JP6812311B2 - Information processing device, information processing method, and control program - Google Patents

Description

The present invention relates to an information processing device or the like that monitors the state of a pit provided in a garbage incineration facility.

The garbage incineration facility is equipped with a pit for temporarily storing the garbage carried in by the garbage truck, and the garbage in the pit is agitated by a crane and then sent to an incinerator for incineration. This stirring is performed to homogenize the quality of the garbage sent to the incinerator, and is an important process for stable combustion of the garbage.

In order to improve the method of stirring dust, it is first desired to accurately grasp the stirring state of dust in the pit. For example, Patent Document 1 below discloses a dust agitation evaluation device. The dust agitation evaluation device calculates the shape of the accumulated dust or the shape of the dented portion of the dust based on the movement of the garbage truck or the crane, and calculates the number of times of stirring for each layer of the dust accumulated in the pit. Calculate. Then, the evaluation value is obtained and the crane control instruction is calculated based on the number of times of stirring calculated for all the places in the pit.

Japanese Unexamined Patent Publication No. 2010-275064 (published on December 9, 2010)

However, the above-mentioned conventional technique has a problem that the movement of dust cannot be accurately grasped. Specifically, the state in the pit (the height of dust, the stirring state, etc.) is grasped based on the movement of the crane or the like (grasping, dropping, and the length of the crane rope at the time of grasping). Therefore, the state can be grasped only at the place where the crane has moved. Therefore, the error becomes much larger in places where the crane does not move frequently. As a result, there arises a problem that the state of the pit cannot be accurately grasped.

One aspect of the present invention is to realize an information processing device or the like capable of accurately grasping the state of a pit.

In order to solve the above problems, the information processing device according to one aspect of the present invention is an information processing device that monitors dust accumulated in the pit, and is generated by the height measuring device every time measurement is performed. , A data acquisition unit that acquires a plurality of measurement data indicating the height of the dust, a first measurement data generated as a result of the previous measurement, and a second measurement data generated as a result of the subsequent measurement. An event determination unit that determines an event that has occurred in the pit by comparison, and an accumulation information generation unit that generates accumulation information indicating the state of dust accumulated in the pit based on the determined event. It has.

In order to solve the above-mentioned problems, the information processing method according to one aspect of the present invention is an information processing method executed by an information processing device that monitors dust accumulated in a pit, and is performed by a height measuring device. A data acquisition step for acquiring a plurality of measurement data indicating the height of the dust, which is generated each time the measurement is performed, a first measurement data generated as a result of the previous measurement, and a result of the subsequent measurement are generated. By comparing with the second measurement data, an event determination step for determining an event occurring in the pit and accumulation information indicating the state of dust accumulated in the pit are generated based on the determined event. Includes deposition information generation steps and.

According to one aspect of the present invention, there is an effect that the state of the pit can be accurately grasped.

It is a block diagram which shows an example of the main part structure of a pit monitoring device. It is sectional drawing which shows the schematic structure of the garbage incineration facility provided with a pit. It is a figure which shows the state which the pit and the hopper are seen from above. It is a figure which shows the specific example of the data structure of the carry-in data. (A) and (b) are diagrams showing a specific example of the data structure of the measurement data. It is a figure which shows the specific example of the data structure of a crane data. (A) and (b) are diagrams showing a specific example of the data structure of event information. It is a figure which shows the specific example of the data structure of the sedimentary information. It is a figure which shows the specific example of the data structure of the sedimentary information. It is a flowchart which shows the flow of the event determination process executed by the event determination part. It is a flowchart which shows the flow of the sedimentation information generation processing executed by the deposition information generation part. It is a figure which shows another example of the data structure of the measurement data.

[Embodiment 1]
An embodiment of the present invention will be described in detail. Since the present invention relates to an information processing device or the like that monitors the state of pits in a garbage incineration facility, first, the garbage incineration facility and the pits provided therein will be described with reference to FIG.

<Overview of garbage incineration facility>
FIG. 2 is a cross-sectional view showing a schematic configuration of a garbage incineration facility provided with a pit. As shown in FIG. 2, the garbage incineration facility 100 according to the first embodiment of the present invention includes each of the garbage pre-acceptance measurement facility 1, the garbage receiving facility 2, and the garbage incinerator 3. Further, the garbage incineration facility 100 is provided with an operation room 8 for the operator to monitor each of the above-mentioned facilities and manually operate the crane 5.

In the garbage pre-acceptance measurement facility 1, measurement is performed on the garbage before it is carried into the garbage receiving facility 2, and various data related to the garbage are generated. In the garbage receiving facility 2, the garbage carried in by the plurality of garbage trucks Q is temporarily stored. The garbage incinerator 3 is attached to the garbage receiving facility 2 and incinerates the garbage. A pair of garbage incinerators 3 are provided so as to be arranged in the X direction (in FIG. 2, the direction orthogonal to the paper surface). In the operation room 8, a control system that communicates with each facility and controls the garbage incineration facility 100 in an integrated manner is installed. The operation room 8 is provided for the user to monitor each facility of the garbage incineration facility 100 (particularly, the state in the pit 21) and manually operate the crane 5.

The garbage incineration facility 100 according to the first embodiment may be newly constructed or may be an existing garbage incineration facility. Each device included in the control system can communicate with each other via a network, and each device of the control system also communicates with each device remotely installed other than the operation room 8 via the network. It is possible.

(Measurement equipment before receiving garbage 1)
The garbage pre-receipt measurement facility 1 is provided in front of the garbage receiving facility 2, that is, near the entrance / exit of the garbage incineration facility 100. The dust receiving pre-receipt measuring facility 1 is provided with a weight measuring device 11 and a dust type registration device 12.

The weight measuring device 11 measures, for example, the weight of the garbage truck Q embedded in the road surface and stopped on the road surface. The weight measuring device 11 acquires the weight of the garbage loaded on the garbage truck Q by subtracting the weight of the garbage truck Q from the measured weight. The weight measuring device 11 transmits the dust weight data indicating the acquired dust weight to the pit monitoring device 4 (information processing device).

The garbage type registration device 12 registers the type of garbage (hereinafter, garbage type) loaded on the garbage truck Q. In the present embodiment, for example, the garbage type registration device 12 transmits the garbage type data indicating whether the loaded garbage is combustible garbage or non-combustible garbage to the pit monitoring device 4.

The garbage type may be registered in the garbage type registration device 12 by a staff member or the like who manages the garbage pre-acceptance measurement facility 1. Alternatively, if the garbage type of the garbage to be loaded is determined for each garbage truck Q, the garbage type registration device 12 may determine the garbage type based on the vehicle type or vehicle number of the garbage truck Q. Good. Alternatively, when the garbage type of the garbage to be collected is determined for each day of the week and the area, the garbage type registration device 12 is based on the day of the week when the garbage is brought in and the area where the garbage truck Q collects the garbage. You may identify the type of garbage. Parameters such as the vehicle type, vehicle number, delivery date (date and time), and collection area may be input to the garbage type registration device 12 by a staff member or the like, or may be automatically acquired by the garbage type registration device 12.

(Garbage receiving facility 2)
As shown in FIG. 2, the garbage receiving facility 2 supplies the garbage in the pit 21 to the garbage incinerator 3 adjacent to the pit 21 and the pit 21 for storing the garbage carried in by the garbage truck Q. The hopper 22 for the purpose of the operation and the pit 21 and the building 23 covering the hopper 22 are included. Similar to the garbage incinerator 3, a pair of hoppers 22 are provided so as to be arranged in the X direction, and correspond to each of the pair of garbage incinerators 3. At the pit 21, one or more carry-in doors 24 are provided on the entrance / exit side of the building 23, that is, on the Y1 direction side.

Further, in the building 23, a crane 5 is provided above the pit 21 and the hopper 22 (in the direction of Z1), for example, near the ceiling of the building 23. The crane 5 has a girder 51 movably provided in the X direction and a traverse trolley 52 arranged on the girder 51 and movably provided in the Y direction. Further, the crane 5 raises the bucket 53 in the height direction by changing the length of the bucket 53 for grasping the dust in the pit 21, the wire 54 connecting the bucket 53 and the traverse carriage 52, and the wire 54. It has a winder 55 that moves up and down in the Z direction). The take-up machine 55 is provided on, for example, the traverse carriage 52.

