WO2023243119A1 - Système de commande et procédé de planification de fonctionnement - Google Patents

Système de commande et procédé de planification de fonctionnement Download PDF

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Publication number
WO2023243119A1
WO2023243119A1 PCT/JP2022/044908 JP2022044908W WO2023243119A1 WO 2023243119 A1 WO2023243119 A1 WO 2023243119A1 JP 2022044908 W JP2022044908 W JP 2022044908W WO 2023243119 A1 WO2023243119 A1 WO 2023243119A1
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WIPO (PCT)
Prior art keywords
area
crane
receiving
incinerated
mode
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PCT/JP2022/044908
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English (en)
Japanese (ja)
Inventor
慎治 松本
稔彦 瀬戸口
信治 岩下
晴紀 齋藤
良則 寺沢
知通 江草
慶一 林
幸司 滑澤
Original Assignee
三菱重工環境・化学エンジニアリング株式会社
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Application filed by 三菱重工環境・化学エンジニアリング株式会社 filed Critical 三菱重工環境・化学エンジニアリング株式会社
Publication of WO2023243119A1 publication Critical patent/WO2023243119A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
    • F23G—CREMATION FURNACES; CONSUMING WASTE PRODUCTS BY COMBUSTION
    • F23G5/00—Incineration of waste; Incinerator constructions; Details, accessories or control therefor
    • F23G5/02—Incineration of waste; Incinerator constructions; Details, accessories or control therefor with pretreatment
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
    • F23G—CREMATION FURNACES; CONSUMING WASTE PRODUCTS BY COMBUSTION
    • F23G5/00—Incineration of waste; Incinerator constructions; Details, accessories or control therefor
    • F23G5/44—Details; Accessories
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
    • F23G—CREMATION FURNACES; CONSUMING WASTE PRODUCTS BY COMBUSTION
    • F23G5/00—Incineration of waste; Incinerator constructions; Details, accessories or control therefor
    • F23G5/50—Control or safety arrangements

Definitions

  • the present disclosure relates to a control system and an operation planning method.
  • This application claims priority to Japanese Patent Application No. 2022-096009 filed in Japan on June 14, 2022, the contents of which are incorporated herein.
  • Patent Document 1 discloses a crane control device that manages a garbage storage section by dividing it into multiple areas (agitation area, receiving area, non-agitation area, etc.).
  • This crane control device can arrange one stirring area over most of the longitudinal direction of the garbage storage section (in the direction perpendicular to the direction from the garbage storage section to the hopper), or can arrange multiple stirring areas for mutually transshipping. They are arranged side by side in the longitudinal direction, and are used in incineration facilities where only one crane is present.
  • This crane control device also grabs garbage from an area set as an agitation area and throws it into a hopper.
  • Patent Document 2 discloses a camera that photographs a garbage pit and generates an image, a map creation unit that creates a garbage type map representing garbage types for each unit section based on the image photographed by the camera, and a bucket size an agitation degree evaluation unit that evaluates the degree of agitation of the garbage at each position by scanning a filter corresponding to the degree of agitation in the garbage type map; and a destination determination unit that determines the destination of the bucket based on the degree of agitation of the garbage at each position.
  • a crane control system is disclosed. In this crane control system, a garbage type map is created for the entire area or the entire area excluding the wall area of the garbage pit from the images taken by the camera, and is used to determine the destination for transshipment operations and the like.
  • each incinerator needs to be individually designed according to one or more of the following: furnace arrangement, number of furnaces, size of garbage pit, number of cranes, and operation policy of the incineration equipment, making it difficult to automate operation.
  • the present disclosure has been made to solve the above problems, and aims to provide a control system and an operation planning method that can easily automate the operation of multiple cranes.
  • the control system of the present disclosure includes an area function setting unit that sets an area usage method at a predetermined time for a plurality of areas in a pit where incineration materials are deposited, and a plurality of areas.
  • the plurality of operation settings are based on a combination of an operation setting section that sets an operation mode for the crane, the area usage method set by the area function setting section, and the operation mode set by the operation setting section.
  • the plurality of areas include at least a first area and a second area.
  • the area function setting unit sets the first area as a receiving area for receiving the incinerated material while suppressing the putting of the incinerated material into a hopper of an incinerator, as the area usage method in the first time.
