JP7310758B2 - Information processing device, information processing method, and program - Google Patents

Description

The present invention relates to an information processing device, an information processing method, and a program.

Garbage collected from homes and businesses contains various types of garbage. In general, therefore, the collected refuse is once stored in a storage pit, and the collected refuse is agitated in the storage pit to homogenize the refuse. In addition, it is necessary to efficiently receive the waste into the storage pit during the time when a relatively large amount of waste is brought in. Therefore, a so-called transshipment operation is performed. Transshipment is the work of moving the garbage near the inlet to secure a space for receiving the garbage near the garbage inlet of the storage pit.

By the way, operations such as stirring and transshipment are performed by automatically or manually operating a crane installed in the storage pit. In this case, the operator manually controls the crane to compensate for the inadequacy of the automatic control in stirring and transshipment operations.

In order to improve such a situation, Patent Literature 1 discloses a technique relating to a control device for an automatic crane for a garbage disposal plant. The technology disclosed in Patent Document 1 is provided with a camera that captures the color tone of dust thrown into a trash pit, and a dust color tone storage means that identifies the color tone of the dust captured by the camera and stores it as a dust color tone map. 2, a technology for specifying different kinds of dust in a dust pit based on a dust tone map in a dust tone storing means and controlling a crane to agitate the dust. In addition, in Patent Document 2, the degree of agitation and height of dust stored in each square of a lattice virtually arranged in a garbage pit are calculated, and at least two start point candidates and end point candidates are selected from each square. If there is only one cell with the highest height, select it as the starting point candidate. , if there is only one mass with the highest height, select it as another starting point candidate, and if there are multiple, select the mass with the lowest stirring degree as another starting point candidate, and the garbage crane will select multiple Disclosed is a garbage crane control system that is moved from the nearest start point candidate among the start point candidates toward the end point candidate to perform moving agitation or moving scattering agitation.

JP 2007-126246 A Japanese Patent No. 6644993

However, in the technology disclosed in Patent Document 1, foreign waste is determined and agitated by scattering the specified foreign waste with a crane. no control is in place. Further, in the technology disclosed in Patent Document 2, in the garbage crane control system, the optimum candidate at that time is selected to control the garbage crane. No consideration is given to whether or not Therefore, in a waste storage pit, there is a demand for the development of a technique for efficiently transshipping and agitating waste using a gripper such as a crane that grips and moves waste.

In order to efficiently transship and agitate the waste with the gripping portion that grips the waste, it is preferable to optimize the work performed by the gripping portion. However, manual control by the operator is required even when the gripping portion is controlled by automatic control as described above. In the case of manual control by an operator, there is a problem that transshipment and stirring operations depend on the operator's experience and intuition. Therefore, in order to efficiently perform the work of the gripping part without depending on the experience and intuition of the operator, a technology that can objectively and quantitatively evaluate the results of the work of the gripping part is required. There is a need for a technology that can appropriately evaluate the state of waste.

The present invention has been made in view of such circumstances, and its object is to provide an information processing device, an information processing method, and a program that can quantitatively evaluate the results of work on waste in a gripping portion. be.

In order to solve the above-described problems and achieve the object, an information processing apparatus according to an aspect of the present invention provides a storage pit that is capable of storing waste and has a gripping portion that moves the waste by gripping and dropping the waste. wherein the control unit divides the inside of the storage pit into a plurality of areas, and divides the inside of the storage pit into a plurality of areas and divides the plurality of areas according to the operation by the gripping unit. In each of the regions, the information on the waste is acquired and stored in a storage unit, at least part of the information on the waste is read out from the storage unit, and quantitatively obtained for each of the regions calculating an evaluation value for each region, setting a weighting factor based on the use of the region for each region, and calculating the weight for each region for the evaluation value of each region When evaluating the waste by multiplying the evaluation values multiplied by the weighting coefficients in the respective regions to derive a comprehensive evaluation value in the storage pit and evaluating the waste, the weighting for each region Different coefficients for different phases.

In the information processing apparatus according to an aspect of the present invention, in the above invention, a carry-in preparation phase up to a time a predetermined time before a carry-in start time at which carry-in of the waste into the storage pit from the outside is started; The weighting factor for each region in a loading phase in which the waste is brought into the pit from the outside and a mixed phase in which the waste is not brought into the storage pit from the outside and before the carrying-in preparation phase. be different.

In the information processing apparatus according to an aspect of the present invention, in the above invention, the information on the waste includes information on height, information on type of waste obtained by image recognition or a sensor, information on number of days of storage, information on density and information on the number of times of stirring, and at least one of height information, information on type, information on retention days, information on density, and information on the number of times of stirring related to the waste from the storage unit. The information is read and the evaluation value is calculated for each of the regions to evaluate the waste.

In the information processing apparatus according to one aspect of the present invention, in this configuration, the control unit virtually divides the waste in the storage pit into a plurality of units each associated with a three-dimensional coordinate, The type information, the retention days information, and the agitation number information are updated for each unit in accordance with the mixing, division, or replacement of each unit in the plurality of units accompanying the operation by the gripping section. do.

In the information processing apparatus according to an aspect of the present invention, in this configuration, the control unit reads the information on the type read from the storage unit, the information on the retention days, the information on the density, and the information on the number of times of stirring. Based on each of the above, from the type, the number of days of storage, the density, and the number of times of stirring for each unit, the variation in the type, the number of days of storage, the number of times of stirring, and the density in the target area By calculating the variation and the average of the number of times of stirring, multiplying and adding weighting factors based on the characteristics of each of the type, the number of days of storage, the density, and the number of times of stirring, the mixture evaluation value is obtained. to derive

In the configuration of the information processing apparatus according to an aspect of the present invention, the weighting factor is nonlinear with respect to the type, the number of retention days, the density, and the number of times of stirring.

In the information processing apparatus according to one aspect of the present invention, in the above configuration, the control unit derives the upper space amount in each of the regions based on the height information read from the storage unit, A carry-in evaluation value is derived by multiplying the upper space amount in each area by a weighting factor based on the amount of waste stored in the storage pit.

In this configuration, the information processing apparatus according to an aspect of the present invention is such that the weighting factor is nonlinear with respect to the upper space amount.

In the information processing apparatus according to one aspect of the present invention, in the above invention, the control unit defines at least one area into which the waste is brought in from the outside in the storage pit as the plurality of arbitrarily set areas. It is divided into a carry-in area, at least one transshipment area where the waste is transshipped from the carry-in area, and at least one dumping area where the waste to be dumped into the incinerator is stored.

In an information processing method according to an aspect of the present invention, a control unit having hardware moves a plurality of regions in a storage pit having a grasping unit capable of storing waste and moving the waste by grasping and dropping the waste. and acquires information on the waste in each of the plurality of regions and stores it in a storage unit in accordance with the operation by the gripping unit, and stores at least one piece of information on the waste from the storage unit. read out the information of the part, quantitatively calculate an evaluation value for each of the regions, set a weighting factor for each of the regions based on the use of the region, and The evaluation value of the area is multiplied by the weighting factor for each area, and the evaluation values multiplied by the weighting factors in the respective areas are summed up to quantitatively obtain the overall evaluation value of the storage pit. When deriving and evaluating the waste, the weighting factors for each of the regions are varied according to the phase.

