JP2021060162A - Garbage carrier device - Google Patents

Abstract

To provide a garbage carrier device that can easily measure a height of a heap of garbage fast in three dimensions with high measurement precision over a wide measurement range in a non-contact manner, and improves conventional contact type measurement and measurement by processing on signals of camera images to achieve human and machine savings and automation.SOLUTION: Control means moves a crane girder 3 on a garbage pit 101 over a measurement range to change a laser emission angle θ from a laser range finder 5 fitted to the crane girder 3, scans a surface of the heap 102 of garbage within the measurement range with laser emission light, and then calculates a height of the surface of the heap 102 of garbage to specify the shape of the heap 102 of garbage.SELECTED DRAWING: Figure 1

Description

The present invention relates to a waste transport device used for transporting waste from, for example, a waste pit that is placed in a waste treatment facility or the like and into another place such as an incinerator.

The waste treatment facility (garbage incineration plant) is generally composed of a waste pit that temporarily stores waste, an incinerator, and a waste transfer device (overhead crane) that transports the waste in the waste pit to the incinerator. There is. The garbage pit is a depression (box) in which the garbage collected by the garbage truck is temporarily thrown in, and a garbage pile is formed by throwing the garbage into the garbage pit. Further, the incinerator is formed with a charging hopper into which the waste in the waste pit is charged.

Further, in the waste pit where the waste is stored, the waste transport device is used to transship, stir, and charge the incinerator into the charging hopper. The transshipment work is a work of sequentially transshipping the garbage carried into the carry-in door side to the input hopper side and creating an empty space for the garbage carried in one after another. In addition, the above-mentioned stirring work is performed with the expectation of improving the quality of waste such as evaporation of water in the waste and bag breaking.

By the way, including the waste after the transshipment work and the stirring work, or the case where the stirring work is not performed, the waste is sequentially put into the incinerator (loading hopper) from the highest place of the waste pile. In such work, controlling the height of the waste pile was an important matter, and together with the automatic combustion control of the incinerator, it was the biggest issue required for the waste transfer device.

Therefore, conventionally, the height of the garbage pile is based on the amount of wire rope drawn out when the crane bucket suspended by the wire rope is landed on the garbage pile and the image from the camera installed on the crane girder or the like. Was calculated. For example, in Patent Document 1, the height of the dust pile at this position is determined by detecting the landing of the crane bucket on the dust pile with a torque switch or the like and measuring the amount of wire rope drawn out at this time. A method of back calculation is disclosed.

Japanese Unexamined Patent Publication No. 60-153301

On the other hand, in recent years, it has been required to automate the transshipment, stirring and loading operations in the above-mentioned waste pits. When automating the transshipment, stirring and loading operations, it is required to accurately and easily detect the height of the waste pile charged into the waste pit.

However, the conventional waste transfer device has a limit in the measurement accuracy and the measurement range of the height of the waste pile, and is not suitable for automation. Further, in the calculation based on the video, the amount of signals to be processed is enormous, and it is difficult to speed up the signal processing.

Therefore, the present invention has been proposed to solve the problems of the above-mentioned conventional waste transport device, and the height of the waste pile can be easily detected with high measurement accuracy without contact and the measurement range is also wide. The purpose is to provide a waste transfer device that is widely suitable for automation.

The present invention has been proposed to solve the above problems, and the first invention (the invention according to claim 1) includes a crane girder installed so as to be horizontally linearly movable on a garbage pit. A laser rangefinder that is attached to the crane girder and can change the laser emission angle in a direction orthogonal to the movable direction of the crane girder, and a horizontal on the crane girder that is orthogonal to the movable direction of the crane girder. In addition to controlling the position of the crane girder and the laser emission angle from the laser rangefinder, the trolley installed so that it can move linearly in the direction, the crane bucket that is suspended and supported by the trolley so that it can move up and down. , The position of the crane girder, the laser emission angle from the laser rangefinder, and the measurement distance by the laser rangefinder are acquired, and the height of the surface of the garbage pile in the waste pit is determined based on these acquired values. The control means includes a control means for calculating, and the control means moves the crane girder over the measurement range and changes the laser emission angle from the laser rangefinder to change the laser emission angle of the dust pile within the measurement range. It is characterized in that the surface is scanned by laser emission light, the height of the surface of the trash can is calculated, and the shape of the trash can be specified.

Further, in the second invention (the invention according to claim 2), in the first invention, the control means divides the surface of the waste pile within the measurement range into a plurality of compartments, and within each compartment. It is characterized in that the median value of the measurement distance is treated as a representative value of the section.

Further, in the third invention (the invention according to claim 3), in the first invention, the control means divides the surface of the waste pile within the measurement range into a plurality of compartments, and within each compartment. It is characterized in that the inclination angle between the two points is calculated based on the measurement distance of the two points.

Further, in the fourth invention (the invention according to claim 4), in any one of the first invention to the third invention, the control means has a difference of a predetermined threshold or more with respect to a measurement distance in the vicinity. It is characterized in that the measurement distance having the above is excluded from the calculation basis.

Further, the fifth invention (the invention according to claim 5) is, in any one of the first invention to the fourth invention, when the control means irradiates the crane bucket with the laser emission light. , The measurement distance at this time is excluded from the calculation basis.

According to the waste transfer device according to the first invention (the invention according to claim 1), the movable direction of the crane girder is set to the X-axis by a simple configuration using a laser rangefinder attached to the crane girder, and a laser is used. When the variable direction of the emission angle (direction along the crane girder) is the Y axis and the vertical direction is the Z axis, the height of the trash can be specified at any position at the three-dimensional positions of X, Y, and Z. it can. This waste transport device can easily detect the height of the waste pile with high measurement accuracy without contact, has a wide measurement range, and can be greatly suitable for automation of waste stirring work and loading work.

Further, according to the waste transport device according to the second invention (the invention according to claim 2), the surface of the waste pile within the measurement range is divided into a plurality of compartments (for example, 500 mm × 500 mm), and the inside of each compartment is divided. Since the median value of the measurement distance is treated as the representative value of the section, it is possible to improve the measurement accuracy of the height of the garbage pile in the garbage pit while compressing the data.