  • the receiving area is set to the second area.
  • an operation planning method of the present disclosure is an operation planning method for a plurality of cranes operated in a storage section for incinerated materials, and the method includes a computer having a plurality of areas in a pit of the storage section.
  • a plurality of area usage methods that can be set for the cranes are registered, and a plurality of operation modes that can be set for the plurality of cranes are registered.
  • Operation plans for the plurality of cranes are derived by selectively combining the usage method and the plurality of operation modes.
  • the plurality of areas include at least a first area and a second area.
  • the plurality of area usage methods include, as an area usage method at a first time, setting a receiving area for receiving the incineration material while suppressing the putting of the incineration material into the hopper of an incinerator in the first area; and setting the input area for inputting the material to be incinerated into the hopper to the second area, and setting the input area to the first area as a method of using the area at a second time different from the first time. and setting the receiving area to the second area.
  • control system and operation planning method of the present disclosure it is possible to easily automate the operation of multiple cranes.
  • FIG. 1 is a schematic configuration diagram showing an incineration facility according to an embodiment of the present disclosure.
  • FIG. 2 is a cross-sectional view showing the combustion equipment according to the embodiment of the present disclosure viewed from above.
  • FIG. 2 is a block diagram showing a functional configuration related to a control device according to an embodiment of the present disclosure.
  • FIG. 3 is a diagram for explaining the functions of the area function setting unit according to the embodiment of the present disclosure.
  • FIG. 3 is a diagram for explaining the functions of the area function setting unit according to the embodiment of the present disclosure.
  • FIG. 3 is a diagram for explaining the functions of an operation setting unit according to an embodiment of the present disclosure.
  • 3 is a flowchart for explaining vertical stirring according to an embodiment of the present disclosure.
  • FIG. 2 is a block diagram showing a functional configuration of a control unit according to an embodiment of the present disclosure.
  • 1 is a flowchart showing the flow of an operation planning method according to an embodiment of the present disclosure. It is a flow chart showing the flow of control of the crane according to the embodiment of the present disclosure. It is a flow chart showing the flow of control of the crane according to the embodiment of the present disclosure. It is a flow chart showing the flow of control of the crane according to the embodiment of the present disclosure. It is a flow chart showing the flow of control of the crane according to the embodiment of the present disclosure. It is a flow chart showing the flow of control of the crane according to the embodiment of the present disclosure. It is a flow chart showing the flow of control of the crane according to the embodiment of the present disclosure.
  • FIG. 1 is a hardware configuration diagram showing the configuration of a computer according to an embodiment of the present disclosure.
  • based on XX means “based on at least XX” and may include cases where it is based on another element in addition to XX. Furthermore, “based on XX” is not limited to the case where XX is used directly, but may also include the case where it is based on calculations or processing performed on XX. In the present disclosure, “XX or YY” is not limited to either XX or YY, but may include both XX and YY.
  • XX and YY are arbitrary elements (for example, arbitrary information).
  • acquisition is not limited to actively acquiring information by transmitting a transmission request, but may also include acquiring information by passively receiving information transmitted from another device.
  • DB a database
  • the +X direction, -X direction, +Y direction, -Y direction, and Z direction are defined here.
  • the +X direction, -X direction, +Y direction, and -Y direction are directions along the horizontal plane.
  • the +X direction is a direction from the garbage pit 21 to the hopper 11 (see FIG. 1), which will be described later.
  • the -X direction is the opposite direction to the +X direction. When the +X direction and the -X direction are not distinguished, they are simply referred to as the "X direction.”
  • the +Y direction and the -Y direction are directions that intersect (for example, are orthogonal to) the X direction.
  • the +Y direction is a direction from a first hopper 11A to a second hopper 11B (see FIG. 2), which will be described later.
  • the -Y direction is the opposite direction to the +Y direction.
  • the Z direction is a direction that intersects (for example, is orthogonal to) the X direction and the Y direction.
  • the Z direction is, for example, a vertical direction (see FIG. 1).
  • FIG. 1 is a schematic configuration diagram showing an incineration facility 1 according to an embodiment.
  • the incineration facility 1 is a stoker furnace in which the incineration material G is, for example, municipal waste, industrial waste, or biomass.
