JP2019120519A - Agitation state detection device, agitation control device, and agitation state detection method - Google Patents

Abstract

To provide an agitation state detection device, an agitation control device, and an agitation state detection method that can automatically detect the agitation state of waste with accuracy.SOLUTION: An agitation state detection device for detecting an agitation state of waste 103 accumulated in a pit 101 receives light reflected by the waste 103 accumulated in the pit 101, acquires polarization information, and generates a polarization image including the acquired polarization information. The agitation state detection device then determines the agitation state of the waste 103 on the basis of the generated polarization image.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a stirring state detection device, a stirring control device, and a stirring state detection method for detecting a stirring state of waste stored in a pit.

  At the waste disposal site, collected waste is dumped into a storage tank called a pit and temporarily stored. The stored waste is then transported to an incinerator and incinerated. At the time of incineration, if there is a part containing much moisture in the waste, the combustion efficiency will be reduced. For this reason, before incineration disposal, stirring processing of the refuse in a pit is performed by a crane, for example. The stirring process prevents the furnace from becoming unstable.

  Patent Document 1 discloses a method for making the stirring state uniform. The method described in Patent Document 1 calculates the number of times of stirring for each layer of waste that is dumped into a pit by a waste collection vehicle or a crane and deposited. Then, the calculated number of times of stirring is output to the crane operation operator.

Unexamined-Japanese-Patent No. 2010-275064

  However, even if it stirs by the method of patent document 1, it does not know whether it was stirred reliably. For this reason, for example, a worker or the like may need to confirm the stirring state by visual observation or the like.

  The present invention has been made in view of such circumstances, and it is an object of the present invention to provide an agitation state detection device, an agitation control device, and an agitation state detection method capable of automatically detecting the agitation state of dust with high accuracy.

  In order to solve the above problems, a first invention of the present application is a stirring state detection device for detecting a stirring state of dust stored in a pit, which receives light reflected by dust stored in the pit. A polarization information acquisition unit for acquiring polarization information, a polarization image generation unit for generating a polarization image including polarization information acquired by the polarization information acquisition unit, and a polarization image generated by the polarization image generation unit. And a determination unit that determines the agitation state of the waste.

  A second invention of the present application is the agitation state detection device according to the first aspect, wherein the determination unit determines the agitation state of the refuse by determining the distribution of vinyl in the stored refuse from the polarization image. judge.

  A third invention of the present application is the agitation state detecting device according to the first invention or the second invention, wherein the agitation state of the waste dumped in the pit is detected in a state of being put in the waste bag.

  A fourth invention of the present application is the stirring state detection device according to the first invention to the third invention, wherein a normal image for generating a normal image of dust stored in the pit based on luminance, brightness and saturation. A generation unit is included, and the determination unit determines the agitation state of the dust based on the polarization image and the normal image.

  A fifth invention of the present application is the stirring state detection device according to any one of the first invention to the fourth invention, wherein an area specifying unit for specifying an area requiring the work of stirring waste from the determination result by the determination unit; And an output unit that outputs the area specified by the area specification unit to the outside.

  A sixth invention of the present application is a stirring control device for performing operation control of a stirring unit for stirring waste dumped in a pit, wherein the stirring state detection device of the fifth invention and driving control of the stirring portion are performed. And a control unit for stirring the area output by the output unit.

  A seventh invention of the present application is the agitation control device of the sixth invention, wherein the control unit performs the operation of the agitation unit performed on the polarization image used by the determination unit and an area based on the polarization image The control content is stored in association with the control content, and the stored content is updated.

  An eighth invention of the present application is a stirring state detection method for detecting a stirring state of waste dumped in a pit, which comprises: a) receiving light reflected by the waste stored in the pit to obtain specific polarized light B) stirring the dust based on the polarization image generated in step b); b) acquiring polarization information including components; b) generating a polarization image including polarization information acquired in step a); Determining the state.

  According to the present invention, dust that does not appear in a normal image generated on the basis of luminance, lightness and saturation also appears in a polarized image, so that the agitation state of dust is accurately determined without relying on visual observation by people. it can.

It is a schematic diagram of a waste storage facility. It is a block diagram which shows the connection of the components which a stirring and conveyance control apparatus has, and a component. It is a figure for demonstrating the case where a polarization image generation part is a polarization camera provided with light polarizer array. It is a figure which shows the normal image in a pit. It is a figure which shows the polarization image in a pit. It is a figure which shows the relationship of the reflectance with respect to the incident angle of s polarization | polarized-light and p polarization | polarized-light. It is a flowchart which shows stirring state detection processing. It is a flowchart which shows stirring learning processing. It is a flowchart of a judgment criteria update process.