Further, according to the waste transport device according to the third invention (the invention according to claim 3), the surface of the waste pile within the measurement range is divided into a plurality of compartments, and the measurement distance is set to two points in each compartment. Based on this, the inclination angle between the two points can be calculated.

Further, according to the waste transport device according to the fourth invention (the invention according to claim 4), the measurement distance having a difference of a predetermined threshold value or more with respect to the measurement distance in the vicinity is excluded from the calculation basis, so that the floating dust is present. The result (outlier) of detecting (small dust, etc.) is removed, and the measurement accuracy can be further improved.

Further, according to the waste transport device according to the fifth invention (the invention according to claim 5), the measurement distance when the crane bucket is irradiated with the laser emission light is excluded from the calculation basis, so that the object is not an object to be detected. The position information and volume information of the crane are removed, and the measurement accuracy can be further improved.

It is a top view which shows typically the structure of the waste transport apparatus which concerns on this invention. It is a front view which shows typically the structure of the garbage transport device. It is a front view which shows the mounting structure of the laser range finder of a garbage transport device. It is a front view which shows the structure of the laser range finder of a garbage transport device. It is a side view which shows the structure of the laser range finder of a garbage transport device. It is a block diagram which shows the structure of the garbage transport device. It is a top view which shows typically the section in a garbage transporting apparatus. It is a perspective view which shows the height of each section in a garbage transport device. It is a flowchart which shows the operation of a garbage transport device. It is a flowchart which shows the section division in a garbage transporting apparatus. It is a flowchart which shows the typical value of the section in a waste transfer apparatus. It is a flowchart which shows the transshipment work in a garbage transport apparatus.

Hereinafter, the waste transport device according to the present invention will be described in detail with reference to the drawings. Note that FIG. 1 is a plan view schematically showing the configuration of the waste transport device according to the present invention, and FIG. 2 is a front view schematically showing the configuration of the waste transport device.

As shown in FIGS. 1 and 2, the waste transport device 1 according to this embodiment includes a crane main body 2 installed on a waste pit 101 of a waste treatment facility (waste incineration plant). The garbage pit 101 is a depression (box) into which garbage collected by a garbage truck (not shown) is temporarily thrown in. Further, a garbage pile 102 is formed by throwing garbage into the garbage pit 101. Further, the crane main body 2 transports the garbage in the garbage pit 101 to an incinerator (not shown). A charging hopper (not shown) is arranged in the vicinity of the waste pit 101, and the charging hopper communicates with an incinerator (not shown).

In the waste pit 101, the crane main body 2 performs transshipment, stirring, and loading operations. The transshipment work is a work of sequentially transshipping the garbage carried into the carry-in door side (not shown) to the input hopper side (nearby) and creating an empty space for the garbage carried in one after another. Further, the above-mentioned stirring work is a work performed for improving the quality of waste such as evaporation of water in the waste and breaking of bags. Further, the waste charging work is a work of charging the waste into the charging hopper connected to the incinerator. The waste after transshipment and stirring work is sequentially put into the incinerator from the highest place of the waste pile.

The crane main body 2 has a crane girder 3 installed on the garbage pit 101 so as to be horizontally linearly movable. The crane girder 3 can be moved in the horizontal direction (X direction) along the rails 4 and 4 by a pair of left and right rails 4 and 4 installed on both sides of the garbage pit 101. Further, the crane girder 3 is moved and operated by a driving force of a motor (not shown). The crane girder 3 is provided with a wheel angle detection device (rotary encoder) (not shown) that is rotated by relative movement with the rails 4 and 4, and can output position information in the X direction.

FIG. 3 is a front view showing the mounting structure of the laser range finder of the waste transfer device, FIG. 4 is a front view showing the structure of the laser range finder of the garbage transfer device, and FIG. 5 is a front view showing the structure of the laser range finder of the garbage transfer device. It is a side view which shows the structure of the laser rangefinder of. As shown in FIGS. 3 to 5, a laser range finder 5 is attached to the crane girder 3. The laser range finder 5 is attached to, for example, the handrail 3c of the crane girder 3. Further, the laser rangefinder 5 measures the distance to an object in the laser emission direction by emitting a laser beam for distance measurement from the emission hole 5a and detecting the reflected light of the laser beam. Is. Further, the laser rangefinder 5 is configured so that the emission angle of the laser beam can be changed (scanned) in a direction (θ direction) orthogonal to the movable direction of the crane girder 3. , Information on the laser emission angle θ and information on the measurement distance can be output.

The laser range finder 5 is preferably mounted near the central portion near the lower surface of the crane girder 3. This is because the entire range in the garbage pit 101 can be easily scanned by attaching the crane girder 3 to the central portion near the lower surface of the crane girder 3.

Then, as shown in FIGS. 1 and 2, a trolley 6 is installed on the crane girder 3. The trolley 6 is linearly movable on the crane girder 3 in the horizontal direction (Y direction) orthogonal to the movable direction (X direction) of the crane girder 3. The trolley 6 is moved by a driving force of a motor (not shown). Further, the trolley 6 is provided with a wheel angle detection device (rotary encoder) that is rotated by relative movement with the crane girder 3, and can output position information in the Y direction. Further, as shown in FIG. 2, the trolley 6 is supported by a plurality of wire ropes (reference numerals are omitted) in a suspended state of the crane bucket 7. The crane bucket 7 is movable (up and down) in the vertical direction (Z direction) by a driving force of a motor (not shown). Further, the crane bucket 7 is openable and closable on the tip side, and by changing from the open state to the closed state, the dust in the dust pit 101 is gripped, and the crane bucket 7 is moved in the X direction together with the crane girder 3. It can be moved in the Y direction with respect to the crane girder 3, can be moved up and down in the Z direction with respect to the crane girder 3, and can be moved in all directions in the three-dimensional direction. It can be transported (loaded) to the hopper).

Then, in the waste transport device 1, the operator controls the crane girder 3, the trolley 6, and the crane bucket 7 respectively via a controller serving as a control means to incinerate the waste in the waste pit 101. It is configured so that it can be transported to.

