WO2019159432A1

WO2019159432A1 - Information processing device, information processing method, and information processing program

Info

Publication number: WO2019159432A1
Application number: PCT/JP2018/038887
Authority: WO
Inventors: 英達戴; 馨川端
Original assignee: 日立造船株式会社
Priority date: 2018-02-15
Filing date: 2018-10-18
Publication date: 2019-08-22
Also published as: EP3753867A1; JP2019137551A; EP3753867A4; CN111770886B; CN111770886A; JP7018329B2

Abstract

The present invention makes accurate assessment of the nature of garbage. This information processing device (1) is provided with: an effectiveness level evaluation unit (115) which, when garbage is stirred within a garbage pit, evaluates the effectiveness level of the stirring from images of the garbage captured before and after the stirring; and a garbage nature update unit (116) which, when updating the assessment of the nature of the garbage that has been stirred, adjusts the degree of change to be made to the assessment of the garbage nature in accordance with the effectiveness level.

Description

Information processing apparatus, information processing method, and information processing program

The present invention relates to an information processing apparatus and the like for evaluating the quality of garbage deposited in a garbage pit.

In the waste incineration facility, the carried waste is temporarily stored in the waste pit, and the stored waste is sequentially sent to the incinerator for incineration. Since some of the brought-in garbage is flammable and hard to burn, it is important to agitate and homogenize the garbage in the garbage pit for stable incineration. .

For this reason, development of technology for realizing homogeneous stirring has been in progress. For example, the following Patent Document 1 describes that the number of times of stirring of waste is calculated and an evaluation value indicating the degree of stirring of waste is calculated based on the number of times of stirring.

Japanese Published Patent Publication “Japanese Patent Laid-Open No. 2010-275064” (published on Dec. 9, 2010)

However, there is a problem that the quality of dust is not accurately reflected in the number of stirrings. For example, in agitation, it is important to break up the garbage bags and disperse the garbage, but even with the same one-time agitation, most of the garbage bags may be torn or many garbage bags will not be torn. Sometimes it remains. In the former case, the waste quality is greatly improved, and in the latter case, the waste quality is not improved so much. However, in the technique of Patent Document 1, the evaluation value is the same in any case.

An object of one embodiment of the present invention is to realize an information processing apparatus and the like that can accurately evaluate the quality of garbage.

In order to solve the above problem, an information processing apparatus according to an aspect of the present invention is configured to perform an information processing for evaluating the quality of garbage accumulated in a garbage pit for each unit area divided in the garbage pit. When the waste is stirred in the waste pit, an effectiveness determination unit that determines the effectiveness of the stirring from the images of the waste before and after stirring, and the position where the stirred waste is dropped. An updating unit that adjusts the degree of change in the evaluation of the dust quality of the unit area in accordance with the effectiveness in updating the evaluation of the garbage quality of the corresponding unit area.

In order to solve the above problem, an information processing method according to an aspect of the present invention evaluates the quality of garbage deposited in a garbage pit for each of the unit areas divided in the garbage pit. An information processing method by an information processing device, wherein when dust is agitated in the garbage pit, an effectiveness determination step for determining an effectiveness of the agitation from images of the dust before and after agitation, and the agitated garbage An update step of adjusting the degree of change in the evaluation of the dust quality of the unit area in accordance with the effectiveness in updating the evaluation of the dust quality of the unit area corresponding to the position where the mark is dropped.

According to one aspect of the present invention, there is an effect that the garbage quality can be accurately evaluated.

It is a block diagram which shows an example of a principal part structure of the information processing apparatus which concerns on Embodiment 1 of this invention. It is a figure which shows the outline | summary of the update of garbage quality information. It is a figure which shows the outline | summary of the calculation method of the volume of garbage. It is a figure which shows the image which imaged the dust layer surface, and the edge extraction result from this image. It is a flowchart which shows an example of the update process of the refuse quality at the time of stirring operation.

Embodiment 1
An information processing apparatus 1 according to an embodiment of the present invention will be described with reference to FIGS. The information processing apparatus 1 has a function of evaluating the quality of garbage deposited in a garbage pit, which is a garbage storage facility in a garbage incineration facility. Waste quality is generally assessed based on factors such as the moisture content of the waste, the ash content of the waste, the combustible content of the waste, and the lower heating value of the waste. Of these, the lower heating value and the water content (which may occupy about 60% of the weight of the garbage) have a great influence on the flammability of the garbage. For this reason, the waste quality can be used as an index for evaluating the flammability of the waste. A method for evaluating the waste quality in this embodiment will be described later. In addition to the waste pit and the incinerator, the waste incineration facility includes equipment such as a crane for transporting the waste in the waste pit. The waste incineration facility only needs to include at least a waste pit, a crane, and an incinerator, and any other equipment is optional.

〔Device configuration〕
The configuration of the information processing apparatus according to the present embodiment will be described with reference to FIG. FIG. 1 is a block diagram illustrating an example of a main configuration of the information processing apparatus 1. In the same figure, as a device related to the information processing device 1, a distance meter 2, an imaging device 3, and a crane control device 4 are also illustrated.

The information processing device 1 can communicate with the distance meter 2, the imaging device 3, and the crane control device 4. Communication with these devices may be wired communication or wireless communication. The information processing apparatus 1 may be a personal computer, for example.

The distance meter 2 measures the distance to the surface of the dust layer at various points in the garbage pit, and outputs the measurement result to the information processing apparatus 1. The distance meter 2 only needs to be able to specify the surface shape of the dust layer from the measurement result, and may be a laser distance meter, for example. Although only one distance meter 2 is shown in FIG. 1, a plurality of distance meters 2 may be used.

The imaging device 3 images the inside of the garbage pit and outputs an image obtained by the imaging to the information processing device 1. The imaging device 3 may capture a moving image, or may capture a still image. A plurality of imaging devices 3 may be provided in the same manner as the distance meter 2.