  In the embodiments described below, the case where the stirring state detection device and the stirring control device of the present invention are used for a waste storage facility of a waste disposal site will be described. The waste storage facility is a facility for temporarily storing waste.

<1. About waste storage facility>
FIG. 1 is a schematic view of the waste storage facility 100.

  The waste storage facility 100 is a facility that temporarily stores the waste 103 before incineration. In the waste storage facility 100, a pit 101 is installed. The pit 101 is a storage tank for storing the waste 103. A crane 105 movable horizontally and vertically is installed above the pit 101. The waste 103 stored in the pit 101 is transported by the crane 105 to an incineration facility (not shown).

  Into the pit 101, a waste bag 104A containing waste is dumped by the waste collection vehicle 102 from the loading port 100A. A large number of dumped waste bags 104A accumulate on the surface of the stored waste 103. At this time, the waste bag 104A mainly deposits on the side of the entrance 100A of the pit 101. The waste bag 104A dumped into the pit 101 is carried by the crane 105 near the center of the pit 101 and broken. As a result, the waste 103 in the waste bag 104A and the fragments 104B of the waste bag 104A are scattered in the pit 101. In addition, below, garbage bag 104A and its fragment 104B may be generally called "vinyl 104."

  In the pit 101, the stirring operation of the refuse by the crane 105 is performed. The stirring operation is an operation for grasping and lifting the dust 103 in the pit 101 including the vinyl 104 and dropping it into the pit 101 again. The waste bag 104A is broken by this stirring operation. Further, the dust 103 in the pit 101 is agitated, and the dust quality of the dust 103 in the pit 101 is uniformed. Waste quality is the amount of moisture, density, etc. of waste. By carrying out the stirring operation before the transportation to the incineration facility, the possibility that the waste 103 becomes difficult to burn due to the local increase of the moisture content of the waste in the incineration facility is avoided.

  The crane 105 is driven and controlled by a stirring and transfer control device described later. The agitation / conveyance control device includes an agitation state detection device that detects the agitation state of the dust 103 stored in the pit 101 by image recognition. The stirring operation by the crane 105 is executed according to the detection result of the stirring state detection device. For example, the stirring operation is repeated until the stirring state detection device determines that the stirring is sufficient. As a result, the waste quality of the waste 103 is equalized, and as a result, the waste 103 can be incinerated efficiently in the incineration facility.

<2. Stirring and transport control device>
FIG. 2 is a block diagram showing the components of the stirring and transport control device 200 and the connection between the components. Stirring and transport control device 200 is an example of the “stirring control device” in the present invention. Moreover, the crane 105 is an example of the "stirring part" of this invention.

  The agitation / conveyance control device 200 includes the agitation state detection device 1 and a crane control unit 201.

  The crane control unit 201 is a control unit that drives and controls the crane 105. The crane control unit 201 is connected to the stirring state detection device 1 so as to be capable of data communication. The crane control unit 201 also receives an operation by the operator from an operation unit (not shown). Then, the crane control unit 201 drives and controls the crane 105 according to the data input from the stirring state detection device 1 or the operation of the operator received from the operation unit, and the stirring operation of the waste and the waste to the incineration facility Execute the transport operation of

  The stirring state detection device 1 is a device that detects the stirring state of the waste 103 dumped in the pit 101 in a state of being placed in the waste bag 104A. The agitation state detection device 1 includes a polarization image generation unit 2, a data input unit 3, and an arithmetic unit 4.

  The data input unit 3 is an input unit that inputs data to the arithmetic device 4 automatically or manually. From the data input unit 3, an operation by a worker or information on the combustion state in another processing facility, for example, an incineration facility, etc. is input.

  The polarization image generation unit 2 acquires polarization information from the received light. Then, the polarization image generation unit 2 generates a polarization image including the acquired polarization information. The polarization image generation unit 2 is, for example, a polarization camera. FIG. 3 is a diagram for explaining the case where the polarization image generation unit 2 is a polarization camera provided with a polarizer array 22.