FIG. 6 is a block diagram showing the configuration of the waste transport device. In the waste transfer device 1, as shown in FIG. 6, the crane girder 3 is connected to the controller 8. The crane girder 3 is provided with a wheel driving device 3a and a wheel angle detecting device (rotary encoder) 3b. The controller 8 controls the position (X direction) of the crane girder 3, and the controller 8 obtains the position information (X direction) of the crane girder 3 from the crane girder 3 (wheel angle detection device 3b). get.

Further, the laser range finder 5 is connected to the controller 8, and the controller 8 controls the laser emission angle (θ direction) from the laser range finder 5. Further, the controller 8 acquires information on the laser emission angle (θ direction) from the laser range finder 5 and information on the measurement distance by the laser range finder 5 from the laser range finder 5. Further, the trolley 6 is connected to the controller 8, and the controller 8 controls the position (Y direction) of the trolley 6. The trolley 6 is provided with a weighing device 6a, a wheel driving device 6b and a wheel angle detecting device 6c thereof, a wire drum driving device 6d for suspending the crane bucket 7, and a wheel angle detecting device 6e thereof. The controller 8 acquires the position information (Y direction) of the trolley 6 from the trolley 6 (wheel angle detecting device 6c).

Further, the crane bucket 7 is connected to the controller 8, and the controller 8 controls the height (Z direction) and opening / closing (grasping and releasing) of the crane bucket 7. Further, the controller 8 acquires height information (Z direction) and opening / closing information of the crane bucket 7 from the crane bucket 7 (wheel angle detection device 6e). The operation unit 9 and the display unit 10 are connected to the controller 8. The operator can control the crane main body 2 via the controller 8 by operating the operation unit 9. Further, the controller 8 includes a storage device (memory) 8a, and can automatically control the crane main body 2 according to a program stored in the storage device 8a in advance. The display unit 10 displays each information from the crane main body 2, the operating state of the controller 8, the state of automatic control, and the like.

Further, the controller 8 calculates the height of the surface of the garbage pile 102 in the garbage pit 101 based on each acquired value. Further, the controller 8 takes in the position information (X direction) of the crane girder 3 from the wheel angle detection device (rotary encoder) 3b interlocked with the movement of the crane girder 3. The controller 8 takes in information on the laser emission angle (θ direction) from the laser range finder 5 from the laser range finder 5. Further, the controller 8 determines the height of the dust pile 102 at a specific position in the dust pit 101 from the position information (X direction), the laser emission angle (θ direction) information, and the measurement distance information. At this time, as shown in FIG. 2, the measurement distance from the laser range finder 5 to the surface of the dust pile 102 (the object to be reflected by the laser) is r. Further, assuming that θ = 0 in the horizontal direction, Y = 0 (Y-axis origin) at the end of the dust pit 101 (difference in FIG. 2), and Y = L directly below the laser rangefinder 5 (vertically below). From [Lr · cosθ], the distance in the Y direction from the origin of the Y axis to the surface (object) of the garbage pile 102 measured is can be calculated.

Further, the vertical distance (height) from the position of the surface of the garbage mountain measured by [r · sinθ] to the height position of the laser rangefinder 5 is calculated. Assuming that the distance from the laser range finder 5 to the bottom of the garbage pit 101 is R, the height from the bottom of the garbage pit 101 to the surface (object) of the garbage mountain 102 measured by [R-r · sinθ]. Can be calculated. Further, the controller 8 moves the crane girder 3 over the measurement range, changes the laser emission angle from the laser range finder 5, and scans the surface of the dust pile 102 within the measurement range with the laser emission light. Then, the height of the surface of the garbage pile 102 is calculated. That is, the controller 8 calculates the height of the garbage pile 102 at an arbitrary position in the garbage pit 101 in three dimensions of X, Y, and Z in a non-contact manner. Then, the controller 8 specifies the shape of the waste pile 102 in a non-contact manner by calculating the height of the waste pile 102 at a plurality of positions in the dust pit 101.

FIG. 7 is a plan view showing the compartments in the waste transport device, and FIG. 8 is a perspective view showing the height of each compartment in the waste transport device. As shown in FIG. 7, the controller 8 divides the surface of the garbage pile 102 within the measurement range into a plurality of sections (for example, 200 mm × 200 mm to 600 mm × 600 mm), and as shown in FIG. 8, within each section. The median value of the measurement distance of may be treated as a representative value of the section. By doing so, data can be compressed and measurement accuracy can be improved.

Further, the controller 8 can divide the surface of the garbage pile 102 within the measurement range into a plurality of sections, and calculate the inclination angle between the two points based on the measurement distance of the two points in each section. In this case, it is preferable to use the measurement distances of the two most distant points in each section. The accuracy of calculating the tilt angle can be improved based on the measurement distances of the two farthest points. Further, it is preferable that the controller 8 excludes a measurement distance having a difference of a predetermined threshold value or more with respect to a nearby measurement distance from the calculation basis. In other words, it is preferable that the threshold value is stored in the storage device 8a in advance, the measurement distance is compared with this threshold value, and the measurement distance having a difference of a predetermined threshold value or more is excluded from the calculation basis. This is because the measurement distance set in the compartment may contain outliers that detect floating dust (small dust, etc.), and measurement distances that have a large difference with respect to nearby measurement distances are outliers. Most likely a value. The measurement accuracy can be improved by excluding the measurement distance by this outlier test. FIG. 8A shows a state in which such outliers have become representative values.

Further, it is preferable that the controller 8 excludes the measurement distance at this time from the calculation basis when the laser emission light from the laser range finder 5 is irradiated to the crane bucket 7. The position of the crane bucket 7 can be specified from the position information from the crane bucket 7, and the size (volume information) of the crane bucket 7 is also known in advance. Can be excluded. FIG. 8B shows a state in which the measurement distance at which the crane bucket 7 has been detected has become a representative value.

Further, it is preferable that the coordinates corresponding to the inner wall of the garbage pit 101 are set as historysis (dead zone) and distance measurement is not performed. The measurement distance of the coordinates of the inner wall of the garbage pit 101 may be excluded from the calculation basis.