The crane control device 4 operates the crane by transmitting a control signal to the crane. Further, the crane control device 4 outputs an operation signal indicating the state of operation control for the crane to the information processing device 1. For example, when the crane control device 4 causes the crane to perform the stirring operation of the garbage, the crane control device 4 outputs an operation signal indicating that the stirring operation is started at the start of the stirring operation. In addition, when the crane control device 4 causes the bucket to perform a garbage gripping operation in the agitation operation, the crane control device 4 outputs an operation signal indicating that fact and the garbage gripping position. An operation signal indicating the garbage release position is output.

Note that the stirring operation is an operation in which the garbage in the garbage pit is picked up by the bucket of the crane and the picked up garbage is released in the garbage pit. In addition, typical operations of the crane include a transshipment operation and a loading operation. Similar to the agitation operation, the reloading operation is an operation in which the garbage in the garbage pit is picked up by the bucket of the crane and the picked up garbage is released in the garbage pit. However, it differs from the stirring operation in that the position where the garbage is picked up is the area where the garbage is carried in (the area where the garbage introduced from the garbage truck first accumulates), and the position where the garbage is released is outside the above-mentioned area. Yes. In addition, the loading operation is an operation in which the garbage in the garbage pit is picked up by the bucket of the crane, and the garbage thus picked up is thrown into the garbage hopper. Garbage thrown into the garbage hopper is sent to an incinerator and incinerated.

The information processing device 1 includes a control unit 11 that controls each unit of the information processing device 1, an input unit 12 that receives input of data and the like to the information processing device 1, an output unit 13 that outputs data, and the information processing device 1. Has a storage unit 14 for storing various data used by the computer. In addition, the information processing apparatus 1 includes a communication unit 15 for the information processing apparatus 1 to communicate with other apparatuses. Although the example which communicates with the distance meter 2, the imaging device 3, and the crane control apparatus 4 via the one communication part 15 is shown in FIG. 1, it is good also as a structure which communicates with a different communication part for every communicating party apparatus. Note that the input unit 12, the output unit 13, the storage unit 14, and the communication unit 15 may be provided outside the information processing apparatus 1.

In addition, the control unit 11 includes a crane motion detection unit 111, a surface layer shape specification unit 112, a specific gravity calculation unit 113, an image acquisition unit 114, an effectiveness determination unit 115, a waste quality update unit 116, an initial evaluation determination unit 117, a height An update unit 118, an area determination unit 119, and a crane control unit 120 are included. The storage unit 14 stores a pit image 141 and garbage quality information 142.

The pit image 141 is an image obtained by capturing the garbage in the garbage pit. As described above, since the imaging apparatus 3 captures the garbage in the garbage pit, the information processing apparatus 1 acquires an image captured from the imaging apparatus 3 through communication via the communication unit 15 and stores it in the storage unit 14. . The stored image is a pit image 141. The pit image 141 may be an image showing at least the surface of the dust in the garbage pit.

The garbage quality information 142 is information indicating the garbage quality evaluated by the information processing apparatus 1 for each of the unit areas divided within the garbage pit. How to define the unit area is arbitrary, but in this embodiment, a substantially rectangular parallelepiped space in the garbage pit is divided at predetermined intervals in the width direction, the depth direction, and the height direction, An example of defining a rectangular parallelepiped unit region having a width, a depth, and a height will be described. The garbage quality information 142 includes information indicating the height of the garbage at the position of the unit area for each unit area. The waste quality information 142 will be described later with reference to FIG.

The crane operation detection unit 111 detects that the crane starts a predetermined operation and detects that the crane has performed a predetermined operation in the garbage pit. Specifically, the crane motion detection unit 111 determines that the stirring or refilling operation is started based on the motion signal received from the crane control device 4. Further, the crane motion detection unit 111 performs an operation of grasping the garbage by the crane, an operation of releasing the garbage by the crane, and those operations based on the operation signal received from the crane control device 4. Detect the position where the action was performed.

The surface layer shape specifying unit 112 specifies the surface shape of the dust layer deposited in the dust pit. Specifically, the surface layer shape specifying unit 112 specifies the surface shape of the dust layer at the position where the garbage gripping operation is performed by the crane before and after the garbage gripping operation. In the present embodiment, an example in which the surface layer shape specifying unit 112 specifies the surface shape of the dust layer using the measurement result of the distance meter 2 will be described. The method for specifying the surface shape of the dust layer is not limited to this example. For example, the surface shape of the dust layer can be specified by analyzing an image obtained by imaging the surface of the dust layer with a stereo camera.

The specific gravity calculation unit 113 calculates the specific gravity of the agitated garbage when the garbage is agitated in the garbage pit. Specifically, the specific gravity calculating unit 113 calculates the volume of the stirred dust from the surface shape of the dust layer before and after stirring specified by the surface layer specifying unit 112. The volume calculation method will be described later with reference to FIG. Then, the specific gravity calculating unit 113 calculates the density of the garbage from the calculated volume and the weight of the stirred garbage, and calculates the specific gravity of the garbage from the calculated density. In general, waste with a high specific gravity is difficult to burn, and waste with a low specific gravity is easy to burn. Therefore, the specific gravity is an index for evaluating the quality of waste. The method for obtaining the weight of the garbage is not particularly limited. For example, a crane is provided with a weight sensor, the weight sensor measures the weight of the garbage bucket before and after the garbage grip, and the difference between the measured values is used as the weight of the garbage. Also good.

The image acquisition unit 114 acquires an image used for determining the effectiveness of stirring and outputs the image to the effectiveness determination unit 115. Specifically, the image acquisition unit 114 acquires the pit image 141 showing the garbage gripping position before the garbage gripping operation when the dust agitation operation is started, and the part of the garbage gripping position from the acquired image. Cut out. Similarly, the image acquisition unit 114 acquires the pit image 141 showing the garbage release position after the garbage release operation, and cuts out the part of the garbage release position from the acquired image.