A program according to an aspect of the present invention provides a control unit that evaluates the state of the waste in a storage pit that is capable of storing the waste and that has a gripping unit that moves the waste by gripping and dropping the waste. The inside of the pit is divided into a plurality of areas, and in each area of the plurality of areas, information on the waste is acquired and stored in a storage unit according to the operation by the gripping unit, and the information is stored in the storage unit. reading out at least part of the information about the waste, quantitatively calculating an evaluation value for each of the areas, and weighting factors for each of the areas based on the use of the area; is set, the evaluation value of each area is multiplied by the weighting factor for each area, and the evaluation values multiplied by the weighting factor in each area are summed to obtain the When the overall evaluation value is quantitatively derived to evaluate the waste, the weighting factor for each area is varied according to the phase.

According to the information processing device, the information processing method, and the program according to the present invention, it is possible to calculate an evaluation value according to the purpose of each phase for the work of the gripping unit in the storage pit, and to calculate the result of the work on the waste of the gripping unit. It becomes possible to evaluate quantitatively.

FIG. 1 is a block diagram illustrating a condition assessment system according to one embodiment of the invention. FIG. 2 is a plan view of a storage pit with grips according to one embodiment of the present invention. FIG. 3 is a cross-sectional view of the storage pit taken along line III--III in FIG. FIG. 4 is a block diagram showing a condition evaluator according to one embodiment of the present invention. FIG. 5 is a flow chart for explaining a state evaluation method according to an embodiment of the present invention. FIG. 6 is a table for explaining evaluation values in each area in the storage pit of the condition evaluation system according to one embodiment of the present invention. FIG. 7 is a diagram showing an example of area setting according to an embodiment of the present invention. FIG. 8 is a diagram for explaining a method of calculating a carry-in evaluation value according to one embodiment of the present invention. FIG. 9 is a diagram for explaining a method of calculating a mixed evaluation value according to one embodiment of the present invention. FIG. 10 is a diagram for explaining a method of calculating a comprehensive evaluation value according to one embodiment of the present invention.

An embodiment of the present invention will be described below with reference to the drawings. In addition, in all the drawings of the following one embodiment, the same reference numerals are given to the same or corresponding parts. Moreover, the present invention is not limited to the one embodiment described below.

FIG. 1 shows a condition evaluation system to which an information processing device according to an embodiment of the invention is applied. As shown in FIG. 1, the condition assessment system comprises a condition assessment device 10 and a waste storage facility 20 that are communicable with each other via a network 2 . The waste treatment facility 3 comprises at least a waste storage facility 20 and a waste incineration facility 30 . The condition evaluation device 10 may be provided outside so as to be able to communicate with the waste disposal facility 3 through the network 2 or may be a part of the waste disposal facility 3 . Moreover, the condition evaluation device 10 may be provided inside the waste disposal facility 3, and the installation location is not limited.

The network 2 is configured by appropriately combining wired communication and wireless communication. The network 2 includes, for example, a dedicated line, a public communication network such as the Internet, a LAN (Local Area Network), a WAN (Wide Area Network), a telephone communication network such as a mobile phone, a public line, and a VPN (Virtual Private Network). It consists of one or more combinations. The condition evaluation device 10 and the waste storage facility 20 are connected via the network 2 .

(Waste Storage Facility)
A waste storage facility 20 as a waste storage unit includes a control unit 21 , a communication unit 22 , an imaging unit 23 , a sensor unit 24 , a grip unit 25 and a storage pit 26 . The storage pit 26 is provided with a grip portion 25 movably provided, as well as an imaging portion 23 and a sensor portion 24 . The imaging unit 23 , the sensor unit 24 and the grip unit 25 are controlled by the control unit 21 based on control signals transmitted from the condition evaluation device 10 . Note that the control unit 11 of the condition evaluation device 10 may directly control the imaging unit 23 , the sensor unit 24 and the grip unit 25 .

Specifically, the control unit 21 includes a processor having hardware such as a CPU (Central Processing Unit), a DSP (Digital Signal Processor), and an FPGA (Field-Programmable Gate Array), and a RAM (Random Access Memory) and a ROM (Read Only Memory), etc. (none of which is shown). The control unit 21 controls the imaging unit 23, the sensor unit 24, and the like according to various programs stored in a main storage unit such as a RAM and a ROM, based on control signals and the like input from the state evaluation device 10 through the communication units 13 and 22. and gripper 25 .

The communication unit 22 is, for example, a LAN interface board, a wired communication circuit for wired communication, or a wireless communication circuit for wireless communication. A LAN interface board, a wired communication circuit, and a wireless communication circuit are connected to the network 2 . A communication unit 22 as a transmission unit and a reception unit is connected to the network 2 and communicates with the state evaluation device 10 .

The imaging unit 23 is composed of, for example, an infrared camera or an imaging camera. The imaging unit 23 is configured to be capable of imaging the waste 27 in the storage pit 26 . The imaging unit 23 may be configured to be capable of capturing an image of the waste 27 gripped by the bucket 253 by capturing an image of the bucket 253 of the gripping unit 25, for example. The imaging unit 23 images the state of the waste 27 in the storage pit 26, that is, the state of the waste 27, and uses the captured image data as imaging information to transmit the state evaluation device 10 via the control unit 21 and the communication unit 22. Send to The imaging unit 23 may capture an image of the waste 27 gripped by the bucket 253 in the storage pit 26, and the image data of the captured waste 27 in the captured bucket 253 is used as imaging information to control the control unit 21 and the communication unit. 22 to the condition assessor 10.

The sensor unit 24 is composed of, for example, a ranging sensor such as a laser sensor, an infrared sensor, or a 3D-LiDAR (3 Dimension Laser Imaging Detection and Ranging) sensor, or a sensor or encoder combining these sensors. For example, the sensor unit 24 is configured to detect the height of the waste 27 in the storage pit 26 . The sensor unit 24 detects the height of the waste 27 (also referred to as waste height or waste level) in association with the two-dimensional positional information in the storage pit 26, and stores the detected waste height data (waste height data) to the condition evaluation device 10 via the communication unit 22 . Further, the sensor unit 24 is configured to detect opening and closing of the input door, for example. The sensor unit 24 detects opening/closing of the loading door arranged in the storage pit 26 and transmits an opening/closing signal to the condition evaluation device 10 . The open/close signal is used as a trigger for throwing in the waste 27 . The sensor unit 24 is configured to detect, for example, the two-dimensional or three-dimensional position of the gripping unit 25 and the three-dimensional position of the bucket 253, which will be described later. Sensor unit 24 transmits the position data of gripping unit 25 and the position data of bucket 253 to condition evaluation device 10 .