  The polarization image generating unit 2 includes an imaging element 21 and a polarizer array 22 disposed in front of the imaging element 21. The minimum pixel of each of the imaging device 21 and the polarizer array 22 is paired. That is, as shown in FIG. 3, the polarizer 221 of the polarizer array 22 is disposed in front of the pixel 211 of the imaging device 21. Similarly, the polarizer 222 of the polarizer array 22 is disposed in front of the pixels 212 of the imaging device 21. The polarizer 223 of the polarizer array 22 is disposed in front of the pixels 213 of the imaging device 21. In front of the pixel 214 of the imaging device 21, the polarizer 224 of the polarizer array 22 is disposed. Then, the light passing through the front polarizers 221 to 224 is incident on the pixels 211 to 214 of the respective imaging elements 21.

  The polarization directions of the polarizers 221 to 224 are mutually offset by 45 °. For this reason, the light which each polarization direction shifted 45 degrees injects into the pixels 211-214. And in each pixel 211-214, the intensity | strength of the light of each polarization direction can be measured. That is, the polarization image generation unit 2 compares the luminances of the adjacent four pixels (pixels 211 to 214) and performs calculation processing with the entire imaging device 21 to obtain polarization information included in the received reflected light. It can be acquired. That is, the polarization image generation unit 2 is an example of the “polarization information acquisition unit” in the present invention. Then, the polarization image generation unit 2 generates a polarization image including the acquired polarization information.

  As described in the example of the polarization camera in FIG. 3, the configuration of the polarization camera may be one in which a polarizer array is disposed, or one in which a wavelength plate array and an analyzer are disposed. .

  As shown in FIG. 1, in the polarized light image generation unit 2, the dust 103 stored in the pit 101 is installed at a position where it can be imaged. The number of polarization image generation units 2 is not particularly limited. The one collected image 103 may be imaged by one polarization image generation unit 2. Alternatively, the inside of the pit 101 may be divided into a plurality of regions, and the plurality of regions may be imaged by the plurality of polarization image generation units 2.

  The light emitted from the existing illumination installed in the pit 101 or the sunlight incident from the window is reflected by the stored dust 103. The polarized light image generation unit 2 receives the reflected light (hereinafter referred to as reflected light) and acquires polarization information of dust in the pit. Then, the polarization image generation unit 2 generates a polarization image of the stored dust 103 including the acquired polarization information. The generated polarized light image is used in the processing of determining the agitation state of the dust based on the size of the vinyl 104 or the degree of dispersion in the later-described arithmetic device 4.

  As described above, the garbage bag 104A is broken by the crane 105 in the pit 101. Also, the general waste bag 104A is transparent or translucent. For this reason, vinyl 104 may not appear in an image (hereinafter referred to as a normal image) generated based on luminance, lightness and saturation. In contrast, vinyl 104 can appear in polarized images. This is because, when light is reflected, the reflectances of s-polarized light and p-polarized light contained in the light differ depending on the material of the object to be reflected and the incident angle. In the case where there is a refuse of the same color and different material as the refuse bag 104A, the refuse may be indistinguishable in the normal image, but can be distinguished in the polarization image.

  FIG. 4 is a view showing a normal image in the pit 101. As shown in FIG. FIG. 5 is a view showing a polarization image in the pit 101. As shown in FIG. The normal image of FIG. 4 and the polarization image of FIG. 5 are images showing the same position in the pit 101, respectively. In the normal image of FIG. 4, it is difficult to distinguish between the area in which the waste bag 104A is broken and the area in which it is not broken due to the stirring operation. On the other hand, in the polarized light image of FIG. 5, the region where the dust bag 104A is not broken (for example, in the circle region in FIG. 5) and the region where it is broken (for example, outside the circle region in FIG. 5) Appear as distinctly different polarization information. Thus, these areas can be clearly identified.

  FIG. 6 is a diagram showing the relationship of the reflectance to the incident angle of s-polarized light and p-polarized light.

  The reflectance of s-polarization increases as the incident angle increases from 0 ° to 90 °. On the other hand, the reflectance of p-polarization gradually decreases to near 0 as the incident angle increases, and then rapidly increases. The relationship shown in FIG. 6 differs depending on the material of the object that reflects light. Therefore, the reflectances of s-polarized light and p-polarized light differ depending on the content of the dust 103 at the light reflection position. That is, if vinyl 104 is included in the light reflection position, the polarization information of the reflected light reflected by the vinyl 104 and the reflected light reflected around the vinyl 104 is different, so the generated polarization image is The vinyl 104 appears.