The effectiveness determination unit 115 determines the effectiveness of the agitation from the images of the garbage before and after the agitation when the agitation is agitated in the garbage pit. The effectiveness of agitation is an index indicating how effective the agitation was in improving the suitability of the agitated waste as fuel. Specifically, the effectiveness determination unit 115 analyzes the image of the garbage gripping position cut out by the image acquisition unit 114 and evaluates the quality of the garbage before stirring. Similarly, the effectiveness determination unit 115 analyzes the image of the garbage release position cut out by the image acquisition unit 114 and evaluates the quality of the dust after stirring. And the effectiveness determination part 115 determines the effectiveness of stirring from the difference of these evaluation results. A method for evaluating the waste quality and a method for determining the effectiveness will be described later with reference to FIG.

The garbage quality updating unit 116 updates the garbage quality at the position where the stirred garbage is dropped in accordance with the stirring of the garbage in the garbage pit. In addition, the garbage quality updating unit 116 adjusts the degree of change in the evaluation of the garbage quality according to the effectiveness determined by the effectiveness determination unit 115 in this update. Furthermore, in this update, the garbage quality updating unit 116 adjusts the degree of change in the evaluation of the garbage quality according to the specific gravity calculated by the specific gravity calculating unit 113. These adjustments will be described later with reference to FIG.

The initial evaluation determination unit 117 determines an initial evaluation of the garbage quality for the garbage carried into the garbage pit. More specifically, the initial evaluation determination unit 117 determines whether the day of the import, the weather of the area where the collected garbage is collected, the type of garbage targeted for collection by the vehicle carrying the garbage, and the area where the garbage is collected are collected. The initial evaluation of waste quality is determined according to each element. Then, the initial evaluation determination unit 117 notifies the determined initial evaluation to the garbage quality update unit 116, and thereby the garbage quality information 142 is updated.

The day of delivery is a useful element when there is a bias in garbage quality for each day of the week. The initial evaluation determination unit 117 determines the initial evaluation of the garbage quality so that the initial evaluation is high on the day of the week when the garbage quality tends to be good and the initial evaluation is low on the day of the week when the garbage quality tends to be bad. Note that the relationship between the day of the week and the waste quality may be specified in advance.

The weather in the area where collected waste is collected affects the drying of the waste, and is a useful factor in determining the initial evaluation of waste quality. The initial evaluation determination unit 117 performs an initial evaluation of the garbage quality so that the initial evaluation is high when the weather in which the waste is collected is clear or cloudy, and the initial evaluation is low when the weather is rainy or snowy. decide. The weather information may be input by the user of the information processing device 1 via the input unit 12, or the information processing device 1 may be acquired by communication via the communication unit 15.

Since the flammability differs naturally depending on the type of garbage, the type of garbage collected by the vehicle carrying the garbage is also a useful factor in determining the initial evaluation of the quality of garbage. The initial evaluation determination unit 117 is configured so that the initial evaluation is high for the garbage brought in by the carrying-in vehicle that collects flammable garbage species, and the initial evaluation is low for the garbage carried in by the carrying-in vehicle collecting the non-burnable garbage species. Determine initial assessment of waste quality. In addition, a carrying-in vehicle can be specified by analyzing the image which imaged the carrying-in vehicle, for example. Moreover, what is necessary is just to specify previously the correspondence between a carrying-in vehicle and a garbage kind.

The element of the waste collection area is a useful element when there is a bias in garbage quality in each area. The initial evaluation determination unit 117 is configured so that the initial evaluation of the garbage collected in an area where the garbage quality tends to be high and the initial evaluation of the garbage collected in an area where the garbage quality tends to be low is low. Determine the initial evaluation of. In addition, when the collection area is decided for every carrying-in vehicle, a collection area can also be specified by specifying a carrying-in vehicle as mentioned above. Moreover, what is necessary is just to specify the relationship between an area | region and garbage quality beforehand.

The evaluation method of each element and how the evaluation of each element is reflected in the initial evaluation of waste quality is arbitrary. For example, the initial evaluation value of waste quality may be calculated by calculating an evaluation value according to a predetermined evaluation criterion for each element and adding the weighted evaluation values. Further, the initial evaluation of the waste quality may be determined based on at least any one of the above elements.

The height updating unit 118 updates the height of the garbage indicated in the garbage quality information 142 so as to be consistent with the measurement result of the distance meter 2. Specifically, the height updating unit 118 collates the height distribution of the garbage indicated in the garbage quality information 142 with the height distribution of the garbage specified from the measurement result of the distance meter 2, and there is a difference in the height. For a certain part, the height of the garbage quality information 142 is updated to the height specified from the measurement result of the distance meter 2. The height update unit 118 may update the height at any time (for example, at a predetermined time interval), or may be performed when the crane motion detection unit 111 detects a garbage gripping operation or a garbage release operation, You may carry out at both of these timings.

The area determination unit 119 determines which area of garbage is to be charged when the garbage in the garbage pit is periodically charged into the garbage hopper and sent to the incinerator. At this time, the region determination unit 119 refers to the waste quality information 142, and the difference between the evaluation of the waste quality of the region that has been determined to be input in the past and the evaluation of the waste quality of the newly determined region is within a predetermined range. In such a manner, a unit area to be input is determined.

In addition, when there are a plurality of unit areas in which the evaluation of the garbage quality satisfies a predetermined standard regarding the input to the garbage hopper, the area determining unit 119 determines the unit area to be input as follows. That is, the area determination unit 119 inputs a unit area corresponding to a position where garbage having a relatively small specific gravity calculated by the specific gravity calculation unit 113 is dropped among a plurality of unit areas that satisfy a predetermined criterion. Determine the target unit area. Details of the method for determining the unit area to be input will be described later.