The gripper 25 grips and moves the waste 27 stored in the storage pit 26 . A bucket 253 as an opening/closing part grips the waste 27 . A crane 252 as a moving part is configured to be movable by connecting a bucket 253 . A load meter 251 is provided on the crane 252 . The load meter 251 is configured to measure the weight of the waste 27 gripped by the bucket 253 . That is, the load meter 251 is provided on the grip portion 25 as part of the sensor portion 24 . Data (load data) of the weight of the waste 27 measured by the load meter 251 is transmitted to the condition evaluation device 10 via the control unit 21 and the communication unit 22 . The so-called parameters related to the work operation of the crane 252, such as the two-dimensional or three-dimensional current position of the crane 252 above the storage pit 26, the movement path, the movement range, and the movement speed, are transmitted from the grip unit 25 to the control unit 21 and the communication unit. 22 to the condition evaluator 10 sequentially. Similarly, parameters related to the opening/closing operation of the bucket 253, such as the opening time, closing time, opening/closing times, and opening amount of the bucket 253, are sent from the grip unit 25 to the state evaluation device 10 via the control unit 21 and the communication unit 22. Sent sequentially.

The storage pit 26 is a pit that temporarily stores the waste 27 . The waste 27 in the storage pit 26 is gripped by the gripper 25, supplied to the incinerator 33 of the waste incineration facility 30, and incinerated.

2 and 3 are respectively a plan view and a cross-sectional view along line III-III of FIG. 2 of a storage pit equipped with a crane according to an embodiment of the invention. As shown in FIGS. 2 and 3, the crane 252 used in the waste treatment facility 3 is mounted above the storage pit 26 flanked by the charging hopper 321 of the incinerator 33 . The crane 252 is arranged so that the crane girder 254 can travel along the traveling rail 256 . A crane 252 is arranged to raise and lower a bucket 253 capable of gripping a quantity of waste 27 by hoisting and lowering wire ropes by a club 255 traversably disposed on a crane girder 254 . The waste 27 is put into the storage pit 26 by opening the carry-in door 261 provided in the storage pit 26 . The carry-in door 261 is, for example, an opening/closing type, and is arranged along the side wall of the storage pit 26 at predetermined intervals. The waste 27 carried into the waste disposal facility 3 is thrown into the storage pit 26 through one of the carry-in doors 261 . Reloading of the waste 27 in the storage pit 26 , agitation, and loading into the loading hopper 321 are performed by three-axis driving of the crane 252 .

A camera 231 as the imaging unit 23 is arranged around the storage pit 26 . The camera 231 includes, for example, a photographing camera such as a CCD camera or a CMOS camera, but is not necessarily limited to these. The imaging section 23 may be arranged in the grip section 25 . It is also possible to measure the distance based on the length of the wire rope of the crane 252, which will be described later, instead of the distance measuring sensor.

The camera 231 is arranged, for example, around the storage pit 26 and configured to be able to photograph the entire surface of the waste 27 . The camera 231 is configured to be able to identify the color tone and shape of the waste 27 that change depending on the type of waste (hereinafter referred to as the type of waste). Note that the camera 231 may be installed on a wall above the crane operation room 211 arranged in the storage pit 26 below the traveling rail 256 of the crane girder 254 so that the waste 27 in the storage pit 26 can be photographed. good. Moreover, it is also possible to install a plurality of cameras 231 in order to obtain the required angle of view and resolution. Various devices can be employed as the imaging unit 23 and the sensor unit 24 as long as they can detect the height of the waste 27 in the storage pit 26 and the variation and uniformity of the waste 27 .

(waste incineration facility)
As shown in FIG. 1 , a waste incineration facility 30 as a waste incinerator includes a combustion control device (ACC) 31 , a sensor section 32 and an incinerator 33 . The combustion control device 31 controls the amount of combustion air, the amount of cooling air, the feed speed of the dust feeder, etc. as the manipulated variables of the respective manipulated elements based on a conventionally known predetermined manipulated variable relational expression. . The incinerator 33, which is a waste incinerator, includes a furnace for burning waste, a waste inlet for throwing in waste, and a boiler (all not shown). The sensor unit 32 is composed of, for example, thermometers and pressure gauges provided at various locations. The internal state of the incinerator 33 and various physical quantities such as pressure and speed in facilities related to the incinerator 33, specifically, power generation facilities for generating electric power, measured by the sensor unit 32 are , is output from the sensor unit 32 as sensor information. Sensor information output from the sensor unit 32 is supplied to the combustion control device 31 as parameters. The combustion control device 31 controls combustion in the incinerator 33 based on the input parameters.

(Condition evaluation device)
FIG. 4 shows details of the condition evaluation device 10 in FIG. A state evaluation device 10 as an information processing device shown in FIG. The control unit 11 and the communication unit 13 are physically the same as the control unit 21 and the communication unit 22 described above.

The storage unit 12 includes a storage medium selected from volatile memory such as RAM, nonvolatile memory such as ROM, EPROM (Erasable Programmable ROM), hard disk drive (HDD), removable media, and the like. . Note that the removable medium is, for example, a USB (Universal Serial Bus) memory, or a disk recording medium such as a CD (Compact Disc), a DVD (Digital Versatile Disc), or a BD (Blu-ray (registered trademark) Disc). be. Alternatively, the storage unit 12 may be configured using a computer-readable recording medium such as a memory card that can be attached from the outside.

The storage unit 12 can store an operating system (OS), various programs, various tables, various databases, and the like for executing the operation of the state evaluation device 10 . These various programs can be recorded on computer-readable recording media such as hard disks, flash memories, CD-ROMs, DVD-ROMs, and flexible disks, and can be widely distributed. The control unit 11 loads the program stored in the storage unit 12 into the work area of the main storage unit, executes it, and controls each component through the execution of the program, thereby realizing a function that meets a predetermined purpose. can.

As shown in FIG. 4, in this embodiment, by executing various programs loaded by the control unit 11, an area division unit 111, a storage amount determination unit 112, a transshipment determination unit 113, a garbage type determination unit 114, an agitation degree The functions of the determination unit 115 and the crane control unit 116 are executed. Various programs also include programs for realizing artificial intelligence and trained models capable of realizing the processing according to the present embodiment.

The area dividing unit 111 sets a plurality of areas for the waste 27 stored in the storage pit 26 . The areas divided in the storage pit 26 are at least three areas: the loading area, the transshipment area, and the loading area. Each of these loading area, transshipment area, and loading area may be divided into two or more areas. It should be noted that the carry-in area may not be set when there is no carry-in. Similarly, when there is no input, the input region may not be set. The carrying-in area is an area (hereinafter referred to as carrying-in area) into which garbage is brought in from a garbage truck (also called a packer truck). The transshipment area is an area (hereinafter referred to as transshipment area) where garbage is transshipped from the carry-in area by a crane provided in the storage pit 26 . The throw-in area is an area where garbage to be thrown into the incinerator 33 exists (hereinafter referred to as throw-in area). Information about the carrying-in area, the transshipment area, and the loading area set by the area division unit 111 is stored in the storage unit 12 as work area information about the work area. In addition, the work area information may include information on an area for storing special waste specific to a factory, such as crushed waste in a crushing area (crushing area).