The crane 5 is configured to be capable of performing a stirring operation of stirring dust and a carrying-out operation of carrying out the dust to the dust incinerator 3. As shown in FIG. 2, the stirring operation means that the operation of grasping the dust in the pit 21 (grasping) and the operation of dropping the grasped dust into the pit 21 (dropping) are performed in order in the pit 21. Refers to the action of stirring dust. By this stirring operation, the dust quality (composition ratio of dust species) of the dust in the pit 21 is made uniform. The unloading operation is to carry out the trash from the pit 21 to the trash incinerator 3 by sequentially performing the grabbing operation and the operation (loading) of the grabbed garbage into the trash incinerator 3 via the hopper 22. Refers to the operation. As a result, the thrown-in garbage is incinerated.

(Garbage incinerator 3)
The garbage incinerator 3 includes a combustion chamber 31, a garbage guide passage 32, an ash outlet 33, a flue 34, and a steam turbine 35. The combustion chamber 31 is, for example, a stoker-type combustion chamber. The dust guide passage 32 is provided on the front end side (Y1 side) of the combustion chamber 31 and is connected to the hopper 22. The dust introduced from the hopper 22 is guided to the combustion chamber 31 through the dust guide passage 32. The ash outlet 33 is provided on the rear end side (Y2 side) of the combustion chamber 31, and the incineration ash generated by burning dust in the combustion chamber 31 is discharged from the ash outlet 33.

The flue 34 is provided on the upper rear side (Z1 side and Y2 side) of the combustion chamber 31. In the flue 34, a steam turbine 35 for recovering the thermal energy of the exhaust gas by heating and evaporating the supply water using the heat of the exhaust gas passing through the flue gas 34 is arranged. In the steam turbine 35, in order to efficiently recover the thermal energy of the exhaust gas, stable combustion should be continuously performed.

Further, the garbage incinerator 3 may be provided with various sensors such as a camera (not shown) for monitoring the inside of the garbage incinerator 3. The data measured by various sensors, for example, the image of the camera, the data of the amount of steam in the steam turbine 35, and the like are transmitted to the incinerator monitoring device 7 in the operation room 8.

(Operation room 8)
The control system installed in the operation room 8 includes a pit monitoring device 4 that functions as an information processing device according to the present invention, and a height measuring device 13 (three-dimensional measuring device). The control system may further include a crane PLC (Programmable Logic Controller) 14, an incinerator monitoring device 7, and the like.

The pit monitoring device 4 monitors the occurrence of each event occurring in the pit 21, and grasps the state of the pit 21 based on the monitoring result. Specifically, the pit monitoring device 4 acquires data related to "carry-in" from the pre-receipt measurement equipment 1 and data related to the height of dust in the pit 21 from the height measuring device 13. , Acquire data related to the crane 5 from the crane PLC14. Then, the acquired data is analyzed to detect the occurrence of an event in the pit 21 and identify the detected event.

The height measuring device 13 measures the height of the dust pile at each location in the pit 21. In the present embodiment, as an example, the height measuring device 13 is realized by a three-dimensional scanner equipped with a laser sensor. The height measuring device 13 is provided at an arbitrary position in the dust receiving facility 2 so that the entire pit 21 can be overlooked.

The crane PLC 14 has a function of controlling the drive of the crane 5 based on the instruction of the pit monitoring device 4 or the incinerator monitoring device 7. For example, the crane 5 is made to perform a stirring operation (grasping + dropping) or a carrying-out operation (grasping + loading). Specifically, the crane PLC 14 controls the movement of the girder 51 and the traverse carriage 52, the winding control of the winder 55, and the opening / closing control of the bucket 53.

In the movement control, the crane PLC 14 moves the girder 51 and the traverse carriage 52 so that the bucket 53 comes to the position specified by the coordinates in the XY plane of the pit 21 instructed by the pit monitoring device 4.

Further, the crane PLC14 may record the movement path of the crane 5. Further, the crane PLC14 may include a dust weight detecting unit (not shown). The dust weight detection unit detects the weight of dust when the bucket 53 of the crane 5 grabs the dust. The crane PLC 14 may periodically transmit the recorded movement path and the detected dust weight to the pit monitoring device 4 as crane information.

The incinerator monitoring device 7 determines whether or not to put garbage into the garbage incinerator 3 based on various data measured by various sensors installed in the garbage incinerator 3. When the incinerator monitoring device 7 determines that it is necessary to put in the garbage, the incinerator monitoring device 7 instructs the pit monitoring device 4 to issue a carry-out instruction instructing the crane 5 to carry out the garbage. The incinerator monitoring device 7 may be configured to control the combustion of the input garbage in the garbage incinerator 3 according to the garbage type of the garbage input into the garbage incinerator 3.

(About pit 21)
Details of the pit 21 will be described with reference to FIGS. 2 and 3. FIG. 3 is a view showing a state in which the pit 21 and the hopper 22 are viewed from above. As shown in FIG. 3, the pit 21 is formed in the shape of a rectangular parallelepiped box extending in the XY plane. The pit 21 is virtually divided into a plurality of areas P on the XY plane by the pit monitoring device 4. In the illustrated example, the pit 21 is virtually divided into 80 (= 5 × 16) areas P (i, j) (i: a to e, j: 1 to 16). In the illustrated example, as an example, the pits 21 are horizontally long when viewed from the position of the operation room 8 or the like so that the i rows are arranged in the Y direction and the j columns are arranged in the X direction.

For the purpose of simplifying the drawing, the pitch for partitioning the pits 21 is set to about 5 × 16 squares, but in the present embodiment, the height measuring device 13 is the XY plane of the pits 21 in each area P. It is divided according to the pitch (in units of several cm square) when measuring the height of each part in. For example, the pit 21 may be divided into about 100 × 320 squares.

One or more carry-in doors 24 are provided on the Y1 direction side of the pit 21. In the example shown in FIG. 3, six carry-in doors 24 are provided. The carry-in door 24 is provided for the garbage truck Q (see FIG. 2) to carry the garbage to be loaded into the pit 21. A pair of hoppers 22 corresponding to each garbage incinerator 3 are provided on the back side of the pit 21 when viewed from the entrance / exit of the building 23, that is, on the Y2 direction side.

In the present embodiment, as an example, the areas of rows d and e near the carry-in door 24 are referred to as receiving areas (of the carried-in garbage), and the areas of rows a to b near the hopper 22 are referred to as stirring areas. ..

Here, when the garbage of the garbage truck Q is carried into the pit 21, the pit monitoring device 4 recognizes that the garbage has been carried in. The pit monitoring device 4 may recognize the carry-in based on the reception of the dust weight data transmitted from the weight measuring device 11 or the dust type data transmitted from the dust type registration device 12, or before receiving the dust. It may be recognized based on the opening / closing data of the carry-in door 24 transmitted from the measuring facility 1, or it may be recognized based on the change in the height of the dust pile in the pit 21. You may make a comprehensive judgment.

(About the event)
As mentioned above, the events that cause the height of the garbage pile accumulated in the pit 21 to change include the following;
"Carrying in": Garbage truck Q will bring in new garbage into the pit 21 from the loading door 24.
"Stirring (= grasping + dropping)" ... The crane 5 grabs the dust in the pit 21 and then drops it into the pit 21 from a certain height.
"Delivery (= grabbing + loading)": The crane 5 grabs the garbage inside the pit 21 and then throws it into another facility (hopper 22, garbage incinerator 3, etc.) outside the pit 21.

In addition to these events, there are events that cause changes in the height of the garbage pile. One example is the "mountain landslide". "Mountain landslide" refers to an avalanche caused by a garbage mountain without human intervention such as a crane, and the garbage moves from a high position to a low position of the garbage mountain. In most cases, a landslide has no causal relationship with the occurrence of the above three events, and in that a person cannot control the occurrence or suppression of the events, the above three events that can be intentionally generated. The nature is different from.

In the present embodiment, the pit monitoring device 4 recognizes the occurrence of a controllable event that is intentionally generated and an uncontrollable event that can occur naturally, and the event that has occurred. Can be identified.

<Configuration of pit monitoring device 4>
FIG. 1 is a block diagram showing an example of a main configuration of the pit monitoring device 4. The pit monitoring device 4 may be arranged in the above-mentioned operation room 8 or may be arranged in another place. As shown in the figure, the pit monitoring device 4 includes a control unit 40, a storage unit 41, a display unit 42, and an operation unit 43. The control unit 40 controls each unit of the pit monitoring device 4 in an integrated manner. The storage unit 41 stores various data used by the pit monitoring device 4. The display unit 42 presents various data stored in the storage unit 41 to the user in a state in which the user can see the data. The operation unit 43 receives the user's operation on the pit monitoring device 4. The display unit 42 may be integrally configured with the pit monitoring device 4 or may be externally attached.