The crane control unit 120 controls the operation of the crane. Specifically, the crane control unit 120 controls the crane operation by notifying the crane control device 4 of the operation content of the crane. For example, the crane control unit 120 notifies the crane control device 4 of the position of the unit area determined by the area determination unit 119 as the garbage gripping position for the loading operation. As a result, the crane control device 4 causes the crane to perform a garbage gripping operation at the above-described position, and causes the garbage hopper to throw the garbage gripped by the operation.

[Renewal of garbage information]
The update of the garbage quality information 142 will be described with reference to FIG. FIG. 2 is a diagram showing an outline of updating the garbage quality information 142. In the figure, among the data of each unit area included in the dust quality information 142, the height and the dust quality in 100 unit areas corresponding to the surface of the dust layer are shown. That is, in this example, the space in the garbage pit is divided into 10 equal parts in the traverse direction of the crane, and the same space is divided into 10 equal parts in the traveling direction of the crane, thereby defining a rectangular unit area in top view. Although not shown, the space in the garbage pit is divided by a plane parallel to the bottom surface at a predetermined height from the bottom, and the height of each unit area is the predetermined height. Yes. The width, depth, and height of each unit area may be set as appropriate. For example, the width and height of the area whose height changes with a handful of crane and the height of garbage that changes with one hand May be. For example, when the height of the dust in the area of approximately 1 m square is lowered by approximately 0.5 m with a handful of cranes, the width, depth, and height of the unit area may be 1 m, 1 m, and 0.5 m, respectively.

The height of the garbage in the garbage quality information 142 is updated by the height updating unit 118 based on the measurement result of the distance meter 2. For example, the unit area at the upper left corner of the unit area of the garbage information 142 shown in the figure has a height of 10. For the unit area, when the measurement result of the distance meter 2 indicates that the height = 11, the height update unit 118 calculates the difference between the heights = + 1, and this difference is updated before the update. Update by adding to height. In other words, the unit area becomes height = 11 by the update.

When the height increases, the unit area where there was no waste until now becomes dusty, that is, when new waste is brought into the waste pit and when the waste is agitated or reloaded, The garbage quality updating unit 116 updates the garbage quality of the unit area. When new garbage is carried in, the initial evaluation determination unit 117 evaluates the quality of the garbage. Therefore, the garbage quality update unit 116 updates the quality of the unit area based on the evaluation result (more precisely, newly Set).

On the other hand, in the case of agitation, the garbage quality updating unit 116 updates the garbage quality of the unit area as follows. In addition, although stirring is demonstrated below, the update in the case of transshipment is also the same. In the update at the time of agitation, the garbage quality updating unit 116 includes the agitation information indicating how the agitation of the garbage is performed, the specific gravity of the garbage calculated by the specific gravity calculation unit 113, and the effectiveness determination unit 115 of the garbage. The effective degree of stirring determined based on the appearance is taken into account. Specifically, the agitation information is information indicating a garbage gripping position and a garbage release position detected by the crane motion detection unit 111, and may be a coordinate value serving as a reference for specifying the position, for example. For example, a coordinate system with the traveling direction and the transverse direction of the crane as coordinate axes may be set, and the coordinate value at the center of the garbage release position or the garbage gripping position may be used as the stirring information.

In updating, the garbage quality updating unit 116 first identifies a unit area corresponding to the garbage gripping position and a unit area corresponding to the garbage release position from the stirring information. When the stirring information is a coordinate value, the unit region is specified based on the coordinate value. When the unit area corresponding to the garbage gripping position is specified, the unit area is specified according to how much garbage is gripped with one grip. Further, when specifying the unit area corresponding to the garbage release position, the unit area is specified according to the extent to which the dropped garbage spreads.

Next, the garbage quality updating unit 116 refers to the garbage quality information 142 and identifies the garbage quality of the unit area corresponding to the garbage gripping position. Then, the garbage quality update unit 116 calculates the degree of change of the garbage quality by the following mathematical formula. In the following formula, a to c are coefficients for weighting.

(Degree of change of waste quality) = a × (Evaluation value of waste quality based on increase in number of stirring) + b × (Evaluation value of waste quality based on specific gravity) + c × (Evaluation value of waste quality based on effectiveness)
The coefficients a to c may be set as appropriate according to which evaluation value is important. Moreover, each said evaluation value should just be a value correlated with the waste quality, and the calculation method is not specifically limited. For example, the evaluation value of the waste quality based on the increase in the number of stirrings may be +1 for each stirring. In addition, the evaluation value of the waste quality based on the specific gravity may be a value corresponding to which of the plurality of predetermined ranges the specific gravity value is included in. For example, the specific gravity is evaluated in three stages: large, medium, and small. If the specific gravity is large, it is expected that it will not burn easily, so the evaluation value should be a negative value (eg -0.5) and the specific gravity should be small. Since it is expected to burn easily, the evaluation value may be a positive value (for example, +0.5). The evaluation value corresponding to the specific gravity in the middle may be an intermediate value (for example, 0). The evaluation index based on the effectiveness may be evaluated in two stages, for example, the effectiveness is large or small, and the evaluation index may be +0.5 if the effectiveness is large, or 0 if the effectiveness is small.

The garbage quality updating unit 116 adds the degree of change of the garbage quality calculated as described above to the garbage quality value of the unit area corresponding to the garbage gripping position, and calculates the garbage quality value of the agitated garbage. To do. Then, the garbage quality update unit 116 specifies a unit area immediately above the unit area that was the surface layer immediately before the garbage release operation at the garbage release position, and sets the garbage quality of the unit area to the calculated value. The height of the unit area is specified by the height update unit 118.