The storage amount determination unit 112 calculates and determines the storage amount of the waste 27 in the storage pit 26 based on information about the waste 27 such as imaging information and detection data supplied from the imaging unit 23 and the sensor unit 24 . or When the waste 27 is transshipped by the crane 252, the transshipment determination unit 113 determines the transshipped waste based on the imaging information supplied from the camera 231 and the sensor information supplied from the sensor unit 24. 27, that is, the height of the waste 27 and the mixed state after transshipment. The garbage type determining unit 114 determines the garbage type of the waste 27 carried into the carry-in area. When the waste 27 is stirred by the crane 252, the stirring degree determination unit 115 determines the state of the waste 27 after stirring, that is, the height and stirring state of the waste 27, based on the imaging information supplied from the camera 231. judge. The crane control unit 116 transmits an instruction signal to the control unit 21 to drive the crane 252 in three axes to grip the waste 27 at a desired position or scatter the gripped waste 27 . Note that the crane control unit 116 may directly control the crane 252 .

The storage unit 12 stores a height information database 121, a storage information database 122, a density information database 123, an agitation information database 124, and a garbage type database 125. FIG.

Information about the height of the waste 27 in the storage pit 26 is stored in the height information database 121 in a searchable manner.

In the storage information database 122, storage information regarding storage of the waste 27 stored in the storage pit 26 is stored in a searchable manner. The storage information is associated with the three-dimensional coordinates in the storage pit 26 and includes information such as the volume, weight (mass), and number of storage days of the waste 27 . In addition, when the waste 27 in the storage pit 26 is managed as a plurality of units divided into a predetermined rectangular parallelepiped shape, specifically, for example, a cube of several hundred mm square or a rectangular parallelepiped shape, the storage information It may also include historical information on unit volume, weight, and storage days. The storage information database 122 may further store storage information associated with the work area information.

The density information database 123 stores the density information of the waste 27 in a searchable manner. Density information includes information such as the density of waste 27 associated with three-dimensional coordinates within storage pit 26 . Further, when the waste 27 in the storage pit 26 is managed by a plurality of units described above, the density information may include historical information on the density of each unit.

The agitation information database 124 stores agitation information about the agitation of the crane in the storage pit 26 . Note that the agitation is a work of grasping the waste 27 in the storage pit 26 by the crane 252 and scattering it by controlling the bucket 253 . Agitation mixes the waste 27 in the storage pit 26 . The stirring information includes the number of times of stirring and the average number of times of stirring when the waste is stirred using a crane in the storage pit 26 . The agitation information may include information such as the position where the agitating crane picked up the refuse, the range in which the refuse was scattered, and the time and agitation time at which the agitation was performed. Further, the agitation information indicates that a predetermined unit of dust in the storage pit 26 is dispersed by agitation, becomes a part of another unit, or is replaced with a part of another unit to become a new unit. In this case, based on the post-transshipment shape information detected by the imaging unit 23 and the sensor unit 24, history information of changes in the unit for each stirring may be included.

The type database 125 stores garbage type information regarding the type of garbage in the storage pit 26 . The garbage type information is the garbage type determined on the assumption that the waste 27 carried in is one or more than one type when the garbage truck carries the waste 27 into the storage pit 26. information is stored. In addition, information on the type of garbage for each three-dimensional position in the storage pit 26 after transshipment may be included. That is, each unit in the storage pit 26 described above may include information on the type of garbage included in each unit.

Furthermore, the storage unit 12 may store a transshipment database or the like. The transshipment database stores transshipment information about transshipment by a crane, which will be described later, in the storage pit 26 . It should be noted that transshipment is a work of grasping the waste 27 brought in from the outside by the crane 252 and dropping it in a predetermined area. When the waste 27 in the storage pit 26 is transshipped, the transshipment information includes the position at which the crane 252 that transships the waste 27 picks up and drops the waste 27, the time at which the transshipment is performed, the movement time, and the like. information may be included. The transshipment information may include information on the number of days the waste 27 is stored in the storage pit 26 . In addition, when the waste 27 in the storage pit 26 is managed by the plurality of units described above, the transshipment information is obtained by the crane 252 based on shape information after transshipment detected by the imaging unit 23 and the sensor unit 24 . may include historical information of changes in each unit for each transshipment of waste 27 by.

The input unit 14 as input means includes an interface that inputs various information transmitted from the imaging unit 23 and the sensor unit 24 installed in the waste storage facility 20 through the communication unit 22 and outputs the information to the control unit 11 . . Information may be transmitted from the imaging unit 23 and the sensor unit 24 to the input unit 14 using wired communication or wireless communication. The input unit 14 includes a user interface such as a keyboard, input buttons, levers, a touch panel for manual input superimposed on a liquid crystal display, or a microphone for voice recognition. By operating the input unit 14 by an operator or the like, predetermined information can be input to the control unit 11 .

The output unit 15 as output means displays an image inside the storage pit 26 of the waste storage facility 20 on the display monitor, or displays characters, graphics, etc. on the screen of the touch panel display according to the control by the control unit 11. or output sound from the speaker. That is, the output unit 15 is configured to be able to report predetermined information to the outside. It should be noted that the input section 14 and the output section 15 may be integrated as an input/output section, and the input/output section may be configured by a touch panel display, a speaker microphone, or the like.

(State evaluation method)
Next, a state evaluation method by a state evaluation system including the state evaluation device 10 described above will be described. FIG. 5 is a flowchart for explaining the state evaluation method according to this embodiment. In the following description, transmission and reception of various information are performed via the network 2 and the respective communication units 13 and 22, but the description of this point each time will be omitted. Further, when various information is generated or received in the control units 11 and 21, the combustion control device 31, etc., the various information generated or received is stored in a predetermined storage unit. The explanation of each time is also omitted.

As shown in FIG. 5, first, in step ST1, the operator inputs an evaluation range from the input unit 14 of the condition evaluation device 10. As shown in FIG. Note that the input of the evaluation range may be automatically performed by the control unit 11 according to a predetermined program. Here, FIG. 6 is a table for explaining the carry-in evaluation value and mixed evaluation value in each area in the storage pit 26 of the condition evaluation system according to this embodiment. FIG. 7 is a plan view showing an example in which the storage pit 26 is divided into a loading area, a transshipment area, and a loading area. As shown in FIG. 7, the storage pit 26 includes, for example, a loading area A1 where waste 27 is loaded from a garbage truck, a transshipment area A2 where transshipment is performed from the loading area A1 by a crane 252, and an incinerator by a crane 252. It is divided into an input area A3 in which the waste 27 is input to the input hopper 321 of 33 . Note that the division method is not limited to this method, and division into four or more divisions is also possible. Further, the transshipment area A2 and the loading area A3 can be set by switching them appropriately, and it is also possible to set the loading area A1, the transshipment area A2, and the loading area A3 by switching them appropriately. . Furthermore, the carrying-in area, the transshipment area, and the input area as a plurality of areas are not limited to the case where they are divided two-dimensionally, and the areas may be divided three-dimensionally by dividing them in the height direction. . In this case, it is possible to exclude the waste 27 below the storage pit 26, such as bottom waste, from the area or set it as a separate area.