Further, although not shown, the pit monitoring device 4 includes other devices (in the example shown in FIG. 1, a weight measuring device 11, a dust species registration device 12, a height measuring device 13, a crane PLC14, and an incinerator monitoring device 4). It is provided with a communication unit for communicating with the device 7).

The control unit 40 has a data acquisition unit 60, an event determination unit 61, a deposit information generation unit 62, an instruction unit 63, and a display control unit 64 as functional blocks. Each functional block of the control unit 40 described above is, for example, a storage device (storage unit 41) in which a CPU (central processing unit) or the like is realized by a ROM (read only memory), an NVRAM (non-Volatile random access memory), or the like. It can be realized by reading the program stored in the above into a RAM (random access memory) (not shown) and executing it. The storage unit 41 stores carry-in data 70, measurement data 71, crane data 72, event information 73, and deposition information 74.

The data acquisition unit 60 acquires various data from other devices via a communication unit (not shown), processes them as necessary, and stores them in the storage unit 41. For example, the data acquisition unit 60 creates the carry-in data by making necessary associations with the various data acquired from each device of the garbage receiving measurement facility 1, and stores the data in the storage unit 41. More specifically, the data acquisition unit 60 generates the carry-in data 70 by associating the dust weight data acquired from the weight measuring device 11 with the dust type data acquired from the dust type registration device 12.

Further, the data acquisition unit 60 acquires the measurement data obtained by measuring the height in the pit 21 from the height measuring device 13 and stores it in the storage unit 41 as the measurement data 71. The measurement data is information indicating the height of the garbage pile for each coordinate in the XY plane in the pit 21.

In the present embodiment, the height measuring device 13 is preferably carried out at an interval shorter than the interval at which any of the events of loading by the garbage truck Q, stirring by the crane 5, and unloading occur. For example, when any of the events of loading, stirring, and unloading occur every 3 minutes on average, the height measuring device 13 scans the upper surface of the pit 21 at 1-minute intervals to determine each location. Measure the height. Therefore, the data acquisition unit 60 acquires the measurement data every minute and stores the measurement data 71 in the storage unit 41 in association with the measurement (acquisition) date and time indicated at least in minutes.

As a result, the pit monitoring device 4 can monitor the state of the pit 21, particularly the height of the garbage pile in the entire pit 21 in almost real time, and accurately grasps the events occurring in the pit 21 one by one. be able to.

Further, the data acquisition unit 60 acquires the movement path of the crane 5 and the dust weight of the dust grasped by the bucket 53 from the crane PLC14, and stores these as the crane data 72 in the storage unit 41.

The event determination unit 61 determines an event that has occurred in the pit 21 based on various data (import data 70, measurement data 71, and crane data 72) acquired by the data acquisition unit 60. The event determination algorithm will be described in detail later. The event determination unit 61 generates event information 73 including the determination result and stores it in the storage unit 41.

The deposit information generation unit 62 generates deposit information 74 indicating the latest state in the pit 21 based on the carry-in data 70, the measurement data 71, and the event information 73, and stores it in the storage unit 41. The deposit information 74 is information indicating the stirring state of the garbage pile in the pit 21. For example, the attribute information of the dust block belonging to the space of the coordinate position is associated with each of the three-dimensional coordinates of XYZ in the pit 21. The attribute information includes, for example, the dust type of the dust contained in the dust block, the composition ratio of each dust type, the degree of stirring of the dust, the number of times of stirring, and the like. Based on this attribute information, the user can know the stirring state of the dust block.

Further, the burnup degree of the dust may be included as the attribute information of the dust block. The burnup is determined, for example, based on the waste type or the composition ratio of each waste type. As an example, the burnup is set in three stages of "top", "medium" and "bottom". A dust block with a burnup "upper" indicates that a high amount of heat (for example, a higher amount of heat than expected) can be obtained at the time of incineration. "Medium" burnup indicates that a normal amount of heat (for example, the minimum amount of heat required) can be obtained. “Lower” burnup indicates that a lower calorific value (eg, a lower calorific value than expected) is obtained.

The accumulation information generation unit 62 further increases the amount of heat predicted to be obtained at the time of incineration based on the burnup set for each dust block (if necessary, the composition ratio for each dust type, the degree of stirring, etc.). (Calories) may be calculated and the calculated calories may be added to each garbage block. As a result, the user can confirm the accumulation information 74 and control the pit monitoring device 4 and the crane PLC 14 so that the dust block to which the high calorie is added is put into the hopper 22.

The pitch of the three-dimensional coordinates is arbitrary. For example, the deposition information 74 may be configured to include the above-mentioned various information for each block in which the space inside the pit 21 is divided into bucket units (1 to 2 m square units), or the space inside the pit 21 may be several cm square. It may be configured to include the above-mentioned various information for each finer block divided by a unit.

The instruction unit 63 specifically specifies the operation to be executed by the crane 5, and instructs the crane PLC 14 to control the operation of the crane 5. Specifically, the indicator 63 sets the position where the gripping operation is performed (coordinates on the XY plane) and the position where the dropping operation or the throwing operation is performed (coordinates on the XY plane) to the crane PLC14. Send to instruct stirring or unloading.

The instruction unit 63 may send a stirring or unloading instruction according to a user's crane operation instruction input to the pit monitoring device 4 via the operation unit 43, or input from the incinerator monitoring device 7. It may be carried out according to the instruction, or it may be carried out after judging the necessity by oneself based on the updated sedimentation information 74. Further, the indicator 63 may transmit the elevating position (Z coordinate) of the bucket 53 to the crane PLC14 based on the current height of the garbage pile.

The display control unit 64 generates a visualized image of various data or information stored in the storage unit 41 and displays it on the display unit 42. Specifically, the display control unit 64 can display at least one of the carry-in data 70, the measurement data 71, the crane data 72, the event information 73, and the deposit information 74 on the display unit 42.

<Structure of various data>
(Delivery data)
FIG. 4 is a diagram showing a specific example of the data structure of the carry-in data 70. The carry-in data 70 includes, for example, each item of the carry-in date and time, the carry-in entrance, the carry-in amount, and the garbage type. The data acquisition unit 60 generates carry-in data 70 for each carry-in by one garbage truck Q.

The “delivery date and time” is information indicating the date and time when the garbage collected by the garbage truck Q was brought into the pit 21. The data acquisition unit 60 may acquire the date and time input by the staff to the information processing device (for example, the garbage type registration device 12) installed in the garbage pre-receipt measurement facility 1 as the delivery date and time. Alternatively, the data acquisition unit 60 acquires the date and time when the weight measuring device 11 acquires, generates or transmits the garbage weight data, or the date and time when the garbage type registration device 12 acquires, generates or transmits the garbage type data as the carry-in date and time. You may. Alternatively, the data acquisition unit 60 may receive the date and time when the carry-in door 24 is opened and closed from an information processing device (not shown) that controls the opening and closing of the carry-in door 24, and may acquire this as the carry-in date and time.

The “carry-in entrance” is information indicating from which carry-in door 24 the dust was carried in from among the carry-in doors 24 shown in FIG. For example, an ID is assigned to each carry-in door 24, and even if the information processing device that controls the opening and closing of the carry-in door 24 described above transmits the ID of the opened / closed carry-in door 24 to the pit monitoring device 4. Good. The data acquisition unit 60 acquires the received ID of the carry-in door 24 as a carry-in entrance. The carry-in entrance (ID of the carry-in door 24) is used by the pit monitoring device 4 to estimate in which area of the pit 21 shown in FIG. 3 the dust is newly added.

The “carry-in amount” is information indicating the amount of garbage carried into the pit 21. For example, the data acquisition unit 60 acquires the dust weight data received from the weight measuring device 11 as the carry-in amount. The carry-in amount may be information indicating the volume of garbage.

The “garbage type” is information indicating the garbage type of the garbage carried into the pit 21. The data acquisition unit 60 acquires the dust type data received from the dust type registration device 12 as a dust type. For example, the data acquisition unit 60 stores information indicating "combustible waste" or "non-combustible waste" in the item of "garbage type".

(Measurement data)
5 (a) and 5 (b) are diagrams showing a specific example of the data structure of the measurement data 71. The measurement data 71 has a data structure in which height information indicating the height of the garbage pile is associated with each XY coordinate on the XY plane of the pit 21.

