawl position and rubbish releasing position of stirring operation Scale value is that distance in the section of specified value or more executes the nearest section in position of the crane before the stirring operation and is determined as Rubbish crawl position.It is then possible to by index value be specified value more than section in distance determine rubbish crawl position most Close section is determined as rubbish releasing position.The case where determining the rubbish crawl position and rubbish releasing position of transfer tasks is also same Sample.

In addition, can also be specified value or more by index value in the case where determining the rubbish crawl position of investment operation Section in be located at connection execute the investment operation before the position of crane and the straight line of hopper 12 on or arrive the straight line The nearest section of distance be determined as rubbish crawl position.Lifting when thereby, it is possible to grab rubbish and be put into hopper 12 The path length of machine 14 minimizes.

In addition, can also be determined by the additional item relevant to the path length of crane 14 of calculating formula to index value Inhibit rubbish crawl position, the rubbish releasing position of the moving distance of crane 14.As long as in this case, additional until operation The path length of the crane 14 of end is shorter, index value just higher item.For example, can will indicate from lifting before The item reciprocal of distance of the position of machine 14 to the section is appended to above-mentioned numerical expression (1).Then, this has been added by utilizing The index value that calculates of numerical expression (1) determine rubbish crawl position, can also will indicate falling for distance from the position to the section Several items is appended to above-mentioned numerical expression (2).It is then possible to be determined by the index value calculated using the numerical expression (2) for having added this Rubbish releasing position is determined, it is possible thereby to inhibit short the path length of crane 14.In addition, in the case where putting into operation, As long as the item reciprocal of the distance by expression from the position of crane 14 before to the section is appended to above-mentioned numerical expression (3) i.e. It can.

In addition, show makes crane 14 according to the operating schedule 71 for being stored in storage unit 52 in the above-described embodiment The example of work is but it is also possible to be crane controller 50 creates operating schedule, has been made according to the operating schedule of the creation Heavy-duty machine 14 works.In this case, the creation method of operating schedule is not particularly limited, it is, for example, possible to use genetic algorithm creations. Specifically, firstly, generation multiple " individuals ", is somebody's turn to do in the region (referring to Fig. 5) that " individual " is set as gene expression, by which It is set as rubbish capture area, which is set as rubbish release areas, and how to switch rubbish capture area and rubbish release area Domain.Then, a series of following processing are repeated, and explore optimal gene: preferential selection passes through the evaluation letter of fitness The high individual of the fitness that number f (x) calculates implements intersection, halmatogenesis etc. and generates follow-on individual, evaluates the suitable of each individual Response.In addition, the rubbish capture area and rubbish indicated using crane 14 according to said gene is released as above-mentioned evaluation function It is higher that the rubbish of the setting and the rubbish storing portion 11 after its excessive exercise of putting region becomes closer to ideal state The function of fitness.In addition, as long as ideal state is set as state corresponding with the purpose of worksheet etc., for example, can be with It is the state of the stirring number and high uniformity of each section, the low state of rubbish height being also possible in receiving area.Pass through Such exploration can create the working time that can make the ideal stirring of the most proximity of the rubbish in rubbish storing portion 11 Table.It is of course also possible to be stored in advance using the operating schedule created by such method as operating schedule 71.

In addition, can be also set to by one of the processing unit for having control unit 51 can lead to crane controller 50 The master-slave system of the server of letter realizes function same as above-mentioned crane controller 50.In addition, for example, it is also possible to will Each agency is set to the terminal installations such as notebook PC, tablet PC, by the action of the crane 14 determined by the terminal installation It notifies to make crane 14 work to the crane controller for having crane control portion 66.

(utilizing the example of software realization)

The control block (especially control unit 51) of crane controller 50 can be by being formed in integrated circuit (IC core Piece) etc. logic circuit (hardware) realize, also can be used CPU (Central Processing Unit: central processing list Member) it is realized by software.