Next, in step ST2, the control unit 11 of the state evaluation device 10 determines which phase is the evaluation phase. It should be noted that the phases are defined according to the schedule and the days of the week including holidays and the like. Here, the time period during which the waste 27 is carried into the storage pit 26 from the external garbage truck is defined as a carry-in phase. In addition, the mixed phase is defined as the period during which there is no collection from external garbage trucks. Furthermore, a time period from the start time of carrying-in of the waste 27 to the storage pit 26 from the external garbage truck to the time preceding the start time of carrying-in of the waste 27, in other words, a predetermined time (for example, The time period from 1 to 2 hours earlier to the carry-in start time is defined as the carry-in preparation phase.

When the control unit 11 determines in step ST2 that the evaluation phase is the loading phase (step ST2: 1), the process proceeds to step ST3. In step ST3, the weighting in the carry-in phase is calculated and the score is evaluated.

In the carry-in phase in which step ST3 is executed, the main tasks are transshipment of the waste 27 carried in from the garbage truck and introduction into the incinerator 33 . In the carry-in phase, an evaluation value is created mainly by efficiently transshipping the waste 27 carried into the carry-in area A1 to the transshipment area A2 and mixing the waste 27 together. Here, based on the information input from the imaging unit 23 and the sensor unit 24, the garbage type determination unit 114 of the control unit 11 uses a conventionally known method, specifically, the information on the arrival of the waste 27 and the information on the sensor unit 24. The type of garbage is determined using the information obtained from and image analysis. Various types of garbage can be set as the garbage type, such as general household garbage, crushed garbage, and pruning garbage.

Now, in step ST3, the control unit 11 calculates the weighting (weighting coefficient) of the carry-in phase and performs score evaluation. That is, as shown in FIG. 6, the carry-in evaluation value is first calculated in the carry-in area A1. FIG. 8 is a schematic diagram showing a method of deriving the carry-in evaluation value. As shown in FIGS. 6 and 8, the input value for the carry-in evaluation value is the height of the waste 27 in the carry-in area A1 divided by the area dividing section 111, that is, the height of the unit existing above. The control unit 11 calculates the difference between the height of the predetermined unit and the average height of all the wastes 27 in the storage pit 26, and based on the storage amount of all the wastes 27 in the storage pit 26, Change the weighting factor. The weighting factor is non-linear with respect to the height of the waste 27, ie the amount of headroom. This is because when the amount of the waste 27 stored in the entire storage pit 26 is large, the height of the waste 27 increases as a whole and the possibility of the waste 27 collapsing increases. This is because it becomes difficult to transship from the carry-in area A1 to the transshipment area A2. If the waste 27 is difficult to transship, the weighting factor should be low so that the transshipment-based incoming evaluation value is not too high. In addition, since it is extremely difficult to remove the waste 27 below the predetermined height in the storage pit 26, if the waste 27 is below the predetermined height, transshipment becomes difficult. Therefore, even when the height of the waste 27 is less than the predetermined height, it is necessary to lower the weighting factor.

In principle, the carry-in evaluation value is derived so that the larger the upper space amount in the designated area, for example, the carry-in area A1, the higher the value. The weighting factor is changed and corrected based on the height and the predetermined height. Specifically, as a premise value, when the operator or the control unit 11 sets the target area using the three axes of XYZ as input values in step ST1, the area division unit 111 sets the carry-in area A1. Subsequently, the storage amount determination unit 112 calculates the upper space amount in the carry-in area A1 based on the storage amount data received from the imaging unit 23 and the sensor unit 24 and the height of the waste 27 in the carry-in area A1. The control unit 11 derives a carry-in evaluation value based on the amount of upper space in the carry-in area A1 and the storage amount of the entire waste 27 in the storage pit 26 . Various derivation formulas according to the method shown in FIG. 8 can be used for specific derivation of the carried-in evaluation value based on the height of the waste 27 .

Further, the control unit 11 of the condition evaluation device 10 may acquire information such as the bulk density, the number of days of storage, the type of waste, and the number of times of stirring of the waste 27 in the carry-in area A1. The calculated various information is stored in a corresponding database among predetermined databases 121 to 125 in the storage unit 12 . In addition, the type of waste 27 carried into the carry-in area A1, for example, the type of waste 27 carried in from one garbage truck, is a predetermined type of garbage that can be specified by image recognition or the like. It is assumed that there are After that, the garbage type determining unit 114 derives the garbage type for each unit after transshipment and after agitation, which will be described later. It should be noted that it may be assumed that the garbage type of the waste 27 is two or more garbage types.

In the score evaluation of the carry-in phase in step ST3, as shown in FIG. 6, secondly, in the transshipment area A2, a mixed evaluation value is calculated. The mixed evaluation value is calculated based on the stirring state of the waste 27 and the type of waste in the transshipment area A2, for example, divided by the area division unit 111. FIG. FIG. 9 is a schematic diagram showing a method of deriving a mixed evaluation value. As shown in FIGS. 6 and 9, the mixed evaluation value uses the type of waste 27 in the transshipment area A2 divided by the area dividing unit 111, the number of storage days, and the number of times of agitation as input values. These are parameters that are derived for each unit of waste 27 in the storage pit 26 . The transshipment determination unit 113 reads the parameters of the type of waste, the number of storage days, the density, and the number of times of agitation of each unit of the waste 27 in the transshipment area A2. The garbage type determining unit 114 uses the parameters derived for each unit to calculate the variance (σ ² ) from the average garbage type configuration in the target area, and derives the variation of the garbage type. The storage amount determining unit 112 uses the parameters derived for each unit to calculate the variance (σ ² ) from the average number of days of storage in the target area to derive the variation of the number of days of storage. The stirring degree determination unit 115 uses the parameters derived for each unit to calculate the variance from the average number of stirring times in the target area to derive the variation in the number of stirring times. The number of times of stirring is also used as a parameter. The control unit 11 calculates the weighted average of the variation in the type of garbage, the variation in the number of storage days, and the variation in the number of times of stirring, and the number of times of stirring, thereby deriving the mixed evaluation value by the operation of the crane 252 . That is, the mixed evaluation value increases when the waste 27 is mixed by stirring.

Here, the processing of the waste 27 by the crane 252 includes two types of processing, namely, a processing of subdividing the waste 27 and a mixing processing of evenly mixing the waste 27 of various kinds and old and new. Here, evaluation of mixing processing is mainly performed. In the mixing process, it is desirable that the parameters of the type of waste in each unit, the number of days of storage, and the number of times of stirring should be close to the average. That is, it is desirable to increase the number of agitation in units where the waste 27 is not adequately mixed with old and new types of waste and the number of agitations is low, and to refrain from agitation in units where the amount of agitation is moderate and the number of agitations is high. In this case, since there is a possibility that the number of times of stirring does not exceed a predetermined number of times, the number of times of stirring of the unit is used as a parameter in deriving the mixture evaluation value. That is, the stirring degree determination unit 115 calculates a simple average of the number of stirring times of each unit of the waste 27 in the transshipment area A2 to derive the average number of stirring times.