FIG. 5A shows an example of the measurement data 71 supplied from the height measuring device 13. In the three-dimensional graph shown in the figure, the height measuring device 13 obtains the height of the dust pile for each XY coordinate based on the distance measured by laser irradiation, and plots the height value on the Z coordinate. Obtained by

In another embodiment, the measurement data 71 may be converted into the two-dimensional table shown in FIG. 5 (b) based on the above-mentioned three-dimensional graph. FIG. 5B shows an example in which the XY plane of the pit 21 is divided into 80 squares of 16 × 5. Each square is associated with a numerical value (cm) indicating the height of the garbage pile in the area corresponding to the square. In the example of the figure, the measurement data 71 is composed of 5 × 16 = 80 squares, but the pitch is 100 × 320 squares or more depending on the scanning performance (resolution) of the height measuring device 13. It may be composed of.

The measurement data 71 may be presented to the display unit 42 via the display control unit 64. As shown in FIG. 5A, it may be presented in a three-dimensional graph display mode, or it may be presented in a two-dimensional table display mode as shown in FIG. 5B.

In the present embodiment, the height measuring device 13 scans the upper surface of the pit 21 at 1-minute intervals. Therefore, the measurement data 71 is transmitted to the pit monitoring device 4 every minute. Each time the data acquisition unit 60 receives the measurement data 71, the data acquisition unit 60 associates the measurement date and time and stores the measurement data 71 in the storage unit 41.

(Crane data)
FIG. 6 is a diagram showing a specific example of the data structure of the crane data 72. The measurement data 71 includes, for example, the operation date and time, the X coordinate, the Y coordinate, and each item of the bucket weight. The data acquisition unit 60 receives each of these items from the crane PLC 14 and stores them as the crane data 72.

The "operating date and time" is information indicating the date and time when each item of the X coordinate, the Y coordinate, and the bucket weight is measured by the crane PLC14.

The "X coordinate" is information indicating the position of the bucket 53 in the X direction of the garbage receiving facility 2, that is, the position of the girder 51.

The "Y coordinate" is information indicating the position of the bucket 53 in the Y direction of the garbage receiving facility 2, that is, the position of the traversing carriage 52.

The "bucket weight" is information indicating the weight of dust held by the bucket 53.

If the crane data 72 is accumulated and the position of the bucket 53 is plotted on the XY coordinates for each operation date and time, the movement path of the crane 5 (bucket 53) can be obtained. Further, based on the increase / decrease in the weight of dust in the bucket 53, it is possible to grasp when, at what position, and how much dust the crane 5 has picked up (or released).

The crane PLC14 measures and monitors the position (XY coordinates) of the bucket 53 and the bucket weight every few seconds or minutes. The crane PLC 14 may transmit one crane data 72 to the pit monitoring device 4 every time it is measured (every few seconds or minutes), or a plurality of crane data 72 collectively every several tens of minutes to several hours. May be sent.

(Event information)
7 (a) and 7 (b) are diagrams showing a specific example of the data structure of the event information 73. The event information 73 includes, for example, as shown in FIG. 7A, each item of occurrence date / time, determination result, increase area, increase amount, decrease area, and decrease amount. Each time the latest measurement data 71 is stored in the storage unit 41, the event determination unit 61 compares the latest measurement data 71 with the previous measurement data 71 stored immediately before, and determines an event. Execute the process. When it is determined that some event (or a part of the event) has occurred as a result of the event determination process, the event determination unit 61 generates event information 73 for the event determined to have occurred.

Events include short-term events that occur in a short period of about one minute, medium-term events that occur in a period of several minutes, and long-term events that gradually occur over several tens of minutes to several hours or more. is there. For example, "carry-in" and "landslide" are short-term events, and it is usually possible to determine an event by a single event determination process based on a single comparison. “Stirring” and “unloading” are medium-term events, and it is possible to determine an event by performing a plurality of event determination processes based on a plurality of (for example, two) comparisons. For example, if the event determination unit 61 determines the "grasping" of the crane operation at a certain point and then determines the "dropping" a few minutes later, it is said that "stirring" has occurred based on these two determinations. It can be determined. Further, when the event determination unit 61 determines the "grasping" of the crane operation at a certain point and then determines the "grasping" again after a few minutes without determining the subsequent "dropping", the previously determined "grasping" is performed. It can be determined that the "unloading" has occurred, assuming that the "grabbing" is a part of the operation for the "unloading". Regarding "unloading", the event determination unit 61 can also refer to the crane data 72 to determine that "unloading" has occurred before the second "grasping" determination is performed. .. Other long-term events will be described in detail later, but by tracking changes in mountain height over time based on a large number of measurement data 71, events (for example, "subduction" due to the weight of dust) can be detected. It is possible to judge.

The event determination unit 61 generates one event information 73 for each determined event (or crane operation) in one event determination process based on one comparison. That is, when the "mountain collapse" and the "grasping" of the crane operation occur almost at the same time, two event information 73, that is, the event information 73 about the "mountain collapse" and the event information 73 about the "grabbing" are generated.

The "occurrence date and time" is information indicating the date and time when the event determined by the event determination unit 61 occurred. The event determination unit 61 may use the first measurement date and time of the previous measurement data 71 as the occurrence date and time, the second measurement date and time of the latest measurement data 71 as the occurrence date and time, and the first measurement date and time and the second measurement date and time. The time point between the measurement date and time may be the occurrence date and time, or the period from the first measurement date and time to the second measurement date and time may be the occurrence date and time.

The "determination result" is information indicating the result of the event determination process executed by the event determination unit 61. The items are composed of sub-items of "event" and "crane operation" as an example. The "event" is information indicating a determined event, and for example, each event such as "mountain collapse", "carry-in", "stirring", or "carry-out" is stored. The "crane operation" is information indicating the operation of the crane 5 that is determined by one event determination process, and stores each crane operation such as "grasping" or "dropping". The "loading" is an operation in which dust is thrown into the hopper 22. Therefore, since the height of the dust pile in the pit 21 does not change due to the "input", the event determination unit 61 does not determine the "input" based only on the comparison between the measurement data 71.

The "increase area" is information indicating the range in which the height of dust has increased in the pit 21. The event determination unit 61 compares the latest measurement data 71 with the previous measurement data 71 to identify the increase area. The event determination unit 61 may specify a plurality of increase areas in the pit 21 in one comparison. The range of the increasing area is specified by any data format that points to a set of XY coordinates.

The "increase amount" is information indicating the weight of the increased dust in the above-mentioned increase area. The event determination unit 61 may specify the increase amount based on the above-mentioned "carry-in amount", "bucket weight", or the accumulation information 74 before the landslide in the portion where the landslide of the garbage mountain occurs.

When the determined crane operation is "grasping", the event determination unit 61 may leave each item of "increase area" and "increase amount" blank (Null value) in the event information 73 of "grasping". Good.

The "reduction area" is information indicating the range in which the height of dust is reduced in the pit 21. The event determination unit 61 compares the latest measurement data 71 with the previous measurement data 71 to identify one or more reduction areas. The area of the reduction area is specified by any data format that points to a set of XY coordinates.

The "reduction amount" is information indicating the weight of the reduced dust in the above-mentioned reduction area. The event determination unit 61 may specify the amount of decrease based on the "bucket weight" or the accumulation information 74 before the landslide in the portion where the landslide of the garbage mountain has occurred.

A specific example will be described with reference to FIG. 7B. As described above, when an event is confirmed by one determination, the event determination unit 61 stores the determined short-term event in a sub-item of "event". For example, event information 73 indicating that "carry-in" has occurred at "2017/5/15 11:56" is generated. Although the description of the latter items is omitted, the event determination unit 61 fills in the values of each item of "increase area" and "increase amount" in the event information 73 of "carry-in". Since the crane operation is not related to the event of "carry-in", the event determination unit 61 may leave the item of "crane operation" blank (Null value) in the event information 73 of "carry-in".

When one medium-term event is confirmed by the two determinations, the event determination unit 61 first determines the crane operation determined by the first determination, which is lower than the "crane operation" in the first event information 73. Store in item. For example, event information 73 indicating that "grabbing" has occurred at "2017/5/15 12:00" is generated. Regarding the event information 73 of "grabbing", the event determination unit 61 further fills in the values of each item of "reduction area" and "reduction amount".

Next, the crane operation confirmed by the second determination is stored in a subordinate item of "crane operation" in the second event information 73. For example, event information 73 indicating that "drop" has occurred at "2017/5/15 12:02" is generated. Further, the event determination unit 61 fills in the values of each item of the “increase area” and the “increase amount” with respect to the event information 73 of the “drop”.