  Return to FIG. The arithmetic device 4 includes a CPU 41, a ROM 42, a RAM 43, a storage unit 44, and an input / output unit 45. The input / output unit 45 is connected to the polarization image generation unit 2, the data input unit 3 and the crane control unit 201 so as to be capable of data communication. Further, a monitor or a speaker (not shown) may be connected to the input / output unit 45.

  The storage unit 44 is, for example, a hard disk drive. The storage unit 44 stores computer programs and data for executing a normal image generation process or an agitation state detection process described later. The CPU 41 reads and executes the computer program and data stored in the storage unit 44. The CPU 41 executes various processes while performing data communication with each unit connected to the input / output unit 45. The CPU 41 executes a computer program to function as a “normal image generation unit”, a “determination unit”, a “determination criterion change unit”, an “area identification unit” and an “output unit” of the present invention.

  In the normal image generation process, the CPU 41 generates a normal image from the polarization image generated by the polarization image generation unit 2. For example, the CPU 41 generates a normal image by averaging the light in each polarization direction measured in each pixel described in FIG. 3.

  In the agitation state detection process, the CPU 41 determines the agitation state of the dust 103 in the pit 101 using the generated normal image and the polarization image acquired from the polarization image generation unit 2. The stirring state detection process will be described in detail below.

<3.1. About stirring state detection processing>
FIG. 7 is a flowchart showing the stirring state detection process. The process shown in FIG. 7 is started by the CPU 51 executing a computer program stored in the storage unit 54.

  The CPU 41 drives and controls the polarization image generation unit 2 to acquire the polarization image generated by the polarization image generation unit 2 (step S1). The CPU 41 may drive the polarization image generation unit 2 at predetermined time intervals to generate a polarization image. Further, the CPU 41 may drive the polarization image generation unit 2 according to a predetermined schedule to generate a polarization image.

  The CPU 41 drives and controls the polarization image generation unit 2 to generate a normal image from the detection value of each pixel (step S2).

  Next, the CPU 41 determines the stirring state from the distribution state of the vinyl 104 using the polarization image (step S3). In this determination process, the CPU 41 performs an image recognition process on the polarized image to detect the vinyl 104. As described above, in the normal image, the vinyl 104 or the waste bag 104A may not appear. Even in such a case, the vinyl 104 can be detected by using a polarization image. Then, the CPU 41 performs edge extraction of the detected vinyl 104. The CPU 41 determines the size of the vinyl 104 from the edge of the extracted vinyl 104, and determines that the stirring is insufficient when the size is equal to or greater than the reference value. In the image recognition processing, although the distribution state of the vinyl 104 is determined by edge extraction, the distribution state determination method may use a method other than edge extraction.

  The CPU 41 also detects the degree of dispersion of the vinyl 104 detected by the image recognition process. When the vinyl 104 is concentrated in a certain area, the CPU 41 determines that the stirring in that area is insufficient. For example, the CPU 41 calculates the distance of each edge extracted in a predetermined area, and compares it with a reference value. When the number of distances exceeding the reference value is small, the CPU 41 determines that the vinyl 104 is concentrated in a certain area, and determines that the stirring in that area is insufficient. The CPU 41 may determine the concentration degree of the vinyl 104 based on the ratio (percentage) of the area of the fixed area and the area of the area where the vinyl 104 exists in the fixed area.

  Next, the CPU 41 performs image recognition processing on the normal image as in the case of the polarization image, and determines the stirring state (step S4). If the vinyl 104 is opaque, or if the vinyl 104 is large, the vinyl 104 may appear in the normal image. In such a case, since the vinyl 104 can be detected by the image recognition process, the stirring state can be determined from the state of the vinyl 104. In step S3, the stirring state is determined using the polarization image. As described above, by using the polarized image and the normal image in combination, the vinyl image can be detected because it appears in the polarized image even if the vinyl 104 does not appear in the normal image, and the accuracy of the determination can be further improved. Can.

  The CPU 41 determines whether or not the agitation of the dust 103 in the pit 101 is insufficient from the results of step S3 and step S4 (step S5). If it is determined in step S3 and step S4 that the agitation is insufficient in at least one of the processes, the CPU 41 determines in step S5 that the agitation is insufficient.

  If it is determined that the stirring is insufficient (step S5: YES), the CPU 41 specifies an area requiring the stirring (step S8). The CPU 41 outputs the identified area to the crane control unit 201 together with the image data (step S9). The image data is a normal image or a polarized image used to identify the area. The crane control unit 201 to which the area specified from the stirring state detection device 1 is input executes a stirring learning process of FIG. 8 described later.