FIG. 9 is a flowchart showing the operation of the waste transport device 1. In this waste transfer device 1, as shown in FIG. 9, when the operation is started in step st1, in step st2, the controller 8 moves the crane girder 3 in the X direction over the measurement range. In the next step st3, the controller 8 changes the laser emission angle θ from the laser rangefinder 5. In this way, the controller 8 scans the surface of the dust pile 102 within the measurement range with the laser emission light.

In the next step st4, the controller 8 acquires information on the position in the X direction, the emission angle θ, and the measurement distance information. In the next step st5, the controller 8 removes the measurement distance information to be removed. In the next step st6, the controller 8 calculates the height of the surface of the garbage pile 102 by [Lr · cosθ] and [Rr · sinθ]. This calculation may be performed for each section. This division will be described with reference to FIGS. 10 and 11 below. In the next step st7, the controller 8 identifies the shape of the waste pile 102 based on the heights of the waste pile 102 at a plurality of positions in the waste pit 101, and returns in step st8.

FIG. 10 is a flowchart showing the division in the waste transport device. When dividing the inside of the garbage pit 101, as shown in FIG. 10, the controller 8 registers the volume of the crane bucket 7 in step st11, divides the inside of the garbage pit 101 evenly with an arbitrary size, and divides the inside of the garbage pit 101 evenly. Create a partition (rectangular area). A certain number of height data (level data) can be held in each section. If it exceeds a certain number, the oldest height data is overwritten in order. Next, in step st12, the controller 8 converts the position information of the crane girder 3 into X-axis coordinates, converts the position information of the trolley 6 into Y-axis coordinates, and converts the position information of the crane bucket 7 into Z-axis. Convert to coordinates. Further, the position information of the crane girder 3 is calculated by detecting the rotation angle of the wheels of the crane girder 3, and the position information of the trolley 6 is calculated by detecting the rotation angle of the wheels of the trolley 6. The information is calculated by detecting the rotation angle of the wire drum.

Next, in step st13, the controller 8 creates a non-detection target region within the XYZ coordinates from the position and volume of the crane bucket 7. Next, in step st14, the controller 8 converts the measurement distance data from the laser rangefinder 5 into YZ coordinates. This X coordinate uses the position information of the crane girder 3. Then, the controller 8 creates a detection point of the height data in the XYZ coordinates. Next, in step st15, the controller 8 determines whether the detection point of the height data is the non-detection target region, returns to step st12 if it is the non-detection target region, and steps if it is not the non-detection target region. Proceed to st16. This is a data removal (filtering) process (a process of excluding the measurement distance from the calculation basis) when the crane bucket 7 enters the measurement range.

Next, in step st16, the controller 8 calculates the corresponding section from the XY coordinates of the detection points of the height data. Next, the controller 8 updates the height data of the section in step st17. Next, in step st18, the controller 8 calculates a representative value by excluding a value having a deviation of a predetermined value or more by an outlier test. This is a processing for removing (filtering) abnormal values such as floating dust. The average value, median value, maximum value, and the like can be used to calculate the representative value.

FIG. 11 is a flowchart showing a representative value of a section in the waste transport device. In this waste transfer device, by moving the crane main body 2, the height data for each address in the moving range can be updated in a non-contact manner. An accurate "pit level map" can be created by periodically operating the crane body 2 over the entire area of the garbage pit 101. That is, as shown in FIG. 11, the controller 8 registers the correspondence table of the address and the section in the garbage pit 101 in step st21.

Next, in step st22, the controller 8 calculates height data for all the representative values of each section included in the address. The average value, median value, maximum value, and the like can be used to calculate the representative value. By finding the variance based on all the representative values of each section, the difficulty of landing at the address (easiness of grasping garbage) can be determined.

FIG. 12 is a flowchart showing the transshipment work in the waste transport device. In the transshipment work, as shown in FIG. 12, the controller 8 grabs the dust at the highest address in the dust pit 101 in step st31. Note that the address height information may differ after measurement due to external factors. If the height information in the waste pit 101 is inaccurate in the route for transferring the waste, the climbing distance of the crane bucket 7 for avoiding the deposit will be extended. In this waste transport device, since it can be found by measuring with the laser range finder 5 in a non-contact manner, there is no decrease in the operating rate.

Next, in step st32, the controller 8 transships the garbage to the address having the lowest height in the garbage pit 101. In this waste transfer device, the height at the address after the waste transshipment can be known by measuring it with the laser range finder 5 in a non-contact manner after the transshipment operation, so that there is no decrease in the operating rate.

1 Garbage transfer device 2 Crane body 3 Crane girder 4 Rail 5 Laser rangefinder 6 Trolley 7 Crane bucket 8 Controller 8a Storage device 9 Operation unit 10 Display unit 101 Garbage pit 102 Garbage pile

The present invention relates to a waste transport device used for transporting waste from, for example, a waste pit that is placed in a waste treatment facility or the like and into another place such as an incinerator.

The waste treatment facility (garbage incineration plant) is generally composed of a waste pit that temporarily stores waste, an incinerator, and a waste transfer device (overhead crane) that transports the waste in the waste pit to the incinerator. There is. The garbage pit is a depression (box) in which the garbage collected by the garbage truck is temporarily thrown in, and a garbage pile is formed by throwing the garbage into the garbage pit. Further, the incinerator is formed with a charging hopper into which the waste in the waste pit is charged.

Further, in the waste pit where the waste is stored, the waste transport device is used to transship, stir, and charge the incinerator into the charging hopper. The transshipment work is a work of sequentially transshipping the garbage carried into the carry-in door side to the input hopper side and creating an empty space for the garbage carried in one after another. In addition, the above-mentioned stirring work is performed with the expectation of improving the quality of waste such as evaporation of water in the waste and bag breaking.

By the way, including the waste after the transshipment work and the stirring work, or the case where the stirring work is not performed, the waste is sequentially put into the incinerator (loading hopper) from the highest place of the waste pile. In such work, controlling the height of the waste pile was an important matter, and together with the automatic combustion control of the incinerator, it was the biggest issue required for the waste transfer device.