Then, when it is determined that "dropping" has occurred after "grabbing", the event determination unit 61 pairs these and determines that one "stirring" has occurred. Specifically, the event determination unit 61 pairs the event information 73 of "grabbing" and the event information 73 of "dropping" immediately after that, and associates them with these pair of event information 73, and " The judgment result indicating that "stirring" has occurred is stored in the sub-item of "event".

In another example, for example, for the crane operation confirmed in the first determination, the event determination unit 61 generates event information 73 indicating that "grasping" has occurred at "2017/5/15 12:03". .. Then, with respect to the crane operation confirmed in the next second determination, the event determination unit 61 generates event information 73 indicating that "grasping" has occurred at "2017/5/15 12:08".

Then, when the event determination unit 61 determines that a new "grab" has occurred without the "drop" occurring from the previous "grab", the previous "grab" that occurred at "12:03" It is determined that one "unloading" has occurred. Specifically, the event determination unit 61 stores the determination result indicating that the "delivery" has occurred in the sub-item of the "event" in association with the event information 73 of the previous "grabbing".

At this point, it is not clear whether the newly determined "grasping" generated at "12:08" is a grip for "stirring" or a grip for "unloading". .. Therefore, when the "grabbing" is determined this time, the event determination unit 61 leaves the sub-item of the "event" blank in the event information 73 of the "grabbing". Then, the current event is determined based on the crane operation determined from the next time onward.

The event determination unit 61 determines that the "grabbing" that occurred at "12:03" is due to the "unloading" before determining the "grabbing" that occurred at "12:08". Can be done. For example, the event determination unit 61 refers to the crane data 72 in the period from 12:03 to 12:08, and in that period, the position (XY coordinates) of the bucket 53 is on the hopper 22, and at that position, If the bucket weight is reduced by the amount of the grabbed dust, it can be determined that one "unloading" has occurred based on the "grabbing" that occurred at "12:03".

(Sedimentation information)
8 and 9 are diagrams showing a specific example of the data structure of the deposition information 74. The deposit information 74 has a data structure in which the attribute information of the dust block belonging to the position is associated with each position (XYZ coordinates) of the pit 21 in the three-dimensional space.

For example, as shown in FIG. 8, in the deposition information 74, one bar graph is associated with each XY coordinate on the XY plane of the pit 21 in the Z direction. In the Z direction, the lower end of the bar graph corresponds to the bottom surface of the pit 21, and the upper end of the bar graph corresponds to the top of the garbage pile. That is, the length of the bar graph in the Z direction corresponds to the height of the garbage pile.

In one bar graph, the attribute information (specifically, the degree of stirring) of the dust block belonging to the position (height) is associated with each Z coordinate. The degree of agitation is information indicating how much dust is agitated by the crane 5, and the higher the degree of agitation, the more uniform the dust quality (composition ratio of dust species).

The degree of stirring is expressed as a percentage, for example, 0 times of stirring is expressed as 0%, and the ideal number of times of stirring obtained from past findings is 100%. The higher the number, the better the stirring. The deposit information generation unit 62 can determine the degree of agitation of the dust block based on the number of agitation times counted by the event determination unit 61 based on the event information 73. In another example, the degree of stirring may be expressed in several levels, for example, the number of times of stirring is 0 as level 1 and the ideal number of times of stirring is level 5. The higher the level, the better the agitation.

In the bar graph, a value indicating the degree of agitation of the dust block is assigned to the portion of the bar graph corresponding to the height of the dust block. It is preferable that the site is displayed in a visually different manner depending on the degree of stirring. For example, it is preferable to color-code according to the degree of stirring.

In the example shown in FIG. 8, according to the bar graph 741 in which the X coordinate is the fourth column (X4 column) and the Y coordinate is the first row (Ya row), the height of this position is about one-third from the lower end. It can be seen that the degree of agitation of the dust block is level 1, and the degree of agitation of the remaining two-thirds of the dust blocks above it is level 2.

Further, the deposition information generation unit 62 may determine and associate one degree of agitation between two pairs of bar graphs that are vertically, horizontally and diagonally adjacent to each other. The sedimentation information generation unit 62 determines the degree of agitation at the upper end of the bar graph having the smaller XY coordinate value (that is, the dust block on the mountaintop at that position) among the two bar graphs as the degree of agitation associated with the bar graph pair. For example, in the example shown in FIG. 8, the degree of agitation between the bar graph 741 and the bar graph 741 and the bar graph 742 adjacent to each other in the direction in which the X coordinate value increases is determined by the degree of agitation at the upper end of the bar graph 741 having a small coordinate value. Based on being level 2, it is determined to be level 2. In this way, it is preferable to connect the upper ends of adjacent bar graphs with a line and display the line in a color corresponding to the degree of agitation associated with the bar graph pair. As a result, the user can intuitively grasp the degree of agitation on the surface of the entire dust pile in the pit 21.

Further, the deposition information generation unit 62 may determine one degree of stirring and associate it with three bar graph sets that are adjacent to each other in the vertical, horizontal, and diagonal directions. For example, the deposition information generation unit 62 may determine the degree of agitation of the bar graph set based on the degree of agitation at the upper end of one of the three bar graphs. Then, it is preferable that the right triangles formed with the upper ends of each of the three bar graphs as vertices are colored and displayed according to the degree of stirring associated with the bar graph set. As a result, the user can more intuitively grasp the degree of agitation on the surface of the entire dust pile in the pit 21.

The deposit information 74 may be displayed on the display unit 42 in a two-dimensional display mode. FIG. 9 is a diagram showing the deposition information 74 for one surface whose Y coordinate is the first row (Ya row). For example, when the three-dimensional deposit information 74 shown in FIG. 8 is displayed on the display unit 42, the user selects the Ya row and gives an instruction to display the two-dimensional deposit information 74 using the operation unit 43. Input to the monitoring device 4. According to this, the deposit information generation unit 62 reads only the deposit information 74 in the Ya row and displays the two-dimensional deposit information 74 shown in FIG. 9 on the display unit 42. As a result, the user can easily grasp the degree of agitation of not only the surface but also the lower layer dust block by cutting the dust pile in the pit 21 into round slices. For example, in the example shown in the figure, it can be seen at a glance that the upper part of the garbage pile is relatively agitated, but the lower part is hardly agitated.

8 and 9 show the deposition information 74 with a coarse coordinate pitch in three-dimensional space for the purpose of clarity and simplification of description. However, the coordinate pitch of the deposition information 74 is not limited to the examples shown in FIGS. 8 and 9, and may be finer. The processing load of the sedimentary information generation unit 62 increases by that amount, but the state of the dust pile in the pit 21 can be grasped in more detail and accurately.

The deposit information generation unit 62 updates the deposit information 74 according to the newly generated event information 73 each time the event information 73 is generated by the event determination unit 61. Specifically, you can change the height of the bar graph corresponding to the area where the height fluctuates, or recalculate and update the degree of agitation associated with the bar graph, bar graph pair, or bar graph set. To do.

<Processing flow>
(Event judgment processing)
FIG. 10 is a flowchart showing the flow of the event determination process executed by the event determination unit 61. When the new measurement data 71 is acquired by the data acquisition unit 60 and stored in the storage unit 41 (YES in S101), the event determination unit 61 starts the event determination process.

The event determination unit 61 reads the latest measurement data 71 stored this time and the previous measurement data 71 stored last time from the storage unit 41 (S102). The event determination unit 61 compares the two. When there is one or more height fluctuation areas in which the height of the garbage pile is increased or decreased by a predetermined value or more (YES in S103), the event determination unit 61 determines what kind of height fluctuation area is used. It will be determined in detail whether the event has occurred.

For example, first, when the event determination unit 61 has one or more reduction areas in which the height of the garbage pile is reduced by a predetermined value or more (YES in S104), the event determination unit 61 pays attention to one of them and proceeds with the process (S105). For example, when the measurement data 71 shown in FIG. 5A is the previous measurement data 71 and the measurement data 71 shown in FIG. 12 is the current measurement data 71, a comparison between the two is shown in FIG. In the area indicated by the broken line frame, a decrease area where the height of the garbage pile has decreased by more than a predetermined value is recognized. The event determination unit 61 pays attention to the decrease area shown by the broken line frame, and determines what event caused the height to decrease.