Further, as shown in FIG. 9, the control unit 11 multiplies the parameter of the dust type of each unit by a non-linear weighting coefficient to calculate the evaluation value of the dust type. The calculated garbage type evaluation value is stored in the type database 125 . The control unit 11 calculates an evaluation value of the number of days of storage by multiplying the parameter of the number of days of storage of each unit by a non-linear weighting factor. The calculated evaluation value of the number of storage days is stored in the storage information database 122 . The reason why the weighting factor is non-linear is to prevent the evaluation value from increasing when the material is stirred or transshipped more than necessary. For example, when agitation by the crane 252 causes the unit's waste type parameter to exceed a value indicating a predetermined mixed state, the weighting factor is adjusted so that the evaluation value does not increase. The same is true for the retention days parameter and weighting factors. It should be noted that each unit is divided by the agitation by the crane 252 and becomes a part of another unit, or replaces a part of another unit. In this case, with regard to the type of garbage and the number of days of storage, in each unit after transshipment or agitation, the agitated unit is added or replaced, and the type of garbage and the number of days of storage of the unit are updated.

Further, the control unit 11 multiplies the parameter of the number of times of stirring of each unit by a non-linear weighting factor to calculate the evaluation value of the number of times of stirring. Here, by agitation by the crane 252, each unit is divided and becomes a part of another unit, or replaces a part of another unit. In FIG. 9, based on the number of times of stirring of the unit before stirring, the number of times of stirring of the unit after addition or replacement of the stirred unit is updated. In this way, the number of times of stirring is calculated for each unit. Data on the number of times of stirring for each unit is stored in the stirring information database 124 . The degree-of-stirring determination unit 115 calculates an evaluation value of the number of times of stirring each unit.

The control unit 11 derives a mixed evaluation value by adding together the evaluation value of the garbage type, the evaluation value of the number of storage days, and the evaluation value of the number of stirring times calculated as described above. In addition, the control unit 11 may acquire information such as the bulk density, the number of days of storage, and the type of waste of the waste 27 in the transshipment area A2. The calculated various information is stored in a corresponding database among predetermined databases 121 to 125 in the storage unit 12 . Acquisition of these reference value data and storage of the acquired data in the storage unit 12 are similarly performed in the input area A3.

Further, in the score evaluation of the carry-in phase in step ST3, as shown in FIG. 6, thirdly, the mixed evaluation value is calculated in the input area A3. Calculation of the mixed evaluation value in the input area A3 is the same as the method of calculating the mixed evaluation value in the transshipment area A2, so the explanation is omitted.

Next, in step ST4, the control unit 11 performs the weighting (weighting factor) calculated in step ST3, the calculated carry-in evaluation value in carry-in area A1, the calculated mixed evaluation value in transshipment area A2, and the calculated mixed evaluation value in carry-in area A3. is stored in the storage unit 12 . On the other hand, in step ST4, the control unit 11 outputs to the output unit 15 the carrying-in evaluation value for the carrying-in area A1 and the mixed evaluation value for the transshipment area A2 and the loading area A3. This allows the operator to recognize in detail the evaluation of the work performed by the operation of the crane 252 . Further, in step ST4, the control section 11 may output information on the carry-in evaluation value and the mixed evaluation value to the output section 15 and to the crane control section 116 as well. In this case, it is also possible to control the operation of the crane 252 by the crane control unit 116 based on information on the carry-in evaluation value and the mixed evaluation value. Note that the process of step ST4 may be omitted.

Next, the control unit 11 moves to step ST5 and performs score comprehensive evaluation. That is, in step ST5, the control unit 11 calculates the weighting (weighting factor) calculated in step ST3, the calculated carrying-in evaluation value in the carrying-in area A1, and the mixed evaluation value in the transshipment area A2 and the loading area A3. 10 is performed to derive the total evaluation value. Specifically, the control unit 11 multiplies the carry-in evaluation value for the carry-in area A1 by a weighting factor related to the carry-in area A1. The control unit 11 multiplies the mixed evaluation value in the transshipment area A2 by a weighting factor related to the transshipment area A2. The control unit 11 multiplies the mixed evaluation value for the input area A3 by a weighting factor related to the input area A3. The control unit 11 derives a comprehensive evaluation value by totaling the incoming evaluation value and the mixed evaluation value multiplied by these calculated weighting factors.

Here, the weighting coefficients of the areas A1 to A3 shown in FIG. 10 are different depending on the carry-in phase, the mixing phase, and the carry-in preparation phase. Note that a different weighting factor can be set for each finer phase. Here, the phase determined in step ST2 is the carry-in phase, and carry-in, transshipment, and loading are executed in parallel. is possible. After the controller 11 derives the overall evaluation value for the storage pit 26 in step ST5, the process proceeds to step ST6.

In step ST<b>6 , the control section 11 outputs the derived overall evaluation value to the output section 15 . This allows the operator to recognize the evaluation of the process accompanying the operation of the crane 252 . Further, in step ST6, the control section 11 may output the information on the overall evaluation value to the output section 15 and to the crane control section 116 as well. In this case, the crane control unit 116 can control the operation of the crane 252 based on the comprehensive evaluation value information. Furthermore, if the overall evaluation value can be improved, a new schedule may be created and the schedule in the carry-in phase, the mixing phase, or the carry-in preparation phase may be replaced with the new schedule. Furthermore, when the evaluation value included in the information input to the crane control unit 116 satisfies a predetermined condition, the operation of the crane 252 can be stopped or switched to a specific operation.

When the control unit 11 determines in step ST2 that the evaluation phase is the mixed phase (step ST2: 2), the process proceeds to step ST7. In step ST7, the control unit 11 performs calculation of weighting (weighting factor) and score evaluation in the mixing phase. That is, in the phase in which the waste 27 is not carried from the garbage truck to the storage pit 26, the work of transshipment from the carry-in area A1 to the transshipment area A2 is greatly reduced and hardly performed, while the transshipment area A2 and the input area At A3, bag-breaking and stirring operations are performed.

Therefore, in step ST7, the control unit 11 mainly calculates mixed evaluation values in the transshipment area A2 and the loading area A3. The mixed evaluation value may be calculated as a result of agitation in the carrying-in area A1, the transshipment area A2, and the input area A3, that is, the entire storage pit 26. FIG. In this case, the control unit 11 may derive the mixed evaluation value for the carry-in area A1 in the same manner as the mixed evaluation value for the transshipment area A2 described above.