Therefore, conventionally, the height of the garbage pile is based on the amount of wire rope drawn out when the crane bucket suspended by the wire rope is landed on the garbage pile and the image from the camera installed on the crane girder or the like. Was calculated. For example, in Patent Document 1, the height of the dust pile at this position is determined by detecting the landing of the crane bucket on the dust pile with a torque switch or the like and measuring the amount of wire rope drawn out at this time. A method of back calculation is disclosed.

Japanese Unexamined Patent Publication No. 60-153301

On the other hand, in recent years, it has been required to automate the transshipment, stirring and loading operations in the above-mentioned waste pits. When automating the transshipment, stirring and loading operations, it is required to accurately and easily detect the height of the waste pile charged into the waste pit.

However, the conventional waste transfer device has a limit in the measurement accuracy and the measurement range of the height of the waste pile, and is not suitable for automation. Further, in the calculation based on the video, the amount of signals to be processed is enormous, and it is difficult to speed up the signal processing.

Therefore, the present invention has been proposed to solve the problems of the above-mentioned conventional waste transport device, and the height of the waste pile can be easily detected with high measurement accuracy without contact and the measurement range is also wide. The purpose is to provide a waste transfer device that is widely suitable for automation.

The present invention has been proposed to solve the above problems, and the first invention (the invention according to claim 1) includes a crane girder installed so as to be horizontally linearly movable on a garbage pit. A laser rangefinder that is attached to the crane girder and can change the laser emission angle in a direction orthogonal to the movable direction of the crane girder, and a horizontal on the crane girder that is orthogonal to the movable direction of the crane girder. In addition to controlling the position of the crane girder and the laser emission angle from the laser rangefinder, the trolley installed so that it can move linearly in the direction, the crane bucket that is suspended and supported by the trolley so that it can move up and down. , The position of the crane girder, the laser emission angle from the laser rangefinder, and the measurement distance by the laser rangefinder are acquired, and the height of the surface of the garbage pile in the waste pit is determined based on these acquired values. The control means includes a control means for calculating, and the control means moves the crane girder over the measurement range and changes the laser emission angle from the laser rangefinder to change the surface of the garbage pile within the measurement range. Is scanned by the laser emission light, the surface of the garbage mountain within the measurement range is divided into a plurality of sections, and the inclination angle between the two points is calculated based on the measurement distance of the two points in each section. At the same time, it is characterized in that the height of the surface of the trash can is calculated and the shape of the trash can be specified.

Further, in the second invention (the invention according to claim 2), in the first invention, the control means calculates the measurement distance at this time when the laser emission light is irradiated to the crane bucket. It is characterized by being excluded from the grounds.

Further, the third invention (the invention according to claim 3) is a crane girder installed so as to be horizontally linearly movable on a garbage pit, and a crane girder attached to the crane girder so that the laser emission angle can be changed. A laser rangefinder that can be changed in a direction orthogonal to the direction, a trolley installed on the crane girder so that it can move linearly in the horizontal direction orthogonal to the movable direction of the crane girder, and a trolley that is vertically movable. The position of the crane girder and the laser emission angle from the laser rangefinder are controlled, and the position of the crane girder and the laser emission angle from the laser rangefinder are controlled. And a control means for acquiring the measurement distance by the laser crane and calculating the height of the surface of the trash pile in the trash pit based on these acquired values, the control means is within the measurement range. The crane girder is moved over the crane girder, the laser emission angle from the laser rangefinder is changed, and the surface of the garbage pile within the measurement range is scanned by the laser emission light to identify the position of the crane bucket. When the crane bucket is irradiated with the laser emission light based on the position information from the crane bucket, the measurement distance at this time is excluded from the calculation basis, and the height of the surface of the trash pile is calculated. It is characterized by identifying the shape of a trash can.

Further, the fourth invention (the invention according to claim 4) is the invention of any one of the first invention to the third invention, wherein the control means is the surface of the garbage pile within the measurement range. Is divided into a plurality of sections, and the median value of the measurement distance in each section is treated as a representative value of the section .

Further, the fifth invention (the invention according to claim 5) is a difference of a predetermined threshold or more with respect to the measurement distance in the compartment in any one of the first invention to the fourth invention. It is characterized in that the measurement distance having the above is excluded from the calculation basis.

According to the waste transfer device according to the first invention (the invention according to claim 1), the movable direction of the crane girder is set to the X-axis by a simple configuration using a laser rangefinder attached to the crane girder, and a laser is used. When the variable direction of the emission angle (direction along the crane girder) is the Y axis and the vertical direction is the Z axis, the height of the trash can be specified at any position at the three-dimensional positions of X, Y, and Z. it can. This waste transport device can easily detect the height of the waste pile with high measurement accuracy without contact, has a wide measurement range, and can be greatly suitable for automation of waste stirring work and loading work. In particular, in the first invention, the surface of the garbage mountain within the measurement range is divided into a plurality of sections, and the inclination angle between the two points is calculated based on the measurement distance of the two points in each section. Since the height of the surface of the waste pile is calculated and the shape of the waste pile is specified, the measurement accuracy of the height of the waste pile in the waste pit can be further improved.

Further, according to the waste transport device according to the second invention (the invention according to claim 2), the measurement distance when the laser emission light is applied to the crane bucket is excluded from the calculation basis, so that the object is not an object to be detected. position information is removed, the measurement accuracy more can further enhance Rukoto.

Further, even if the Ru good in dust conveying apparatus according to the third invention (invention described in claim 3), as in the second invention, when the laser emission light is irradiated on the crane bucket since excluding measurement distance from the calculated basis, the position information is not a detection target object is removed, the measurement accuracy more can further enhance Rukoto.

Further, according to the waste transport device according to the fourth invention (the invention according to claim 4), the surface of the waste pile within the measurement range is divided into a plurality of compartments (for example, 500 mm × 500 mm), and the inside of each compartment is divided. since handling the median of the measured distance as a representative value of the partition, while compressing the data can Rukoto enhance the measurement accuracy of the height of the waste pile in the garbage pit.