The event determination unit 61 reads out the crane data 72 from the storage unit 41. Then, during the time zone from the first measurement date and time of the previous measurement data 71 to the second measurement date and time of the current measurement data 71, the crane 5 operates in the decreasing area of interest and in a place near the decreasing area. It is determined whether or not there is a history of doing so (S106). If there is a history that the crane 5 was operating in the time zone and the place (YES in S106), the event determination unit 61 determines that the reduction in the height of the garbage pile that occurred in the reduction area is the crane. It is determined that this is due to the "grasping" operation of 5 (S107).

Subsequently, the event determination unit 61 suspends the determination of whether the crane operation is not paired with the crane operation "drop", that is, "stirring" or "unloading", prior to the determination result of the crane operation "grasping". It is determined whether or not the "grabbing" being performed is recorded in the storage unit 41 (S108). When there is a "grasping" for which the determination is suspended (YES in S108), it is determined that the "unloading" has been performed based on the determination result of the previous "grabbing" (S109). As the operation of the crane 5, it was determined that the "grabbing" was performed twice in a row without determining that the "dropping" was performed. This is because it is considered that the grabbed garbage was released, that is, "loaded" into the hopper 22 at a place where the height of the garbage pile was not changed.

On the other hand, when there is no "grasping" for which the determination is suspended (NO in S108), the event determination unit 61 currently suspends the determination of "stirring" or "unloading" for this "grasping". It may be good (S110). When the event determination unit 61 can refer to the operation history of the crane 5 after the time zone in which the "grasping" occurred this time, the event determination unit 61 is for "grabbing" this time to "carry out" based on the operation history. It can be determined that this is the operation of the crane 5. Specifically, the event determination unit 61 refers to the crane data 72 (FIG. 6) after the time zone in which the “grasping” occurred this time. Then, when the X-coordinate and the Y-coordinate indicating the position of the crane 5 match the X-coordinate and the Y-coordinate indicating the position of the hopper 22 or approximate within a predetermined range, the event determination unit 61 performs the "grasping" this time. After that, it is determined that the "input" to the hopper 22 has occurred. From the above, the event determination unit 61 can determine that the "unloading" has been carried out based on the "grabbing" and the "loading" this time.

If there is no reduction area in S104, each process of S105 to S108 is omitted.

On the other hand, in S106, when there is no history that the crane 5 was operating in the time zone and the place (NO in S106), the event determination unit 61 shifts attention to the increase area confirmed in S103. , Verification will proceed for the increased area (S111). The fact that the height of the garbage pile decreased regardless of the operation of the crane 5 is highly likely to be caused by the landslide. The event determination unit 61 proceeds with the following verification in order to confirm the determination of "mountain collapse".

The event determination unit 61 determines whether or not the increased area of interest is distributed around the decreased area of interest in S105 (S112). When the increase area is distributed so as to surround the decrease area (YES in S112), the event determination unit 61 reduces the height of the garbage mountain that occurred in the decrease area and occurs in the increase area. It is determined that the increase in the height of the garbage mountain is due to one "landslide" (S113).

When the increasing area of interest does not satisfy the condition of S112 regarding the positional relationship with the decreasing area, or when the decreasing area does not exist in S104 (NO in S112), the event determination unit 61 increases the amount of dust in the increasing area. Judges that it is not due to a landslide and proceeds with the next verification. If the increase in garbage is not due to a landslide, it is likely that it is "carrying in" or "dropping". The event determination unit 61 proceeds with the following verification in order to determine whether the cause of the increase in dust is “carry-in” or “drop”.

The event determination unit 61 reads the carry-in data 70 from the storage unit 41. Then, the increasing area of interest belongs to the receiving area of the pit 21, and the dust is carried in from the nearest carry-in door 24 of the increasing area during the time zone from the first measurement date and time to the second measurement date and time. It is determined whether or not the history is left (S114). If YES in S114, the event determination unit 61 determines that the increase in the height of the garbage pile that occurred in the increase area is due to "carry-in" (S115). On the other hand, when NO in S114, the event determination unit 61 determines that the increase is due to "dropping" (S116). Here, in the storage unit 41, the determination result of "grasping" is recorded before the determination result of "dropping" this time. The determination result of "grabbing" is recorded in a state where the determination of "stirring" or "unloading" is suspended. Therefore, the event determination unit 61 pairs the previous determination result of "grabbing" with the determination result of this "drop", and determines that "stirring" has been performed based on these determination results. (S117).

The event determination unit 61 generates event information 73 associated with the determination results performed in S107, S113, S115, or S116 for the reduced area or the increased area of interest, and stores the event information 73 in the storage unit 41 (S118). Here, the event determination unit 61 further updates the event information 73 stored in the storage unit 41 based on the determination result performed in S109.

When the existence of a plurality of decreasing areas or increasing areas is confirmed in S103, the event determination unit 61 returns to S104 after S118 and shifts its attention to the next decreasing area or increasing area, and in S104 to S118 Each process is executed repeatedly. As a result, even if a plurality of events occur at substantially the same time, the pit monitoring device 4 can determine each of them and record them as event information 73.

If the height fluctuation of the garbage pile above the predetermined value is not seen anywhere in the pit 21 (NO in S103), the event determination unit 61 determines that the event has not occurred (S119), and the event A series of processes may be completed without generating the information 73. Then, the state transitions to the state of waiting for the next measurement data 71.

(Deposition information generation processing)
FIG. 11 is a flowchart showing the flow of the deposit information generation process executed by the deposit information generation unit 62. When the new event information 73 is generated by the event determination unit 61 and stored in the storage unit 41 (YES in S201), the deposit information generation unit 62 starts the deposit information generation process.

In the present embodiment, in the deposition information 74, the dust block is represented by a bar graph corresponding to the dust block. Therefore, in the explanation of the flowchart below, when the accumulation information generation unit 62 processes (moves, scrapes, adds, etc.) the dust block, specifically, the accumulation information generation unit 62 is attached to the dust block. It means processing the corresponding bar graph part.

When the determination result of the event information 73 indicates "mountain landslide" (YES in S202), the sedimentation information generation unit 62 updates the sedimentation information 74. Specifically, the dust block at the upper part of the decreasing area is moved to the upper part of the increasing area (S203). The deposit information generation unit 62 can identify the decrease area and the increase area based on the coordinates specified in the event information 73. The deposit information generation unit 62 can read the measurement data 71 of the same (close) measurement date and time as the occurrence date and time included in the event information 73, and can specify the height of the garbage pile in each area after the movement. Further, the accumulation information generation unit 62 can determine the amount of dust blocks to be moved based on the increase amount and the decrease amount included in the event information 73. Further, the accumulation information generation unit 62 updates the attribute information of the moved garbage block after the movement based on the attribute information of the moved garbage block before the movement and the attribute information of the garbage block in the destination area. For example, the garbage type, the composition ratio for each garbage type, and the like are updated (S204). It is considered that the "mountain landslide" also contributes to uniform the quality of the dust by moving the dust in the same manner as the "stirring" by the crane 5. Therefore, the sedimentation information generation unit 62 may update the number of times of stirring, the degree of stirring, the degree of burnup, and the calories of the dust block moved based on the “mountain landslide”. From the above, in the sedimentation information 74, it is possible to grasp the event that "the collapse of the garbage mountain has occurred from the high garbage mountain to the low area" and accurately reproduce the state of the garbage at this time.

When the determination result of the event information 73 indicates "carry-in" (YES in S205), the accumulation information generation unit 62 newly adds a dust block to the upper part of the increase area (S206). The amount of the garbage block to be added is specified based on the increase amount of the event information 73 or the carry-in data 70 of the carry-in date and time close to the occurrence date and time indicated by the event information 73. Regarding the attribute information of the garbage block to be added, the garbage type, the composition ratio for each garbage type, the burnup, and the calories are specified based on the carry-in data 70. Since the degree of stirring or the number of times of stirring is immediately after loading, an initial value (for example, 0%, 0 times, etc.) is naturally set. From the above, in the accumulation information 74, it is possible to grasp the event that "new dust has been carried into the pit 21 from the position of the carry-in door 24" and accurately reproduce the state of the dust at this time.

When the determination result of the event information 73 indicates "grasping" (YES in S207), the deposition information generation unit 62 generates an event in which the determination result is "grasping" before the event information 73 this time. With respect to the information 73, it is determined whether or not "delivery" is determined (S208). When the event determination unit 61 does not determine "unloading" (NO in S208), it is not necessary to update the accumulation information 74 based on the previous event information 73, so that the accumulation information generation unit 62 informs S209. move on. Specifically, the dust block at the upper part of the reduction area based on the event information 73 this time is scraped off, and the scraped dust block and the attribute information of the dust block are saved in the cache (S209). At this point, it is uncertain whether the "grabbing" this time is for "stirring" or "carrying out", so the destination of the scraped dust block is not determined.