In the latter case, crane controller 50 has: executing the software i.e. order of program for realizing each function CPU, ROM (the Read Only that stores above procedure and various data in such a way that computer (or CPU) can be read Memory: read-only memory) or storage device (referred to as " storage medium "), the RAM (Random that above procedure is unfolded Access Memory: random access storage device) etc..Moreover, through computer (or CPU) from the reading of above-mentioned storage medium It states program and executes, to achieve the object of the present invention." tangible Jie of non-transitory is able to use as above-mentioned storage medium Matter ", e.g. tape, disk, card, semiconductor memory, programmable logic circuit etc..In addition, above procedure can also be via The arbitrary transmission medium (communication network, BW broadcasting wave etc.) that the program can be transmitted is provided to above-mentioned computer.In addition, this hair Bright also can use makes above procedure in such a way that electron-transport embodies, is embedded in the data-signal of carrier wave to realize.

The present invention is not limited to above-mentioned each embodiments, and can carry out in the range shown in claim various It changes, also includes about the embodiment obtained by the appropriately combined technical solution for being disclosed in different embodiments In in technical scope of the invention.

(summary)

In order to solve above-mentioned problem, crane controller of the invention is the lifting to rubbish is carried in dump pit The crane controller that the work of machine is controlled, and have:

Position determination section, each section according to made of the rubbish storing portion in above-mentioned dump pit is divided into multiple sections Rubbish height and stirring extent, come when determining the defined operation that above-mentioned crane will be made to execute comprising rubbish crawl work Rubbish crawl position which section be set as；And crane control portion, so that above-mentioned crane is executed above-mentioned defined work When industry, the section for determining that above-mentioned ground jack in above-mentioned position determination section executes rubbish crawl work.

Rubbish is carried out also according to stirring extent and grabs position not only according to the rubbish height of each section according to above-mentioned structure The decision set.Thereby, it is possible to rubbish crawl position when operation as defined in crane execution will be made to be set as the rubbish with each section Height and stirring extent both sides suitable position (section) accordingly.

Alternatively, it is also possible to be, above-mentioned position determination section comes also according to the height and stirring extent of the rubbish of above-mentioned each section Determine by make above-mentioned crane execute it is above-mentioned as defined in operation when rubbish releasing position which section be set as.

Also can according to above-mentioned structure even for rubbish releasing position when crane being made to execute defined operation It is set as suitable position (section) corresponding with the height of the rubbish of each section and stirring extent both sides.

Alternatively, it is also possible to be, above-mentioned crane controller for above-mentioned multiple sections each have manage it is above-mentioned The section management portion of a section in multiple sections, above-mentioned section management portion calculate the height with the rubbish of the section managed Indicate the index value of the height of the necessity of the rubbish crawl work in the section accordingly with stirring extent, above-mentioned position determines Portion determines the above-mentioned rubbish crawl position which section be set as using These parameters value.

According to above-mentioned structure, by using the operation of index value corresponding with the height of rubbish and stirring extent, energy It is enough that rubbish crawl position when operation as defined in crane execution will be made to be set as height and stirring extent with the rubbish of each section Both sides' suitable position (section) accordingly.

Alternatively, it is also possible to be, above-mentioned crane controller has region setting part, which is set in above-mentioned The rubbish capture area of rubbish crawl work should be executed in defined operation and should execute the rubbish release area of rubbish release work Domain, above-mentioned position determination section determine the section for being set as rubbish crawl position from the section that above-mentioned rubbish capture area is included, The section for being set as rubbish releasing position is determined from the section that above-mentioned rubbish release areas is included.

According to above-mentioned structure, rubbish capture area and rubbish release areas are set, is included from rubbish capture area The section for being set as rubbish crawl position is determined in section, determines to be set as rubbish release from the section that rubbish release areas is included The section of position.Thereby, it is possible to ensure to carry out the movement from rubbish capture area to the rubbish of rubbish release areas.

Alternatively, it is also possible to be, above-mentioned zone configuration part in each period so that position and range at least any one is not Same mode sets rubbish capture area and rubbish release areas.

According to above-mentioned structure, in each period setting position and at least any one different rubbish catching block of range Therefore domain and rubbish release areas are able to carry out the movement of suitable rubbish corresponding with the period.

Alternatively, it is also possible to be, there is being rubbish in above-mentioned zone configuration part to the period that above-mentioned dump pit is transported into from above-mentioned rubbish Rubbish release areas is set in the region other than the receiving area for the rubbish being transported into region in rubbish reservoir, in nothing The period that rubbish is transported into sets rubbish release areas from the region comprising above-mentioned receiving area.