Further, according to the waste transport device according to the fifth invention (the invention according to claim 5), the control means calculates a measurement distance having a difference of a predetermined threshold or more with respect to the measurement distance in the compartment. since excluded from result of detection of dust floating (minute dust) (outliers) are removed, you to further improve the measurement accuracy.

It is a top view which shows typically the structure of the waste transport apparatus which concerns on this invention. It is a front view which shows typically the structure of the garbage transport device. It is a front view which shows the mounting structure of the laser range finder of a garbage transport device. It is a front view which shows the structure of the laser range finder of a garbage transport device. It is a side view which shows the structure of the laser range finder of a garbage transport device. It is a block diagram which shows the structure of the garbage transport device. It is a top view which shows typically the section in a garbage transporting apparatus. It is a perspective view which shows the height of each section in a garbage transport device. It is a flowchart which shows the operation of a garbage transport device. It is a flowchart which shows the section division in a garbage transporting apparatus. It is a flowchart which shows the typical value of the section in a waste transfer apparatus. It is a flowchart which shows the transshipment work in a garbage transport apparatus.

Hereinafter, the waste transport device according to the present invention will be described in detail with reference to the drawings. Note that FIG. 1 is a plan view schematically showing the configuration of the waste transport device according to the present invention, and FIG. 2 is a front view schematically showing the configuration of the waste transport device.

As shown in FIGS. 1 and 2, the waste transport device 1 according to this embodiment includes a crane main body 2 installed on a waste pit 101 of a waste treatment facility (waste incineration plant). The garbage pit 101 is a depression (box) into which garbage collected by a garbage truck (not shown) is temporarily thrown in. Further, a garbage pile 102 is formed by throwing garbage into the garbage pit 101. Further, the crane main body 2 transports the garbage in the garbage pit 101 to an incinerator (not shown). A charging hopper (not shown) is arranged in the vicinity of the waste pit 101, and the charging hopper communicates with an incinerator (not shown).

In the waste pit 101, the crane main body 2 performs transshipment, stirring, and loading operations. The transshipment work is a work of sequentially transshipping the garbage carried into the carry-in door side (not shown) to the input hopper side (nearby) and creating an empty space for the garbage carried in one after another. Further, the above-mentioned stirring work is a work performed for improving the quality of waste such as evaporation of water in the waste and breaking of bags. Further, the waste charging work is a work of charging the waste into the charging hopper connected to the incinerator. The waste after transshipment and stirring work is sequentially put into the incinerator from the highest place of the waste pile.

The crane main body 2 has a crane girder 3 installed on the garbage pit 101 so as to be horizontally linearly movable. The crane girder 3 can be moved in the horizontal direction (X direction) along the rails 4 and 4 by a pair of left and right rails 4 and 4 installed on both sides of the garbage pit 101. Further, the crane girder 3 is moved and operated by a driving force of a motor (not shown). The crane girder 3 is provided with a wheel angle detection device (rotary encoder) (not shown) that is rotated by relative movement with the rails 4 and 4, and can output position information in the X direction.

FIG. 3 is a front view showing the mounting structure of the laser range finder of the waste transfer device, FIG. 4 is a front view showing the structure of the laser range finder of the garbage transfer device, and FIG. 5 is a front view showing the structure of the laser range finder of the garbage transfer device. It is a side view which shows the structure of the laser rangefinder of. As shown in FIGS. 3 to 5, a laser range finder 5 is attached to the crane girder 3. The laser range finder 5 is attached to, for example, the handrail 3c of the crane girder 3. Further, the laser rangefinder 5 measures the distance to an object in the laser emission direction by emitting a laser beam for distance measurement from the emission hole 5a and detecting the reflected light of the laser beam. Is. Further, the laser rangefinder 5 is configured so that the emission angle of the laser beam can be changed (scanned) in a direction (θ direction) orthogonal to the movable direction of the crane girder 3. , Information on the laser emission angle θ and information on the measurement distance can be output.

The laser range finder 5 is preferably mounted near the central portion near the lower surface of the crane girder 3. This is because the entire range in the garbage pit 101 can be easily scanned by attaching the crane girder 3 to the central portion near the lower surface of the crane girder 3.

Then, as shown in FIGS. 1 and 2, a trolley 6 is installed on the crane girder 3. The trolley 6 is linearly movable on the crane girder 3 in the horizontal direction (Y direction) orthogonal to the movable direction (X direction) of the crane girder 3. The trolley 6 is moved by a driving force of a motor (not shown). Further, the trolley 6 is provided with a wheel angle detection device (rotary encoder) that is rotated by relative movement with the crane girder 3, and can output position information in the Y direction. Further, as shown in FIG. 2, the trolley 6 is supported by a plurality of wire ropes (reference numerals are omitted) in a suspended state of the crane bucket 7. The crane bucket 7 is movable (up and down) in the vertical direction (Z direction) by a driving force of a motor (not shown). Further, the crane bucket 7 is openable and closable on the tip side, and by changing from the open state to the closed state, the dust in the dust pit 101 is gripped, and the crane bucket 7 is moved in the X direction together with the crane girder 3. It can be moved in the Y direction with respect to the crane girder 3, can be moved up and down in the Z direction with respect to the crane girder 3, and can be moved in all directions in the three-dimensional direction. It can be transported (loaded) to the hopper).

Then, in the waste transport device 1, the operator controls the crane girder 3, the trolley 6, and the crane bucket 7 respectively via a controller serving as a control means to incinerate the waste in the waste pit 101. It is configured so that it can be transported to.

FIG. 6 is a block diagram showing the configuration of the waste transport device. In the waste transfer device 1, as shown in FIG. 6, the crane girder 3 is connected to the controller 8. The crane girder 3 is provided with a wheel driving device 3a and a wheel angle detecting device (rotary encoder) 3b. The controller 8 controls the position (X direction) of the crane girder 3, and the controller 8 obtains the position information (X direction) of the crane girder 3 from the crane girder 3 (wheel angle detection device 3b). get.