On the other hand, when the event determination unit 61 determines "delivery" (YES in S208), the dust block that has been evacuated based on the previous "grasping" is deleted from the cache without being returned to the pit 21 (S210). ). As a result, in the accumulation information 74, it is possible to grasp the event that "the grasped dust is thrown into the hopper 22" and accurately reproduce the state of the dust at this time.

When the determination result of the event information 73 indicates "dropped" (YES in S211), the deposit information generation unit 62 has saved the cache in the cache based on the previous event information 73 whose determination result is "grasping". The garbage block is moved to the increase area (S212).

The "dropping" operation by the crane 5 is continued for a longer time than the time interval (for example, 1 minute) in which the height measuring device 13 scans the upper surface of the pit 21 and measures the height. Is also assumed. That is, it is assumed that after one "grasping" is determined (S107 in FIG. 10), the "dropping" is continuously determined a plurality of times (S116 in FIG. 10). Therefore, it is preferable that the accumulation information generation unit 62 keeps the dust block saved in the cache in the cache even after the dust block is moved to the increasing area in S212. The deposit information generation unit 62 may delete the held dust block from the cache at the timing when the next “grasping” operation is determined by the event determination unit 61. Next, the "grasping" operation occurs because it is considered that the above-mentioned "dropping" has already been completed.

Further, the accumulation information generation unit 62 updates the attribute information of the moved garbage block after the movement based on the attribute information of the moved garbage block before the movement and the attribute information of the garbage block in the destination area (S213). ). For example, the garbage type and the composition ratio for each garbage type are updated. Further, the fact that the determination result this time is "dropped" means that "stirring" has been performed once, so that the deposition information generation unit 62 determines the degree of stirring or the number of times of stirring of the dust block after movement. Update. As a result, in the accumulation information 74, it is possible to grasp the event that "the grasped dust is dropped to another place in the pit 21 and is agitated", and the state of the dust at this time can be accurately reproduced.

[Modification example]
The event determination unit 61 may determine the “subduction” of the garbage pile due to the weight of the garbage as a long-term event. In addition to executing comparison and event determination processing each time the measurement data 71 is generated, the event determination unit 61 stores a plurality of measurement data 71 for a long period (for example, one hour) in the storage unit 41. When this happens, an event determination process for determining a long-term event may be executed.

For example, in the comparison of the measurement data 71 every 1 minute, even if the height of the garbage pile above the predetermined value is not reduced, the height of the dust pile above the predetermined value is compared with the measurement data 71 after 1 hour. A decrease in data may be seen. In such a case, and when no other short-term or medium-term event has occurred during the above-mentioned 1 hour, the event determination unit 61 determines that "subduction" has occurred in this 1 hour. be able to.

The deposit information generation unit 62 updates the deposit information 74 for the area where the subduction has been determined to have occurred. Specifically, the entire bar graph of the area is compressed so as to be lower based on the height of the dust pile of the measurement data 71. As described above, in the sedimentation information 74, the phenomenon of "subduction of the garbage pile due to the weight of the garbage" can be accurately reproduced.

A plurality of cranes 5 may be installed in the garbage receiving facility 2 of the garbage incineration facility 100. In this case, the event determination unit 61 may determine the operation of "grasping", the operation of "dropping" in "stirring", and the operation of "loading" in "unloading" for each installed crane 5. .. Further, the deposit information generation unit 62 may cache the dust block to be cached for generating the deposit information 74 and its attribute information for each crane 5. As a result, the operating rate and the like can be analyzed for each crane 5, and the analysis result can be used to realize efficient operation control of the crane 5.

The deposit information generation unit 62 deletes the dust block carried out of the pit 21 and the dust block thrown into the hopper 22 and its attribute information from the cache based on the determination result of “carrying out” (S210 in FIG. 11). It is a composition. However, it is not limited to this configuration. The deposit information generation unit 62 may have a configuration in which the dust block and its attribute information deleted from the cache and put into the hopper 22 are non-volatilely stored in the storage unit 41 as carry-out data. The carry-out data includes, for example, a "loading date and time" indicating the date and time when the garbage was loaded into the hopper 22, a "loading destination" indicating which hopper 22 was loaded, and the amount (weight or volume) of the garbage block loaded. Each item of "input amount" indicating "injection amount" and "attribute information" set in the garbage block is included. As described above, the attribute information includes the garbage type, the composition ratio of each garbage type, the degree of stirring, the number of times of stirring, the burnup, and the calories of the garbage block.

According to the above configuration, since the data of the dust thrown into the hopper 22 is accumulated in the storage unit 41, it is possible to obtain a correlation between the combustion in the dust incinerator 3 and the thrown dust. By analyzing this correlation, it is possible to determine what kind of dust type the dust block (or what kind of composition ratio of the dust block) should be thrown in at what timing. As a result, it becomes possible to realize the control of the garbage incineration facility 100 for stable combustion based on the carry-out data.

As the height measuring device 13, in addition to a three-dimensional scanner equipped with a laser sensor, a device that measures the height from the parallax of a plurality of cameras may be adopted, or the height is measured using a stereo camera. The device may be adopted.

[Example of realization by software]
The control block of the pit monitoring device 4 (particularly, the data acquisition unit 60, the event determination unit 61, the accumulation information generation unit 62, the instruction unit 63, and the display control unit 64) is formed in an integrated circuit (IC chip) or the like. It may be realized by a logic circuit (hardware) or by software using a CPU (Central Processing Unit).

In the latter case, the pit monitoring device 4 is a CPU that executes instructions of a program that is software that realizes each function, and a ROM (Read Only Memory) in which the program and various data are readablely recorded by a computer (or CPU). Alternatively, it is equipped with a storage device (referred to as a "recording medium"), a RAM (Random Access Memory) for developing the program, and the like. Then, the computer (or CPU) reads the program from the recording medium and executes it, thereby achieving the object of the present invention. As the recording medium, a "non-temporary tangible medium", for example, a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like can be used. Further, the program may be supplied to the computer via an arbitrary transmission medium (communication network, broadcast wave, etc.) capable of transmitting the program. It should be noted that one aspect of the present invention can also be realized in the form of a data signal embedded in a carrier wave, in which the program is embodied by electronic transmission.

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

[Summary]
The information processing device according to one aspect of the present invention is an information processing device that monitors dust accumulated in a pit, and is a measurement indicating the height of the dust generated by the height measuring device each time measurement is performed. Generated in the pit by comparing the data acquisition unit that acquires a plurality of data with the first measurement data generated as a result of the previous measurement and the second measurement data generated as a result of the subsequent measurement. It is configured to include an event determination unit that determines an event that has occurred, and an accumulation information generation unit that generates accumulation information indicating the state of dust accumulated in the pit based on the determined event.

According to the above configuration, the event determination unit is during each measurement based on the change between the measurement data obtained by the previous measurement and the measurement data obtained by the later measurement. It is possible to determine the event that occurred in the pit during the time zone. Then, according to the determined event, the accumulation information generation unit can generate accumulation information indicating the state of the dust accumulated in the pit. As a result, each time the measurement data is obtained, the event that has occurred in the pit can be grasped, and how the state of the dust has changed as a result of the event can be accurately reproduced in the sedimentation information.

In the information processing apparatus, the data acquisition unit acquires the measurement data at intervals shorter than the interval at which the event occurs in the pit, and the event determination unit acquires the measurement data each time. In addition, the latest acquired second measurement data is compared with the first measurement data acquired immediately before to determine the event, and the accumulation information generation unit is responsible for the above-mentioned thing. It is preferable to update the deposition information each time an elephant is determined. As a result, it is possible to grasp the events occurring in the pit one by one without overlooking them, and it is possible to more accurately reproduce the state of dust in the accumulation information.

The height measuring device is a three-dimensional measuring device that measures the surface shape of the entire dust accumulated in the pit, and in the information processing device, the event determination unit indicates the shape of the dust. The pit is a set of XY coordinate values in which the height of dust indicated by the Z coordinate value fluctuates by a predetermined value or more by comparing the first measurement data and the second measurement data as three-dimensional measurement data. It may be specified as a height fluctuation area in the above, and an event that has occurred may be determined for each specified height fluctuation area.

According to the above configuration, it is possible to grasp the surface shape of the entire dust in detail, and it is possible to accurately grasp even a small-scale event without overlooking it. Further, even if some event occurs in a plurality of areas in the same time zone, it is possible to grasp the event that occurred individually for each area.