After that, the process proceeds to step ST4, and the control unit 11 calculates the weighting (weighting factor) calculated in step ST7, the calculated mixed evaluation value in the transshipment area A2 and the mixed evaluation value in the input area A3, and, if necessary, The carrying-in evaluation value for the carrying-in area A 1 is stored in the storage unit 12 . On the other hand, in step ST4, the control unit 11 outputs to the output unit 15 the mixed evaluation value for the carry-in area A1 and the mixed evaluation value for the transshipment area A2 and the loading area A3. Further, in step ST4, the control section 11 may output the information on the mixed evaluation value to the output section 15 and to the crane control section 116 as well. In this case, the crane control unit 116 can also control the operation of the crane 252 based on the mixed evaluation value information. Note that the process of step ST4 may be omitted.

Next, in step ST5, the control unit 11 performs the weighting (weighting factor) calculated in step ST7, and the calculated mixed evaluation values in the carrying-in area A1, transshipment area A2, and input area A3, The calculation shown in FIG. 10 is performed to derive the total evaluation value. Specifically, the control unit 11 multiplies the mixed evaluation value in the carry-in area A1 by a weighting factor related to the carry-in area A1. At this time, the weighting factor for the carry-in area A1 may be extremely low or zero. Conversely, when stirring is also performed in the carry-in area A1, an evaluation value obtained by multiplying the mixed evaluation value in the carry-in area A1 by a predetermined weighting factor may be included in the overall evaluation value. The control unit 11 multiplies the mixed evaluation value in the transshipment area A2 by a weighting factor related to the transshipment area A2. The control unit 11 multiplies the mixed evaluation value for the input area A3 by a weighting factor related to the input area A3. The control unit 11 derives a comprehensive evaluation value by totaling evaluation values multiplied by these calculated weighting factors.

After the controller 11 derives the overall evaluation value for the storage pit 26 in step ST5, the process proceeds to step ST6. In step ST<b>6 , the control section 11 outputs the derived total evaluation value to the output section 15 . Furthermore, the control unit 11 may output information on the comprehensive evaluation value to the crane control unit 116 . In this case, the crane control unit 116 can control the operation of the crane 252 based on the comprehensive evaluation value information.

When the control unit 11 determines in step ST2 that the evaluation phase is the carry-in preparation phase (step ST2:3), the process proceeds to step ST8. In step ST8, calculation of weighting (weighting factor) in the carry-in preparation phase and score evaluation are performed. That is, it is necessary to secure an empty space for carrying in the waste 27 especially in the carry-in area A1 after 1 to 2 hours before the start time of carrying in the waste 27 from the garbage truck to the storage pit 26. . Therefore, an operation is performed to secure empty space in the carrying-in area A1, the transshipment area A2, and the input area A3 for the total storage amount of the waste 27 in the storage pit 26. FIG.

Therefore, in step ST8, the control unit 11 mainly calculates the carry-in evaluation value based on the height of the waste 27 in the carry-in area A1. In this case, the control unit 11 may derive the carrying-in evaluation values for the transshipment area A2 and the loading area A3 in the same manner as for the carrying-in area A1.

After that, the process proceeds to step ST4, and the control unit 11 calculates the weighting (weighting coefficient) calculated in step ST8, the calculated carrying-in evaluation value in the carrying-in area A1, and the transshipment area A2 and the charging area calculated as necessary. The carry-in evaluation value in A3 is stored in the storage unit 12 . On the other hand, in step ST4, the control unit 11 outputs to the output unit 15 the carrying-in evaluation values in the carrying-in area A1, the transshipment area A2, and the loading area A3. Further, in step ST4, the control section 11 may output information on the carry-in evaluation value to the output section 15 and to the crane control section 116 as well. In this case, the crane control unit 116 can also control the operation of the crane 252 based on the information on the carry-in evaluation value. Note that the process of step ST4 may be omitted.

After that, the control unit 11 proceeds to step ST5, and based on the weighting (weighting coefficient) calculated in step ST8 and the calculated carrying-in evaluation values in the carrying-in area A1, the transshipment area A2, and the loading area A3, The calculation shown in FIG. 10 is performed to derive the total evaluation value. Specifically, the control unit 11 multiplies the carry-in evaluation value for the carry-in area A1 by a weighting factor related to the carry-in area A1. At this time, the weighting factor for the carry-in area A1 may be extremely large. This is because before the waste 27 is brought in, it is highly necessary to secure a space for carrying in the carrying-in area A1. The control unit 11 multiplies the carry-in evaluation value in the transshipment area A2 by a weighting factor related to the transshipment area A2. The control unit 11 multiplies the carry-in evaluation value in the throwing area A3 by a weighting factor related to the throwing area A3. When vacant spaces are also secured in the transshipment area A2 and the loading area A3, the evaluation value obtained by multiplying the carry-in evaluation value in the transshipment area A2 and the loading area A3 by a predetermined weighting factor may be included in the overall evaluation value. The control unit 11 derives a comprehensive evaluation value by totaling evaluation values multiplied by these calculated weighting factors.

After the controller 11 derives the comprehensive evaluation value for the storage pit 26 in step ST5, the process proceeds to step ST6. In step ST<b>6 , the control section 11 outputs the derived total evaluation value to the output section 15 . Furthermore, the control unit 11 may output information on the comprehensive evaluation value to the crane control unit 116 .

In addition, machine learning such as reinforcement learning or deep reinforcement learning using scores such as the carry-in evaluation value, the mixed evaluation value, and the overall evaluation value obtained in response to the operation of the gripping unit 25 as described above as a reward , the artificial intelligence that schedules the work movements of the crane 252 of the gripper 25 can be constructed.

Conventionally, in manual operation performed by humans, items considered important as crane operation targets differ depending on the day of the week and the time of day. For example, it is possible to secure sufficient agitated waste for the next day's processing schedule by emphasizing securing the carry-in area by sorting the waste in the storage pit during times when there is a lot of carry-in. become important. As in this example, the purpose of driving is not a uniform decision criterion depending on the situation, but this point was not reflected in the current automatic driving.

On the other hand, in the embodiment described above, the inside of the storage pit 26 is divided into a plurality of areas of the carry-in area A1, the transshipment area A2, and the input area A3, and the work operation by the crane 252 of the gripper 25 Then, height information, type information, retention period information, and agitation number information regarding the waste 27 are acquired in each of the plurality of areas, and stored in databases 121-125. The control unit 11 reads height information, type information, retention days information, and agitation number information regarding the waste 27 from the storage unit 12, and sets the loading area A1 and transshipment area A2 of a plurality of areas. , and the input area A3, the evaluation value for the operation of the gripper 25 in the storage pit 26 can be calculated, and the state of the waste 27 in the storage pit 26 can be appropriately evaluated. can be done.

In addition, conventionally, a worker designates a predetermined area and controls the crane by manual control without having information such as the type of waste 27 and the degree of agitation. , the type of the waste 27 and the degree of agitation can be quantitatively evaluated. Furthermore, since the worker can recognize the quantitative evaluation of the work performed by the operation of the crane 252, the quantitative evaluation can be used as a guideline for appropriate operation planning. In addition, along with this evaluation, it is possible to ensure that the priority of work by workers does not differ for each worker, and it is possible to standardize operation methods that differ for each worker, thereby improving the efficiency of work such as stirring and transshipment of waste. It is possible to visualize the work results by aiming for Specifically, for example, based on a comparison between the evaluation value indicating how much homogenization was possible and the variation in combustion in the incinerator 33 into which the waste 27 is thrown from the storage pit 26, in order to stabilize the combustion, The operator can recognize to what extent the evaluation value should be stirred, and the operation target can be clarified. Furthermore, when performing automatic control, for example, an evaluation value used in reinforcement learning can be automatically calculated and used as an evaluation function when performing a simulation.