Further, the laser range finder 5 is connected to the controller 8, and the controller 8 controls the laser emission angle (θ direction) from the laser range finder 5. Further, the controller 8 acquires information on the laser emission angle (θ direction) from the laser range finder 5 and information on the measurement distance by the laser range finder 5 from the laser range finder 5. Further, the trolley 6 is connected to the controller 8, and the controller 8 controls the position (Y direction) of the trolley 6. The trolley 6 is provided with a weighing device 6a, a wheel driving device 6b and a wheel angle detecting device 6c thereof, a wire drum driving device 6d for suspending the crane bucket 7, and a wheel angle detecting device 6e thereof. The controller 8 acquires the position information (Y direction) of the trolley 6 from the trolley 6 (wheel angle detecting device 6c).

Further, the crane bucket 7 is connected to the controller 8, and the controller 8 controls the height (Z direction) and opening / closing (grasping and releasing) of the crane bucket 7. Further, the controller 8 acquires height information (Z direction) and opening / closing information of the crane bucket 7 from the crane bucket 7 (wheel angle detection device 6e). The operation unit 9 and the display unit 10 are connected to the controller 8. The operator can control the crane main body 2 via the controller 8 by operating the operation unit 9. Further, the controller 8 includes a storage device (memory) 8a, and can automatically control the crane main body 2 according to a program stored in the storage device 8a in advance. The display unit 10 displays each information from the crane main body 2, the operating state of the controller 8, the state of automatic control, and the like.

Further, the controller 8 calculates the height of the surface of the garbage pile 102 in the garbage pit 101 based on each acquired value. Further, the controller 8 takes in the position information (X direction) of the crane girder 3 from the wheel angle detection device (rotary encoder) 3b interlocked with the movement of the crane girder 3. The controller 8 takes in information on the laser emission angle (θ direction) from the laser range finder 5 from the laser range finder 5. Further, the controller 8 determines the height of the dust pile 102 at a specific position in the dust pit 101 from the position information (X direction), the laser emission angle (θ direction) information, and the measurement distance information. At this time, as shown in FIG. 2, the measurement distance from the laser range finder 5 to the surface of the dust pile 102 (the object to be reflected by the laser) is r. Further, assuming that θ = 0 in the horizontal direction, Y = 0 (Y-axis origin) at the end of the dust pit 101 (difference in FIG. 2), and Y = L directly below the laser rangefinder 5 (vertically below). From [Lr · cosθ], the distance in the Y direction from the origin of the Y axis to the surface (object) of the garbage pile 102 measured is can be calculated.

Further, the vertical distance (height) from the position of the surface of the garbage mountain measured by [r · sinθ] to the height position of the laser rangefinder 5 is calculated. Assuming that the distance from the laser range finder 5 to the bottom of the garbage pit 101 is R, the height from the bottom of the garbage pit 101 to the surface (object) of the garbage mountain 102 measured by [R-r · sinθ]. Can be calculated. Further, the controller 8 moves the crane girder 3 over the measurement range, changes the laser emission angle from the laser range finder 5, and scans the surface of the dust pile 102 within the measurement range with the laser emission light. Then, the height of the surface of the garbage pile 102 is calculated. That is, the controller 8 calculates the height of the garbage pile 102 at an arbitrary position in the garbage pit 101 in three dimensions of X, Y, and Z in a non-contact manner. Then, the controller 8 specifies the shape of the waste pile 102 in a non-contact manner by calculating the height of the waste pile 102 at a plurality of positions in the dust pit 101.

FIG. 7 is a plan view showing the compartments in the waste transport device, and FIG. 8 is a perspective view showing the height of each compartment in the waste transport device. As shown in FIG. 7, the controller 8 divides the surface of the garbage pile 102 within the measurement range into a plurality of sections (for example, 200 mm × 200 mm to 600 mm × 600 mm), and as shown in FIG. 8, within each section. The median value of the measurement distance of may be treated as a representative value of the section. By doing so, data can be compressed and measurement accuracy can be improved.

Further, the controller 8 can divide the surface of the garbage pile 102 within the measurement range into a plurality of sections, and calculate the inclination angle between the two points based on the measurement distance of the two points in each section. In this case, it is preferable to use the measurement distances of the two most distant points in each section. The accuracy of calculating the tilt angle can be improved based on the measurement distances of the two farthest points. Further, it is preferable that the controller 8 excludes a measurement distance having a difference of a predetermined threshold value or more with respect to a nearby measurement distance from the calculation basis. In other words, it is preferable that the threshold value is stored in the storage device 8a in advance, the measurement distance is compared with this threshold value, and the measurement distance having a difference of a predetermined threshold value or more is excluded from the calculation basis. This is because the measurement distance set in the compartment may contain outliers that detect floating dust (small dust, etc.), and measurement distances that have a large difference with respect to nearby measurement distances are outliers. Most likely a value. The measurement accuracy can be improved by excluding the measurement distance by this outlier test. FIG. 8A shows a state in which such outliers have become representative values.

Further, it is preferable that the controller 8 excludes the measurement distance at this time from the calculation basis when the laser emission light from the laser range finder 5 is irradiated to the crane bucket 7. The position of the crane bucket 7 can be specified from the position information from the crane bucket 7, and the size (volume information) of the crane bucket 7 is also known in advance. Can be excluded. FIG. 8B shows a state in which the measurement distance at which the crane bucket 7 has been detected has become a representative value.

Further, it is preferable that the coordinates corresponding to the inner wall of the garbage pit 101 are set as historysis (dead zone) and distance measurement is not performed. The measurement distance of the coordinates of the inner wall of the garbage pit 101 may be excluded from the calculation basis.

FIG. 9 is a flowchart showing the operation of the waste transport device 1. In this waste transfer device 1, as shown in FIG. 9, when the operation is started in step st1, in step st2, the controller 8 moves the crane girder 3 in the X direction over the measurement range. In the next step st3, the controller 8 changes the laser emission angle θ from the laser rangefinder 5. In this way, the controller 8 scans the surface of the dust pile 102 within the measurement range with the laser emission light.