In the information processing apparatus, the data acquisition unit acquires crane data indicating the operation history of a crane that carries dust in the pit and carry-in data that shows the carry-in history of dust carried into the pit. In the height fluctuation area, the event determination unit identifies a decreasing area where the dust height is reduced and an increasing area where the dust height is increased around the decreasing area, and the first The history of operation of the crane in the height fluctuation area in the first measurement time zone from the first measurement date and time when the measurement data of 1 is measured to the second measurement date and time when the second measurement data is measured is described. If it is not in the crane data and there is no history of dust being carried in in the height fluctuation area in the first measurement time zone in the carry-in data, in the first measurement time zone, in the height fluctuation area. It may be determined that a landslide event has occurred, which means that the debris moves from a high position to a low position without human intervention.

According to the above configuration, all the areas in the pit, including the area where the latest state of the garbage could not be obtained due to the absence of human intervention such as the operation of the crane or the loading from the garbage truck. In the area, it is possible to grasp all the events related to the movement of garbage, including the movement of garbage that occurs naturally. As a result, the state of dust in the entire pit can be grasped more accurately.

In the information processing apparatus, the event determination unit specifies the reduction area by comparing the first measurement data with the second measurement data, and the reduction area is specified in the first measurement time zone. When the crane data has a history of operating the crane in the above, the crane operation that the crane has grabbed dust is determined in the reduced area, and the second measurement data and the second measurement data are used. The increase area is specified by comparison with the third measurement data generated later, and the second measurement time zone from the second measurement date and time to the third measurement date and time when the third measurement data is measured. In the crane data, when the crane data has a history of operating the crane in the increased area, it is determined that the crane has dropped the dust grasped by the crane in the increased area, and the crane operation is determined based on the two crane operations. , It may be determined that the stirring event has occurred once. As a result, in all areas in the pit, it is possible to grasp all events related to the movement of dust, including the movement of dust that is artificially generated. As a result, the state of dust in the entire pit can be grasped more accurately.

In the information processing apparatus, the accumulation information generation unit plots a Z coordinate value indicating the height of dust for each XY coordinate indicating a position on a plane in the pit, and XYZ indicating a position in space in the pit. By associating the degree of agitation of the dust block at the position corresponding to the coordinates with each coordinate, the accumulation information is generated, and when at least one of the landslide and the agitation event is determined, the accumulation In the information, it is preferable to move the dust block in the decreasing area to the increasing area and update the degree of stirring of the dust block after the movement.

It is possible to grasp all the events related to the movement of dust, including the movement of naturally occurring dust and the movement of artificially generated dust, and update the degree of stirring of the dust block according to the occurrence of the event. it can. As a result, the agitated state of dust in the entire pit can be grasped more accurately, which can contribute to the realization of stable combustion.

The information processing method according to one aspect of the present invention is an information processing method executed by an information processing device that monitors dust accumulated in the pit, and is generated every time measurement is performed by the height measuring device. The data acquisition step of acquiring a plurality of measurement data indicating the height of dust is compared with the first measurement data generated as a result of the previous measurement and the second measurement data generated as a result of the subsequent measurement. This includes an event determination step for determining an event that has occurred in the pit, and a deposition information generation step for generating accumulation information indicating the state of dust accumulated in the pit based on the determined event. .. According to this information processing method, the same operation and effect as that of the information processing apparatus can be obtained.

The above-mentioned information processing device may be realized by a computer. In this case, the information processing device is realized by the computer by operating the computer as each part (software element) included in the information processing device. A program and a computer-readable recording medium on which it is recorded also fall within the scope of the present invention.

4 Pit monitoring device (information processing device)
5 Crane 11 Weight measuring device 12 Garbage type registration device 13 Height measuring device (3D measuring device)
14 Crane PLC
21 Pit 22 Hopper 24 Carry-in door 60 Data acquisition unit 61 Event judgment unit 62 Accumulation information generation unit 63 Instructor unit 64 Display control unit 70 Carry-in data 71 Measurement data (first measurement data, second measurement data, third measurement Data, 3D measurement data)
72 Crane data 73 Event information 74 Sedimentation information

Claims (7)

An information processing device that monitors the dust accumulated in the pit.
A data acquisition unit that acquires a plurality of measurement data indicating the height of the dust, which is generated by the height measuring device each time measurement is performed.
An event determination unit that determines an event that has occurred in the pit by comparing the first measurement data generated as a result of the previous measurement with the second measurement data generated as a result of the subsequent measurement.
A deposit information generation unit that generates deposit information indicating the state of dust deposited in the pit based on the determined event is provided .
The height measuring device is a three-dimensional measuring device that measures the surface shape of dust accumulated in the pit.
The event determination unit
Comparing the first measurement data and the second measurement data as three-dimensional measurement data indicating the shape of the dust,
A set of XY coordinate values in which the height of dust indicated by the Z coordinate value fluctuates by a predetermined value or more is specified as a height fluctuation area in the pit.
An information processing device characterized in that an event that has occurred is determined for each specified height fluctuation area . The data acquisition unit acquires the measurement data at intervals shorter than the interval at which the event occurs in the pit.
Each time the measurement data is acquired, the event determination unit compares the latest acquired second measurement data with the first measurement data acquired immediately before, and displays the previous measurement data. Judge the event and
The information processing apparatus according to claim 1, wherein the accumulation information generation unit updates the accumulation information every time the event is determined. The data acquisition unit acquires crane data showing the operation history of the crane that transports the garbage in the pit and the carry-in data showing the carry-in history of the garbage carried into the pit.
The event determination unit
Among the height fluctuation areas, a decreasing area where the dust height has decreased and an increasing area where the dust height has increased around the decreasing area have been identified, and
History of the crane operating in the height fluctuation area in the first measurement time zone from the first measurement date and time when the first measurement data was measured to the second measurement date and time when the second measurement data was measured. Is not in the crane data, and
In the first measurement time zone, when there is no history of dust being carried in in the height fluctuation area in the carry-in data,
It is characterized in that, during the first measurement time zone, it is determined that a landslide event, which means that the dust moves from a high position to a low position, has occurred in the height fluctuation area without human intervention. , The information processing apparatus according to claim 1 or 2. The event determination unit
The reduction area is specified by comparing the first measurement data with the second measurement data, and the crane data has a history of the crane operating in the reduction area during the first measurement time zone. In the case, the crane operation that the crane has grabbed the dust is determined in the reduction area.
The increase area is specified by comparing the second measurement data with the third measurement data generated after the second measurement data, and the third measurement data is specified from the second measurement date and time. In the second measurement time zone up to the third measurement date and time when was measured, when the crane data has a history of operating the crane in the increase area, the dust caught by the crane was dropped into the increase area. Judging the crane operation,
The information processing apparatus according to claim 3, wherein it is determined that a stirring event has occurred based on the two crane operations. The sedimentary information generation unit
The Z coordinate value indicating the height of dust is plotted for each XY coordinate indicating the position on the plane in the pit, and the dust at the position corresponding to the coordinate is plotted for each XYZ coordinate indicating the position in space in the pit. By associating the degree of agitation of the blocks, the deposition information is generated.
When at least one of the landslide and the stirring event is determined, the dust block in the decreasing area is moved to the increasing area in the accumulation information, and the stirring degree of the dust block after the movement is updated. The information processing apparatus according to claim 3 or 4, characterized in that. An information processing method executed by an information processing device that monitors the dust accumulated in the pit.
A data acquisition step of acquiring a plurality of measurement data indicating the height of the dust, which is generated by the height measuring device each time the measurement is performed, and
An event determination step for determining an event that has occurred in the pit by comparing the first measurement data generated as a result of the previous measurement with the second measurement data generated as a result of the subsequent measurement.
Including a deposit information generation step of generating deposit information indicating the state of dust deposited in the pit based on the determined event.
The height measuring device is a three-dimensional measuring device that measures the surface shape of dust accumulated in the pit.
In the event determination step,
Comparing the first measurement data and the second measurement data as three-dimensional measurement data indicating the shape of the dust,
A set of XY coordinate values in which the height of dust indicated by the Z coordinate value fluctuates by a predetermined value or more is specified as a height fluctuation area in the pit.
An information processing method characterized in that an event that has occurred is determined for each specified height fluctuation area. The control program for operating a computer as the information processing device according to claim 1, wherein the computer functions as the data acquisition unit, the event determination unit, and the accumulation information generation unit.

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