Also, the garbage quality updating unit 116 updates the data in the unit area corresponding to the garbage gripping position as necessary. For example, when all the garbage in the unit area corresponding to the garbage grasping position is grasped by the garbage grasping operation, the data on the quality and height of the unit area are deleted. As a result, the unit area immediately below the unit area from which the data is deleted becomes the unit area corresponding to the surface layer of the garbage.

[Determination method of waste to be thrown into the waste hopper]
The area determination unit 119 determines which unit area to use as the garbage gripping position in the loading operation for loading the garbage into the garbage hopper with reference to the garbage quality information 142 as shown in FIG. At this time, the area determination unit 119 sets the target of input so that the difference between the evaluation of the dust quality of the area that has been determined to be input in the past and the evaluation of the dust quality of the area that is newly determined falls within a predetermined range. Determine the unit area. For example, when the previous input is the previous input and the predetermined range is a range of ± 1, the area determination unit 119 determines that the garbage quality at the garbage gripping position determined for the previous input operation is 7, The target area is 6-8. Of course, the predetermined range may be wider or narrower, and the past input to be considered may be a plurality of inputs. When considering a plurality of times of charging, for example, the garbage gripping position may be determined on the basis of the average value of the dust quality at the garbage gripping positions determined in the most recent multiple times.

In addition, even if the difference from the evaluation of the waste quality of the area that has been decided to be input in the past is small, it is not preferable to input the waste whose waste quality is too low. For this reason, it is preferable that a lower limit value is set for the dust quality, and the region determination unit 119 does not set a unit region having a dust quality lower than the lower limit value as a dust gripping position in the loading operation. Further, in the vicinity of the carry-in entrance where the carried-in garbage is carried in, there is a lot of low-quality garbage. Depending on the garbage pit, garbage that is not suitable for combustion may be selected and collected in a predetermined area in the garbage pit. It is preferable that the area determination unit 119 does not set such an area as a garbage gripping position in the loading operation.

Further, the area determination unit 119 may determine the garbage gripping position on the condition of the evaluation value of the garbage quality based on the specific gravity. That is, the area determination unit 119 may determine a unit area corresponding to a position where garbage having a relatively small specific gravity calculated by the specific gravity calculation unit 113 is dropped as a unit area to be thrown. Further, when the region determination unit 119 determines the garbage gripping position in the loading operation, the height (priority is given to a high position), the number of stirrings (priority is given to many positions), and the distance from the current location of the bucket of the crane It may be determined on the condition of at least one of (close position is prioritized). In addition to this, the region determination unit 119 may determine, for example, a garbage quality evaluation value based on effectiveness (a higher position is given priority) as a condition. In addition, the garbage quality information 142 may include information indicating the accumulation time and the kind of garbage for each unit area. In this case, the garbage gripping position may be determined based on the information. Since garbage with a short accumulation time and garbage with a long accumulation time are difficult to burn, it is preferable to examine a range of accumulation time that is easy to burn and determine a garbage gripping position within that range.

In addition, it is good also as a structure which shows a user the garbage holding position which the area | region determination part 119 determined. The presentation method is not particularly limited. For example, when the output unit 13 is a display device that outputs an image, the determined garbage gripping position may be displayed and output to the user. In this case, the crane control unit 120 may be configured to perform the garbage gripping operation on condition that the input operation for performing the garbage gripping operation at the garbage gripping position is received through the input unit 12. Good.

Further, the area determination unit 119 may determine a garbage gripping position and a garbage release position in agitation and transshipment. In the agitation and transshipment, it is preferable that the area determination unit 119 determines the garbage gripping position and the garbage release position so that the unit area with the garbage suitable for charging is always maintained. In addition, when the accumulation time of garbage is known, the area determination unit 119 may determine the garbage gripping position and the garbage release position so as to obtain a garbage quality suitable for loading with an appropriate accumulation time. For example, the waste quality may be determined to be 7 to 9 in 2 to 3 days after delivery. Further, when the garbage type is known, the garbage gripping position and the garbage release position may be determined so that the garbage type is not biased.

[Calculation of waste volume]
Based on FIG. 3, a method for calculating the volume of waste by the specific gravity calculation unit 113 will be described. FIG. 3 is a diagram showing an outline of a method for calculating the volume of garbage. (A) of the figure shows a pit image obtained by imaging the surface of the dust layer before the dust gripping operation is performed, and (b) of FIG. 5 shows an image of the surface of the dust layer after the dust gripping operation is performed. A pit image is shown. In these pit images, a circled area is a garbage gripping position.

And (c) of the figure shows the height distribution of the dust layer surface when the pit image of (a) of the figure is imaged, and the dust layer surface when the pit image of (b) of the figure is imaged. It is an image which shows the difference with the height distribution. In this image, the area where the height difference is 0 is shown in black, and the area where the height difference is larger is shown in a color closer to white. In other words, it can be seen from this image that the dust height changes greatly at the garbage gripping position and the dust height does not change in other areas.

(D) of the figure shows the height distribution of the garbage before and after the garbage gripping operation in a three-dimensional coordinate space. From this figure, it can be seen that the dust that had risen in a mountain shape before the garbage gripping operation was removed by the garbage gripping operation, and a depression was made at the garbage gripping position after the garbage gripping operation. The specific gravity calculating unit 113 calculates the volume of the grabbed garbage from the difference between the height distribution of the garbage before the garbage grasping operation and the height distribution of the garbage after the garbage grasping operation shown in FIG.

[Evaluation of waste quality and effectiveness by analysis of pit images]
Based on FIG. 4, the evaluation method of the waste quality by the effectiveness determination unit 115 and the determination method of the effectiveness will be described. FIG. 4 is a diagram illustrating an image obtained by capturing an image of the dust layer surface and an edge extraction result from the image. When determining the effectiveness, the effectiveness determination unit 115 evaluates the quality of the dust in the image from the image obtained by imaging the surface of the dust layer.