  When it is determined in step S5 that the stirring is sufficient (step S5: NO), the CPU 41 executes a determination result confirmation process (step S6). In the result confirmation process, for example, the operator visually checks the inside of the pit 101 to confirm whether or not the agitation of the dust 103 is sufficient. Then, the worker inputs from the data input unit 3 whether or not the result of the determination that the stirring is sufficient as determined in step S5 is correct.

  The CPU 41 updates the determination criteria based on the input confirmation result (step S7). For example, as a result of visual inspection by the operator, when the agitation is insufficient, the CPU 41 changes the reference value used in step S3 or step S4 to make the determination criterion strict. Then, it is easier to determine that the stirring is insufficient than the determination performed immediately before. Thus, the stirring state can be determined more accurately by updating the reference value in a learning manner. In addition, the process of step S6 and step S7 may be abbreviate | omitted, after determination of a stirring state is repeated in multiple times and learning is performed to some extent.

  After step S7 or S9, the CPU 41 determines whether to end the process (step S10). The termination is, for example, the termination of the stirring and transport processing by the stirring and transport control device 200. When the process is not finished (step S10: NO), the CPU 41 returns to the process of step S1. When the process ends (step S10: YES), the CPU 41 ends the process of FIG.

  As described above, in the case of determining the agitation state of the dust 103 from the size or dispersion degree of the vinyl 104, by using the polarization image, the stirring of the dust 103 is accurately performed without relying on visual inspection by the operator. The state can be determined quantitatively. Further, in the present embodiment, the stirring state is determined using the polarization image and the normal image in combination. As a result, since the vinyl 104 is transparent and appears in the polarized image even when it does not appear in the normal image, the accuracy of the determination can be further enhanced. Furthermore, by causing the determination result to be learned, it is possible to determine the agitation state with higher accuracy as the agitation determination process is repeatedly performed.

<3.2. About agitation learning processing>
Next, a stirring learning process performed by the stirring state detection device 1 to which the area with insufficient stirring specified by the stirring state detection device 1 is input will be described.

  FIG. 8 is a flowchart showing agitation learning processing.

  The crane control unit 201 determines whether or not a specific area is input from the stirring state detection device 1 (step S21). The specific area is an area with insufficient agitation specified by the agitation state detection device 1 as described in step S8 of FIG. 7. When the specific area is not input (step S21: NO), the crane control unit 201 ends the present process.

  When the specific area is input (step S21: YES), the crane control unit 201 controls the driving of the crane 105 and performs the stirring operation on the specified area (step S22). The crane control unit 201 calculates the number of times of stirring when performing the stirring operation. Here, the number of times of the stirring operation is one in which the crane 105 grips and lifts the waste 103 and drops it into the pit 101 again.

  Specifically, in step S21, the crane control unit 201 receives the image data described above together with the specific area. The crane control unit 201 stores the number of times of the stirring operation performed (operation control content) with respect to the input image data in the stirring operation up to this point. Then, the crane control unit 201 performs matching processing, selects image data close to the newly input image data from the stored image data, and acquires the number of times of the stirring operation corresponding to the image data. The crane control unit 201 performs the stirring operation for the acquired number of times.

  The crane control unit 201 learns the stirring operation from the stirring operation performed in step S22 (step S23). For example, as a result of the stirring operation being performed in step S22, when the operator visually confirms that the stirring is insufficient, the stirring operation is further performed. And the crane control part 201 matches and memorize | stores the frequency | count of the performed stirring operation, and the image data input by step S21. Accordingly, the crane control unit 201 can learn and update the number of stirring operations to be performed on the input image data. As a result, the crane control unit 201 can calculate the number of times the stirring operation can be performed efficiently.

<3.3. About judgment criteria update processing>
Next, when the information on the combustion state is fed back from the incineration facility, the determination criterion update process executed by the stirring state detection device 1 will be described.

  FIG. 9 is a flowchart of determination criterion update processing.

  The CPU 41 determines whether or not the information on the combustion state is input (step S31). The information on the combustion state may be automatically input from the incineration facility to the agitation state detection device 1 or may be manually input by the operator. When the information on the combustion state is not input (step S31: NO), the CPU 41 ends the present process.