Although one embodiment of the present invention has been specifically described above, the present invention is not limited to the above-described one embodiment, and various modifications based on the technical idea of the present invention are possible. For example, the numerical values given in one embodiment above are merely examples, and different numerical values may be used if desired. The invention is not limited.

For example, the parameters listed in the above-described embodiment are merely examples, and parameters different from the parameters described above may be used as necessary.

Further, in the above-described embodiment, when using artificial intelligence, a deep Q network (DQN: Deep Q Network) using a neural network (deep reinforcement learning ) can be used. Note that other reinforcement learning or unsupervised learning may be used.

Further, in one embodiment, the above-described "unit" can be read as "circuit" or the like. For example, the controller can be read as a control circuit.

In addition, in the description of the flowcharts in this specification, expressions such as "first", "after", and "following" were used to clarify the context of the processing between steps, but the present embodiment is implemented. The order of processing required to do so is not uniquely determined by those representations. That is, the order of processing in the flow charts described herein can be changed within a consistent range.

Further effects and modifications can be easily derived by those skilled in the art. The broader aspects of the disclosure are not limited to the specific details and representative embodiments shown and described above. Accordingly, various changes may be made without departing from the spirit or scope of the general inventive concept defined by the appended claims and equivalents thereof.

2 network 3 waste treatment facility 10 condition evaluation device 11, 21 control unit 12 storage unit 13, 22 communication unit 14 input unit 15 output unit 20 waste storage facility 23 imaging unit 24 sensor unit 25 grip unit 26 storage pit 27 waste 30 Waste incineration facility 31 Combustion control device 32 Sensor unit 33 Incinerator 111 Area division unit 112 Storage amount determination unit 113 Transshipment determination unit 114 Waste type determination unit 115 Stirring degree determination unit 116 Crane control unit 121 Height information database 122 Storage Information database 123 Density information database 124 Stirring information database 125 Type database 211 Crane operation room 231 Camera 321 Input hopper A1 Carry-in area A2 Transshipment area A3 Input area

Claims (11)

An information processing apparatus having a control unit that evaluates the state of the waste in a storage pit that is capable of storing the waste and has a gripping unit that moves the waste by gripping and releasing the waste,
The control unit
dividing the inside of the storage pit into a plurality of areas,
Acquiring information about the waste in each of the plurality of areas and storing the information in a storage unit in accordance with the work performed by the gripping unit;
reading at least part of the information about the waste from the storage unit and quantitatively calculating an evaluation value for each of the areas;
setting a weighting factor for each of the regions based on the use of the region;
The evaluation value of each area is multiplied by the weighting factor for each area, and the evaluation values multiplied by the weighting factor in each area are summed to obtain a total evaluation value of the storage pit. An information processing device that varies the weighting factor for each of the regions according to phases when deriving and evaluating the waste. A carry-in preparation phase up to a predetermined time before a carry-in start time at which the waste is brought into the storage pit from the outside, a carry-in phase in which the waste is carried into the storage pit from the outside, and the storage. 2. The information processing apparatus according to claim 1, wherein the weighting factor for each region is different in a mixing phase before the introduction preparation phase in which the waste is not brought into the pit from the outside. The information on the waste includes information on height, information on type of waste obtained by image recognition or sensor, information on retention days, information on density, and information on the number of times of agitation,
At least one of height information, type information, retention period information, density information, and agitation number information relating to the waste is read out from the storage unit, and The information processing apparatus according to claim 1 or 2, wherein the evaluation value is calculated to evaluate the waste. The control unit
Virtually dividing the waste in the storage pit into a plurality of units each associated with a three-dimensional coordinate, and mixing and dividing the respective units in the plurality of units according to the operation by the gripping section; 4. The information processing apparatus according to claim 3, wherein the information on the type, the information on the number of storage days, and the information on the number of times of agitation are updated for each unit corresponding to the replacement. The control unit
Based on the information on the type, the information on the number of storage days, the information on the density, and the information on the number of times of stirring read from the storage unit, the type, the number of storage days, the density, and the From the number of times of stirring, each of the variation in the type, the number of days of storage, the variation in the number of times of stirring, the variation in density, and the average number of times of stirring in the target area is calculated, and the type, the number of days of storage, 5. The information processing apparatus according to claim 3, wherein a mixture evaluation value is derived by multiplying weighting coefficients based on respective characteristics of the density and the number of times of stirring and summing them. The information processing apparatus according to claim 5, wherein the weighting factor is non-linear with respect to the type, the retention days, the density, and the number of times of stirring. The control unit
Based on the height information read from the storage unit, deriving the amount of upper space in each of the regions,
A carry-in evaluation value is derived by multiplying the upper space amount in each of the areas by a weighting factor based on the amount of the waste stored in the storage pit. The information processing device according to . The information processing apparatus according to claim 7, wherein the weighting factor is non-linear with respect to the amount of head space. The control unit comprises, as the plurality of arbitrarily set areas, at least one loading area for loading the waste from the outside and at least one loading area for transshipping the waste from the loading area within the storage pit. The information processing apparatus according to any one of claims 1 to 8, which is divided into a transshipment area and at least one input area in which the waste to be input to the incinerator is stored. A control unit having hardware
dividing the inside of the storage pit into a plurality of areas, which is capable of storing waste and is provided with a gripping part for moving the waste by gripping and dropping;
Acquiring information about the waste in each of the plurality of areas and storing the information in a storage unit in accordance with the work performed by the gripping unit;
reading at least part of the information about the waste from the storage unit and quantitatively calculating an evaluation value for each of the areas;
setting a weighting factor for each of the regions based on the use of the region;
The evaluation value of each area is multiplied by the weighting factor for each area, and the evaluation values multiplied by the weighting factor in each area are summed to obtain a total evaluation value of the storage pit. An information processing method, wherein the weighting factor for each of the regions is varied according to phases when quantitatively deriving and evaluating the waste. A control unit that evaluates the state of the waste in a storage pit that is capable of storing the waste and has a grip that moves the waste by gripping and dropping,
dividing the inside of the storage pit into a plurality of areas,
Acquiring information about the waste in each of the plurality of areas and storing the information in a storage unit in accordance with the work performed by the gripping unit;
reading at least part of the information about the waste from the storage unit and quantitatively calculating an evaluation value for each of the areas;
setting a weighting factor for each of the regions based on the use of the region;
The evaluation value of each area is multiplied by the weighting factor for each area, and the evaluation values multiplied by the weighting factor in each area are summed to obtain a total evaluation value of the storage pit. A program for executing differentiating the weighting factor for each of the regions according to the phase when quantitatively deriving and evaluating the waste.

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