Specifically, the effectiveness determination unit 115 generates complexity information indicating the degree of complexity of the shape of the dust layer surface as information indicating the dust quality by analyzing the image. The garbage enclosed in the garbage bag at the time when it is carried into the garbage pit is broken by the agitation and scattered. That is, the complexity of the appearance of the garbage is increased by effective agitation, so that the complexity information can be used as an evaluation index of the garbage quality.

In the generation of complexity information, the effectiveness determination unit 115 extracts an edge of an image, that is, a contour line indicating the outer shape of the captured dust. An example of edge extraction is shown in FIG. And the effectiveness determination part 115 calculates the fractal dimension of the outline as complexity information. For the calculation of the fractal dimension, for example, a box count method (box counting method), a Modified Pixel Dilation method, or the like can be used. The complexity information may be information indicating the degree of complexity of the shape of the dust layer surface, and an index other than the fractal dimension may be used as the complexity information.

The effectiveness determination unit 115 calculates the complexity information as described above for each of the image of the dust before stirring and the image of the dust after stirring. Then, the effectiveness is determined by evaluating the difference according to a predetermined evaluation criterion. The evaluation criterion is not particularly limited. For example, the effectiveness may be determined to be large if the difference value is equal to or greater than a threshold value, and the effectiveness may be determined to be small if the difference value is less than the threshold value.

Note that the effectiveness determination unit 115 may evaluate the dust quality based on the color distribution of an image obtained by imaging the surface of the dust layer. As described above, since the garbage enclosed in the garbage bag at the time when it is carried into the garbage pit is scattered by breaking the garbage bag by stirring, the color distribution of the garbage is changed by stirring, and the degree of the change is effective. This is because it varies depending on whether or not agitation is performed.

Specifically, the number of regions (mainly regions in which garbage bags are shown) where pixels of the same color (may be pixels of similar colors) gather increases after stirring. Also, the area of each region decreases after stirring. Therefore, the effectiveness determination unit 115 may calculate an evaluation value based on the color distribution as follows.

First, the effectiveness determination unit 115 obtains the distribution of the color components corresponding to the garbage bags for the image obtained by imaging the dust layer surface. Next, the effectiveness determination unit 115 extracts a region in which pixels of similar colors are gathered in the image based on the obtained distribution, and calculates the number and area of the regions. And the effectiveness determination part 115 calculates the evaluation value which shows the effectiveness of stirring from the calculated number and area. The evaluation value may be any value as long as the number of regions is large and the area of the region is narrowed. For example, a value obtained by dividing the number of regions by the sum of the areas of the regions may be used as the evaluation value.

Also, the effectiveness determination unit 115 may determine the effectiveness based on both the complexity information obtained as described above and the evaluation value based on the color distribution. For example, the effectiveness determination unit 115 may evaluate the effectiveness in five levels using the complexity information, and may evaluate the effectiveness in five steps using an evaluation value based on the color distribution. And the effectiveness determination part 115 is good also considering those average values or weighted average values as final effectiveness.

In addition, the evaluation method of the effectiveness of stirring based on the image is not limited to the above examples. For example, it is also possible to evaluate the effectiveness by using a machine-learned classifier that uses an image obtained by picking up dust with moderate stirring and an image picked up by insufficient stirring as teacher data. .

[Process flow]
A flow of processing executed by the information processing apparatus 1 will be described with reference to FIG. FIG. 5 is a flowchart showing an example of a dust quality update process (information processing method) during the stirring operation. Note that the dust quality update process during the transshipment operation is the same process as in this example. In S <b> 1, the crane motion detection unit 111 detects that the crane starts the stirring operation, determines the garbage gripping position in the stirring operation, and notifies the surface shape specifying unit 112 and the image acquisition unit 114 of the determination result. .

In S2, the surface shape specifying unit 112 specifies the shape of the surface layer of the dust in the unit area corresponding to the notified dust gripping position from the measurement data of the distance meter 2. In S <b> 3, the image acquisition unit 114 acquires the pit image 141 showing the garbage gripping position, and cuts out the portion where the unit area of the notified garbage gripping position is shown from the acquired image. Then, the image acquisition unit 114 transmits the cut-out part image to the effectiveness determination unit 115.

In S4, the crane motion detection unit 111 detects that the crane has performed the garbage gripping operation, and notifies the surface shape specifying unit 112 to that effect. In S5, the surface layer shape specifying unit 112 that has received this notification specifies the shape of the surface of the dust layer in the unit region corresponding to the dust gripping position after the dust gripping operation from the measurement data output by the distance meter 2. .

In S6, the crane operation detection unit 111 detects that the crane has performed the garbage release operation, determines the garbage release position, and notifies the image acquisition unit 114 of the determination result. In S <b> 7, the image acquisition unit 114 acquires the pit image 141 in which the unit area at the garbage release position is captured, and cuts out a portion in which the notified unit area at the garbage release position is captured from the acquired image. . Then, the image acquisition unit 114 transmits the cut-out part image to the effectiveness determination unit 115.

In S8 (specific gravity calculating step), the specific gravity calculating unit 113 calculates the specific gravity of the garbage stirred in the stirring operation detected in S1 from the specific results of S2 and S5. The specific gravity calculation method is as described with reference to FIG. The specific gravity calculating unit 113 notifies the garbage quality updating unit 116 of the calculated specific gravity.

In S9, the effectiveness determination unit 115 evaluates the dust quality before stirring from the image acquired in S3, and evaluates the dust quality after stirring from the image acquired in S7. In S10 (effectiveness determination step), the effectiveness determination unit 115 determines the effective level of the stirring in the stirring operation detected in S1 based on the evaluation result of S9, and updates the determination result to the garbage quality. Notification to the unit 116. The waste quality evaluation method and the effectiveness determination method are as described with reference to FIG.