  When the information on the combustion state is input (step S31: YES), the CPU 41 learns to update the determination criterion of the stirring state (step S32). For example, if the agitation of the waste 103 is insufficient, the waste 103 is less likely to be burned in the incineration facility due to the large amount of moisture in the waste. For this reason, when it is determined that the agitation is sufficient, if the combustion in the incineration facility is insufficient, the CPU 41 determines that the agitation is insufficient and the determination process of the agitation state is erroneous. . Therefore, as in step S7 of FIG. 7, the CPU 41 makes the determination criteria stricter and makes it easy to determine that the stirring is insufficient. Thus, the stirring state can be determined more accurately by updating the reference value in a learning manner.

  The information fed back to the stirring state detection device 1 may be data of the amount of power generation due to the combustion state in the combustion facility.

<4. Modified example>
As mentioned above, although embodiment of this invention was described, this invention is not limited to said embodiment.

  Although the normal image is generated from the polarization image in the above embodiment, a normal optical camera may be installed in the waste storage facility 100 for the normal image. Further, in the waste storage facility 100, a light source for emitting light in the pit 101 may be installed. In this case, the light source may be provided with a polarizer and the polarized light may be irradiated to the pit 101.

  Moreover, it may replace with the polarization | polarized-light image generation part 2, and may use a normal optical camera and a polarizer. In this case, by disposing a polarizer in front of the optical camera and rotating the polarizer, the optical camera receives light polarized in each direction. The optical camera then generates a polarized image from the received light.

  Furthermore, in step S9 of FIG. 7, the CPU 41 may output the identified area to, for example, a monitor to notify the worker. At this time, the operator may visually check the stirring state of the specified area, input the visual result, and learn the determination process.

  Moreover, in the stirring state detection process of FIG. 7, when it is determined that the stirring is sufficient, the confirmation process by the visual inspection of the worker is performed, but even when it is determined that the stirring is insufficient, A confirmation process may be performed visually by the operator.

  In addition, about the structure of the detail of a stirring state detection apparatus and a stirring control apparatus, you may differ from each figure of this application. In addition, the elements appearing in the above-described embodiment and modification may be combined as appropriate as long as no contradiction occurs.

1: Agitation state detection device 2: Polarized image generation unit 3: Data input unit 4: Arithmetic device 21: Image sensor 22: Polarizer array 41: CPU
42: ROM
43: RAM
44: storage unit 45: input / output unit 51: CPU
54: storage unit 100: storage facility 100A: loading port 101: pit 102: collection vehicle 104: vinyl 104A: bag 104B: fragment 105: crane 200: transport control device 201: crane control unit 211, 212, 213, 214: pixel 221, 222, 223, 224: Polarizer

Claims (8)

It is a stirring state detection device which detects the stirring state of the refuse stored in the pit,
A polarization information acquisition unit that receives light reflected by dust stored in the pit and acquires polarization information;
A polarization image generation unit that generates a polarization image including polarization information acquired by the polarization information acquisition unit;
A determination unit that determines an agitation state of the dust based on the polarization image generated by the polarization image generation unit;
An agitation state detection device comprising: The stirring state detection device according to claim 1, wherein
The determination unit determines the agitation state of the waste by determining the distribution of vinyl in the stored waste from the polarized image.
Agitation state detection device The stirring state detection device according to claim 1 or 2, wherein
From the difference in the material of the waste and the waste bag, detect the agitation state of the waste dumped in the pit,
Agitation state detection device. The stirring state detection device according to any one of claims 1 to 3, wherein
A normal image generation unit that generates a normal image of dust stored in the pit based on brightness, lightness, and saturation;
Equipped with
The determination unit is
Determining the agitation state of the dust based on the polarized image and the normal image;
Agitation state detection device. The stirring state detection device according to any one of claims 1 to 4, wherein
An area identification unit that identifies an area that requires waste agitation from the determination result by the determination unit;
An output unit that outputs the area specified by the area specification unit to the outside;
An agitation state detection device comprising: A stirring control device that controls the operation of a stirring unit that stirs the waste dumped in the pit,
The stirring state detection device according to claim 5;
A control unit configured to drive and control the stirring unit to stir the area output by the output unit;
An agitation control device comprising: The agitation control device according to claim 6, wherein
The control unit
The polarization image used by the determination unit and the operation control content of the stirring unit performed on the area based on the polarization image are stored in association with each other, and the storage content is updated.
Stirring control device. An agitation state detection method for detecting the agitation state of waste dumped in a pit, comprising:
a) Receiving the light reflected by the dust stored in the pit and acquiring polarization information;
b) generating a polarization image including polarization information acquired in the step a);
c) determining the agitation state of the dust based on the polarization image generated in the step b);
A stirring state detection method comprising:

Images