According to above-mentioned structure, receiving area is not set as rubbish release areas in the period for thering is rubbish to be transported into, because This, can prevent from being transported into generation obstacle to rubbish because the sanitary fill of receiving area is excessively high.On the other hand, it is transported in no rubbish Receiving area can be set as rubbish release areas and therefore be able to carry out and be effectively utilized receiving area by the period entered The transfer tasks of rubbish, stirring operation.

Alternatively, it is also possible to be, above-mentioned crane controller have investment management department as above-mentioned position determination section, it is above-mentioned Investment management department determines the rubbish crawl position put into operation which section be set as, and above-mentioned investment operation is by above-mentioned Operation of the heavy-duty machine to the hopper investment rubbish that the rubbish in above-mentioned rubbish storing portion is sent into incinerator.

According to above-mentioned structure, the rubbish crawl position of investment operation can be automatically determined.In addition, as described above, rubbish Crawl position is determined according to the height and stirring extent of the rubbish of each section, therefore can will obtain high area in sanitary fill The rubbish investment hopper of section being sufficiently agitated.

Alternatively, it is also possible to be, above-mentioned crane controller has: stirring management department, to being set in above-mentioned rubbish Crawl, the operation of release rubbish are stirred operation and are managed, and determine as above-mentioned position in stirring region in reservoir Portion, determine by above-mentioned stirring operation rubbish crawl position and rubbish releasing position which section be set as；Management department is received, It is managed, and makees from the operation i.e. transfer tasks that the receiving area for the rubbish being transported into is moved to above-mentioned stirring region to by rubbish For above-mentioned position determination section, determine by above-mentioned transfer tasks rubbish crawl position and rubbish releasing position which area be set as Section；And competition adjustment section is being stirred after above-mentioned stirring management department determines rubbish crawl position and rubbish releasing position Before mixing operation, in the case where above-mentioned reception management department determines rubbish crawl position and rubbish releasing position, cancels stirring and make The execution of industry executes transfer tasks.

According to above-mentioned structure, stirring operation and rubbish crawl position in transfer tasks can be automatically determined and rubbish is released Put position.In addition, as described above, rubbish crawl position and rubbish releasing position are according to the height and stirring journey of the rubbish of each section It spends and determines.Thereby, it is possible to the stirring extent of each section uniformly and the less mode of unevenness of height is stirred, and with Obstacle will not be generated to the reception of rubbish, will not be shifted to the mode of the insufficient rubbish of hopper investment stirring.

In addition, according to above-mentioned structure, after stirring management department determines rubbish crawl position and rubbish releasing position, Before being stirred operation, in the case where reception management department determines rubbish crawl position and rubbish releasing position, cancel stirring The execution of operation executes transfer tasks.Even if as a result, in the case where generating the race condition of stirring operation and transfer tasks, Also the competition can be eliminated, also, preferentially carries out transfer tasks, therefore, can prevent from being transported into generation obstacle to rubbish.This Outside, the stirring operation for eliminating execution can carry out after transfer tasks.

In addition, in order to solve above-mentioned problem, the control method of crane controller of the invention is in dump pit The control method for the crane controller that the work of the interior crane for carrying rubbish is controlled, this method includes: determining step Suddenly, the height and stirring of the rubbish of each section according to made of the rubbish storing portion in above-mentioned dump pit is divided into multiple sections Degree, to determine for be set as the rubbish crawl position for executing above-mentioned crane when grabbing the defined operation of work comprising rubbish Which section；And crane control step makes above-mentioned crane exist when making above-mentioned crane execute above-mentioned defined operation Rubbish, which is executed, by the section that above-mentioned deciding step determines grabs work.It plays as a result, same as above-mentioned crane controller Effect.

In addition, the crane controller of each mode of the invention can be realized by computer, in this case, It is worked by each portion (software elements) for having computer as above-mentioned crane controller, to make above-mentioned Computing device is by the control program of computer implemented crane controller and is stored with the computer of the control program Readable storage medium storing program for executing also belongs to scope of the invention.