In S11 (update step), the garbage quality updating unit 116 updates the garbage quality in the unit area corresponding to the garbage release position in the garbage quality information 142 based on the specific gravity calculated in S8 and the determination result in S10. . The updating method is as described with reference to FIG. As a result, the garbage quality update process ends. Although not shown, the garbage quality update unit 116 also updates the garbage quality in the unit area corresponding to the garbage gripping position as necessary.

Since the information processing apparatus 1 updates the waste quality information 142 as needed by the processing as described above, it is possible to always accurately grasp the distribution of the waste quality. Thus, an accurate crane using the waste quality information 142 that the waste of the appropriate waste quality is thrown into the hopper and agitated so that the waste of the appropriate waste quality can be prepared by the time the next hopper is put in. Automatic control can also be performed.

[Modification]
In the above-described embodiment, an example in which the waste quality is updated in consideration of both the specific gravity and the effectiveness is shown, but the waste quality may be updated in consideration of only one of them. When only the specific gravity is considered, the image acquisition unit 114 and the effectiveness determination unit 115 may be omitted, and when only the effectiveness is considered, the surface layer shape specifying unit 112 and the specific gravity calculation unit 113 may be omitted.

Further, the function of the information processing apparatus 1 can be realized by a plurality of information processing apparatuses connected to be communicable. For example, the information processing device having the function of the specific gravity calculation unit 113, the information processing device having the function of the effectiveness determination unit 115, and the information processing device having the function of the garbage quality update unit 116 are connected to be communicable. Even in the information processing system, the same function as the information processing apparatus 1 can be realized. In this case, each information processing apparatus constituting the information processing system may be distributed on the network.

Also, the crane control device 4 having the waste quality evaluation function of the information processing device 1, the crane control system provided with such a crane control device 4, and the waste incineration facility are also included in the scope of the present invention.

[Example of software implementation]
A control block (particularly, each unit included in the control unit 11) of the information processing apparatus 1 may be realized by a logic circuit (hardware) formed in an integrated circuit (IC chip) or the like, or may be realized by software. Good.

In the latter case, the information processing apparatus 1 includes a computer that executes instructions of a program that is software for realizing each function. The computer includes, for example, one or more processors and a computer-readable recording medium storing the program. In the computer, the processor reads the program from the recording medium and executes the program, thereby achieving the object of the present invention. As the processor, for example, a CPU (Central Processing Unit) can be used. As the recording medium, a “non-temporary tangible medium” such as a ROM (Read Only Memory), a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like can be used. Further, a RAM (Random Access Memory) for expanding the program may be further provided. The program may be supplied to the computer via an arbitrary transmission medium (such as a communication network or a broadcast wave) that can transmit the program. Note that one embodiment 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.

[Additional Notes]
An information processing apparatus according to an embodiment of the present invention is an information processing apparatus that evaluates the quality of garbage deposited in a garbage pit for each of the unit areas into which the garbage pit is divided. When the waste is agitated in the inside, the effectiveness determination unit for determining the effectiveness of the agitation from the images of the dust before and after the agitation, and the dust quality of the unit area corresponding to the position where the agitated dust is dropped An update unit that adjusts the degree of change in the evaluation of the garbage quality of the unit area according to the effectiveness.

According to the above configuration, since the degree of change in the evaluation of the waste quality is adjusted in consideration of the effectiveness determined from the image of the waste, it is possible to accurately evaluate the waste quality compared to the case where the evaluation is performed only from the number of times of stirring. it can.

When the garbage is carried into the garbage pit, the information processing device is configured to collect the day of the week, the weather in the area where the collected garbage is collected, the type of garbage to be collected by the vehicle into which the garbage is collected, and the There may be provided an initial evaluation determination unit for determining an initial evaluation of the waste quality in the unit area corresponding to the position where the carried-in waste is dropped according to at least one of the collection areas. Good. According to this structure, the initial evaluation of the quality of the carried-in garbage can be determined appropriately.

The information processing apparatus includes an area determination unit that determines which unit area of garbage is to be charged when the garbage in the garbage pit is periodically charged into a garbage hopper and sent to an incinerator. The department determines the unit area to be input so that the difference between the evaluation of the waste quality of the unit area determined in the past and the evaluation of the waste quality of the newly determined unit area falls within the predetermined range. Also good. According to this structure, since the dispersion | variation in the quality of the waste sent to an incinerator can be suppressed in a predetermined range, the combustion in an incinerator can be stabilized.

An information processing apparatus according to an embodiment of the present invention is an information processing apparatus that calculates the quality of garbage deposited in a garbage pit for each of the unit areas into which the garbage pit is divided. When the waste is stirred inside, the volume of the stirred waste is calculated from the change in the surface shape of the waste layer before and after stirring, and the specific gravity of the waste is calculated from the calculated volume and the weight of the stirred waste. In updating the specific gravity calculation unit to calculate and the evaluation of the waste quality of the unit area corresponding to the position where the agitated waste was dropped, the degree of change in the evaluation of the waste quality of the unit area according to the specific gravity An update unit for adjustment.

According to the above configuration, the degree of change in the evaluation of the dust quality is adjusted in consideration of the specific gravity calculated based on the change in the surface shape of the dust layer. Can be evaluated.

The information processing apparatus includes an area determination unit that determines which unit area of garbage is to be charged when the garbage in the garbage pit is periodically charged into a garbage hopper and sent to an incinerator. The unit has a relatively small specific gravity calculated by the specific gravity calculation unit among the plurality of unit regions when there is a plurality of unit regions that satisfy a predetermined standard regarding the input to the waste hopper. The unit area corresponding to the position where the garbage is dropped may be determined as the unit area to be thrown in. According to the above configuration, it is possible to preferentially send the waste having a smaller specific gravity and therefore likely to be easily burned into the incinerator.