In the next step st4, the controller 8 acquires information on the position in the X direction, the emission angle θ, and the measurement distance information. In the next step st5, the controller 8 removes the measurement distance information to be removed. In the next step st6, the controller 8 calculates the height of the surface of the garbage pile 102 by [Lr · cosθ] and [Rr · sinθ]. This calculation may be performed for each section. This division will be described with reference to FIGS. 10 and 11 below. In the next step st7, the controller 8 identifies the shape of the waste pile 102 based on the heights of the waste pile 102 at a plurality of positions in the waste pit 101, and returns in step st8.

FIG. 10 is a flowchart showing the division in the waste transport device. When dividing the inside of the garbage pit 101, as shown in FIG. 10, the controller 8 registers the volume of the crane bucket 7 in step st11, divides the inside of the garbage pit 101 evenly with an arbitrary size, and divides the inside of the garbage pit 101 evenly. Create a partition (rectangular area). A certain number of height data (level data) can be held in each section. If it exceeds a certain number, the oldest height data is overwritten in order. Next, in step st12, the controller 8 converts the position information of the crane girder 3 into X-axis coordinates, converts the position information of the trolley 6 into Y-axis coordinates, and converts the position information of the crane bucket 7 into Z-axis. Convert to coordinates. Further, the position information of the crane girder 3 is calculated by detecting the rotation angle of the wheels of the crane girder 3, and the position information of the trolley 6 is calculated by detecting the rotation angle of the wheels of the trolley 6. The information is calculated by detecting the rotation angle of the wire drum.

Next, in step st13, the controller 8 creates a non-detection target region within the XYZ coordinates from the position and volume of the crane bucket 7. Next, in step st14, the controller 8 converts the measurement distance data from the laser rangefinder 5 into YZ coordinates. This X coordinate uses the position information of the crane girder 3. Then, the controller 8 creates a detection point of the height data in the XYZ coordinates. Next, in step st15, the controller 8 determines whether the detection point of the height data is the non-detection target region, returns to step st12 if it is the non-detection target region, and steps if it is not the non-detection target region. Proceed to st16. This is a data removal (filtering) process (a process of excluding the measurement distance from the calculation basis) when the crane bucket 7 enters the measurement range.

Next, in step st16, the controller 8 calculates the corresponding section from the XY coordinates of the detection points of the height data. Next, the controller 8 updates the height data of the section in step st17. Next, in step st18, the controller 8 calculates a representative value by excluding a value having a deviation of a predetermined value or more by an outlier test. This is a processing for removing (filtering) abnormal values such as floating dust. The average value, median value, maximum value, and the like can be used to calculate the representative value.

FIG. 11 is a flowchart showing a representative value of a section in the waste transport device. In this waste transfer device, by moving the crane main body 2, the height data for each address in the moving range can be updated in a non-contact manner. An accurate "pit level map" can be created by periodically operating the crane body 2 over the entire area of the garbage pit 101. That is, as shown in FIG. 11, the controller 8 registers the correspondence table of the address and the section in the garbage pit 101 in step st21.

Next, in step st22, the controller 8 calculates height data for all the representative values of each section included in the address. The average value, median value, maximum value, and the like can be used to calculate the representative value. By finding the variance based on all the representative values of each section, the difficulty of landing at the address (easiness of grasping garbage) can be determined.

FIG. 12 is a flowchart showing the transshipment work in the waste transport device. In the transshipment work, as shown in FIG. 12, the controller 8 grabs the dust at the highest address in the dust pit 101 in step st31. Note that the address height information may differ after measurement due to external factors. If the height information in the waste pit 101 is inaccurate in the route for transferring the waste, the climbing distance of the crane bucket 7 for avoiding the deposit will be extended. In this waste transport device, since it can be found by measuring with the laser range finder 5 in a non-contact manner, there is no decrease in the operating rate.

Next, in step st32, the controller 8 transships the garbage to the address having the lowest height in the garbage pit 101. In this waste transfer device, the height at the address after the waste transshipment can be known by measuring it with the laser range finder 5 in a non-contact manner after the transshipment operation, so that there is no decrease in the operating rate.

1 Garbage transfer device 2 Crane body 3 Crane girder 4 Rail 5 Laser rangefinder 6 Trolley 7 Crane bucket 8 Controller 8a Storage device 9 Operation unit 10 Display unit 101 Garbage pit 102 Garbage pile

Claims (5)

A crane girder installed horizontally on the garbage pit so that it can move in a straight line,
A laser rangefinder that is attached to the crane girder and can change the laser emission angle in a direction orthogonal to the movable direction of the crane girder.
On the crane girder, a trolley installed so that it can move linearly in the horizontal direction orthogonal to the movable direction of the crane girder,
A crane bucket that is suspended and supported so that it can be moved up and down by the above trolley,
The position of the crane girder and the laser emission angle from the laser range finder are controlled, and the position of the crane girder, the laser emission angle from the laser range finder and the measurement distance by the laser range finder are acquired. A control means for calculating the height of the surface of the trash pile in the trash pit based on these acquired values is provided.
The control means moves the crane girder over the measurement range, changes the laser emission angle from the laser rangefinder, and scans the surface of the dust pile within the measurement range with the laser emission light. , A waste transport device characterized in that the height of the surface of the waste pile is calculated and the shape of the waste pile is specified. The first aspect of claim 1, wherein the control means divides the surface of the garbage mountain within the measurement range into a plurality of sections, and treats the median value of the measurement distance in each section as a representative value of the section. Garbage transfer device. The control means is characterized in that the surface of the garbage mountain within the measurement range is divided into a plurality of sections, and the inclination angle between the two points is calculated based on the measurement distances of the two points in each section. The waste transport device according to claim 1. The waste transport device according to any one of claims 1 to 3, wherein the control means excludes a measurement distance having a difference of a predetermined threshold value or more with respect to a nearby measurement distance from the calculation basis. .. The waste according to any one of claims 1 to 4, wherein when the crane bucket is irradiated with the laser emission light, the control means excludes the measurement distance at that time from the calculation basis. Transport device.

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