Description of symbols

1: dump pit, 11: rubbish storing portion, 14: crane, 50: crane controller, 61: crane acts on behalf of (region Configuration part/competition adjustment section), 62: investment agency (position determination section/investment management department), 63: Receiving Agent (position determination section/ Receive management department), 64: stirring agency (position determination section/stirring management department), 65: block acts on behalf of (section management portion), and 66: lifting Machine control unit.

Claims (11)

1. a kind of crane controller controls the work for carrying the crane of rubbish in dump pit, the crane control Device processed is characterized in that having:

Position determination section, the rubbish of each section according to made of the rubbish storing portion in the dump pit is divided into multiple sections The height and stirring extent of rubbish, to determine that the crane will be made to execute rubbish when grabbing the defined operation of work comprising rubbish Which section rubbish crawl position is set as；And

Crane control portion makes the crane determine in the position when making the crane execute the defined operation The section for determining portion's decision executes rubbish crawl work.

2. crane controller according to claim 1, which is characterized in that

The position determination section also according to the height and stirring extent of the rubbish of each section determines that the crane will be made Which section rubbish releasing position when executing the defined operation is set as.

3. crane controller according to claim 1 or 2, which is characterized in that

For each of the multiple section, have the section management portion for managing a section in the multiple section,

The section management portion calculates indicate in the section corresponding with the height of the rubbish of the section managed and stirring extent Rubbish crawl work necessity height index value,

The position determination section determines the rubbish crawl position which section be set as using the index value.

4. crane controller according to claim 2, which is characterized in that

Has region setting part, which is set in the defined operation rubbish that should execute rubbish crawl work Capture area and the rubbish release areas that rubbish release work should be executed,

The position determination section determines the section for being set as rubbish crawl position from the section that the rubbish capture area is included, The section for being set as rubbish releasing position is determined from the section that the rubbish release areas is included.

5. crane controller according to claim 4, which is characterized in that

The region setting part each period make position and range at least any one differently set rubbish capture area With rubbish release areas.

6. crane controller according to claim 4 or 5, which is characterized in that

The region setting part is having rubbish to the period that the dump pit is transported into from the region in rubbish storing portion The region other than the receiving area for the rubbish being transported into set rubbish release areas, the period that no rubbish is transported into from Rubbish release areas is set in region comprising the receiving area.

7. crane controller described according to claim 1~any one of 6, which is characterized in that

Have investment management department, investment operation is managed, the investment operation is to be thrown rubbish using the crane Enter the operation that the rubbish in the rubbish storing portion is sent into the hopper of incinerator,

The investment management department determines the rubbish crawl position in the investment operation which being set as the position determination section A section.

8. crane controller according to claim 2, which is characterized in that have:

Stir management department, in the stirring region being set in the rubbish storing portion grab, discharge rubbish operation i.e. Stirring operation is managed, and as the position determination section, is determined the rubbish crawl position stirred in operation and rubbish Which section rubbish releasing position is set as；

Management department is received, shifts work to from the receiving area for the rubbish being transported into the operation of stirring region transfer rubbish Industry is managed, and as the position determination section, determine by the transfer tasks rubbish crawl position and rubbish discharge Which section position is set as；And

Adjustment section is competed, after the stirring management department determines rubbish crawl position and rubbish releasing position, is executing stirring Before operation, in the case that the reception management department determines rubbish crawl position and rubbish releasing position, cancel stirring operation It executes, and executes transfer tasks.

9. a kind of control method of crane controller, rubbish is carried in the crane controller control in dump pit The work of crane,

The control method of the crane controller is characterized in that, includes:

Deciding step, the rubbish of each section according to made of the rubbish storing portion in the dump pit is divided into multiple sections Height and stirring extent, to determine to grab in the rubbish for executing the crane when grabbing the defined operation of work comprising rubbish Which section fetch bit installs as；And

Crane control step makes the crane by described when making the crane execute the defined operation The section that deciding step determines executes rubbish and grabs work.

10. a kind of control program, is used to make computer as crane controller described in claim 1 to play function Can,

It is functioned for making computer as the position determination section and the crane control portion.

11. a kind of computer-readable recording medium, record have the right to require 10 described in control program.