An information processing method according to an embodiment of the present invention is an information processing method by an information processing apparatus that evaluates the quality of garbage deposited in a garbage pit for each of the unit areas into which the garbage pit is divided. , An effectiveness determination step for determining the effectiveness of the stirring from the images of the dust before and after stirring when the dust is stirred in the waste pit, and the unit corresponding to the position where the stirred dust is dropped An update step of adjusting the degree of change in the evaluation of the garbage quality of the unit area according to the effectiveness is included in updating the evaluation of the garbage quality of the area. According to this information processing method, the same effects as those of the information processing apparatus can be obtained.

An information processing method according to an embodiment of the present invention is an information processing method by an information processing device that calculates the quality of garbage deposited in a garbage pit for each of the unit areas that are divided in the garbage pit. When the waste is stirred in the waste pit, the volume of the stirred waste is calculated from the change in the surface shape of the waste layer before and after stirring, and the calculated volume and the weight of the stirred waste In the specific gravity calculation step for calculating the specific gravity of the waste and the evaluation of the waste quality of the unit region corresponding to the position where the agitated waste was dropped, the evaluation of the waste quality of the unit region according to the specific gravity An update step of adjusting the degree of change of According to this information processing method, the same effects as those of the information processing apparatus can be obtained.

The information processing apparatus according to each aspect of the present invention may be realized by a computer. In this case, the information processing apparatus is operated on each computer by causing the computer to operate as each unit (software element) included in the information processing apparatus. An information processing program to be realized in this manner and a computer-readable recording medium on which the information processing program is recorded also fall within the scope of the present invention.

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

DESCRIPTION OF SYMBOLS 1 Information processing apparatus 113 Specific gravity calculation part 115 Effectiveness determination part 116 Garbage quality update part (update part)
119 Area determination unit

Claims

An information processing apparatus that evaluates the quality of garbage deposited in a garbage pit for each of the unit areas that divide the garbage pit,
When the waste is stirred in the waste pit, an effectiveness determination unit that determines the effectiveness of the stirring from the images of the waste before and after stirring,
In updating the evaluation of the waste quality of the unit area corresponding to the position where the agitated waste is dropped, an update unit that adjusts the degree of change in the evaluation of the waste quality of the unit area according to the effectiveness, and An information processing apparatus comprising:
When garbage is brought into the above-mentioned garbage pit, which day of the week is taken, the weather of the area where the collected garbage is collected, the kind of garbage collected by the truck carrying the garbage, and the area where the garbage is collected An initial evaluation determination unit that determines an initial evaluation of the waste quality in the unit region corresponding to the position where the loaded garbage is dropped according to at least one of the following points: The information processing apparatus according to 1.
An area determination unit that determines which unit area of garbage is to be charged when the garbage in the garbage pit is periodically thrown into the garbage hopper and sent to the incinerator,
The area determination unit determines the unit area to be input so that the difference between the evaluation of the garbage quality of the unit area determined in the past and the evaluation of the garbage quality of the newly determined unit area is within a predetermined range. The information processing apparatus according to claim 1, wherein the information processing apparatus is determined.
An information processing device that calculates the quality of garbage deposited in a garbage pit for each of the unit areas that divide the garbage pit,
When the waste is stirred in the waste pit, the volume of the stirred waste is calculated from the change in the shape of the surface of the waste layer before and after stirring, and the waste is calculated from the calculated volume and the weight of the stirred waste. A specific gravity calculation unit for calculating the specific gravity of
An updating unit that adjusts the degree of change in the evaluation of the waste quality of the unit area according to the specific gravity in updating the evaluation of the waste quality of the unit area corresponding to the position where the stirred waste is dropped; An information processing apparatus comprising the information processing apparatus.
An area determination unit that determines which unit area of garbage is to be charged when the garbage in the garbage pit is periodically thrown into the garbage hopper and sent to the incinerator,
When there are a plurality of unit areas whose waste quality evaluation satisfies a predetermined standard regarding the input to the garbage hopper, the specific gravity calculated by the specific gravity calculation unit is a relative value among the plurality of unit areas. 5. The information processing apparatus according to claim 4, wherein a unit area corresponding to a position where a small amount of garbage is dropped is determined as a unit area to be thrown in.
An information processing method by an information processing apparatus that evaluates the quality of garbage accumulated in a garbage pit for each of the unit areas divided within the garbage pit,
An effectiveness determination step for determining the effectiveness of the stirring from the images of the dust before and after stirring when the dust is stirred in the garbage pit;
In updating the evaluation of the waste quality of the unit area corresponding to the position where the agitated waste is dropped, an update step for adjusting the degree of change in the evaluation of the waste quality of the unit area according to the effectiveness, and An information processing method comprising:
An information processing method by an information processing apparatus for calculating the quality of garbage deposited in a garbage pit for each of the unit areas divided within the garbage pit,
When the waste is stirred in the waste pit, the volume of the stirred waste is calculated from the change in the shape of the surface of the waste layer before and after stirring, and the waste is calculated from the calculated volume and the weight of the stirred waste. A specific gravity calculating step for calculating the specific gravity of
In updating the evaluation of the waste quality of the unit area corresponding to the position where the agitated waste is dropped, an update step of adjusting the degree of change in the evaluation of the waste quality of the unit area according to the specific gravity, An information processing method comprising:
An information processing program for causing a computer to function as the information processing apparatus according to claim 1, wherein the information processing program causes the computer to function as the effectiveness determination unit and the update unit.
An information processing program for causing a computer to function as the information processing apparatus according to claim 4, wherein the information processing program causes the computer to function as the specific gravity calculating unit and the updating unit.