  • the incineration equipment 1 is not limited to a stoker furnace, and may be another type of incineration equipment.
  • “things to be incinerated” may be referred to as "garbage” below.
  • the incineration facility 1 includes, for example, a storage section 2 and an incinerator 3.
  • the storage unit 2 is a facility that stores the collected materials G to be incinerated and charges the stored materials G to the incinerator 3 .
  • the storage section 2 will be described in detail later.
  • the incinerator 3 is a furnace that burns the material to be incinerated G while transporting it.
  • the incinerator 3 includes, for example, a hopper 11 and a furnace body 12.
  • the hopper 11 is a temporary storage section provided for supplying the material to be incinerated G into the inside of the furnace body 12.
  • the hopper 11 is open upward. Materials to be incinerated G are loaded into the hopper 11 by a crane 30 of the storage section 2, which will be described later.
  • the hopper 11 is provided with a feeder (not shown). The feeder moves the material to be incinerated G stored inside the hopper 11 toward the inside of the furnace body 12.
  • the hopper 11 has a level meter 11s (see FIG. 3).
  • the level meter 11s is a sensor that detects the amount of incineration material G stored in the hopper 11.
  • the level meter 11s sends a signal (hereinafter referred to as a "loading request signal") requesting that the material G to be incinerated be thrown into the hopper 11 when the top surface of the material G stored in the hopper 11 becomes lower than a predetermined position. ) is transmitted to the control device 100 of the storage section 2, which will be described later.
  • the furnace body 12 is a facility that burns the material to be incinerated G while transporting it.
  • the furnace body 12 is provided adjacent to the hopper 11.
  • the furnace body 12 includes a processing space V in which the material to be incinerated G is burned.
  • FIG. 2 is a sectional view showing the incineration facility 1 viewed from above.
  • the incinerator 3 includes a plurality of hoppers 11 and a plurality of furnace bodies 12.
  • the incinerator 3 includes, as the plurality of furnace bodies 12, a first furnace body 12A disposed on the -Y direction side and a second furnace body 12B disposed on the +Y direction side.
  • the incinerator 3 includes a plurality of hoppers 11, a first hopper 11A arranged in the -Y direction and connected to the first furnace main body 12A, and a first hopper 11A arranged in the +Y direction and connected to the second furnace main body 12B. It has a connected second hopper 11B.
  • the first hopper 11A and the second hopper 11B are arranged side by side in the Y direction. In this embodiment, when the first hopper 11A and the second hopper 11B are not distinguished, they are simply referred to as "hopper 11." Note that the number of hoppers 11 and furnace bodies 12 provided in the incinerator 3 is not limited to two each, and may be one each, or three or more each.
  • the storage unit 2 includes, for example, a garbage pit 21, a platform 22, a plurality of garbage receiving doors 23, a plurality of cranes 30, and a garbage height detection device 41 (see FIG. 1).
  • the garbage pit 21 is a storage section that is provided upstream of the incinerator 3 and stores the materials G to be incinerated before being put into the incinerator 3.
  • the garbage pit 21 has a rectangular shape with a long side along the Y direction and a short side along the X direction.
  • the garbage pit 21 has an opening in the upper part of the garbage pit 21 for receiving the material to be incinerated G (see FIG. 1).
  • the platform 22 is a loading section where a work vehicle P (hereinafter referred to as a "packer vehicle P") that has collected incineration materials G from outside arrives.
  • the platform 22 is provided adjacent to one end of the garbage pit 21 on the ⁇ X direction side.
  • a plurality of garbage receiving doors 23 are provided between the garbage pit 21 and the platform 22.
  • the plurality of garbage receiving doors 23 are arranged side by side in the Y direction and can be opened and closed independently of each other.
  • the garbage reception door 23 corresponding to the position of the arrived packer car P among the plurality of garbage reception doors 23 is opened.
  • Each garbage reception door 23 has an opening/closing sensor 23s (see FIG. 3).
  • the opening/closing sensor 23s is a sensor that detects that the garbage reception door 23 provided with the opening/closing sensor 23s is opened.
  • the opening/closing sensor 23s sends a signal indicating that the garbage receiving door 23 has been opened (hereinafter referred to as "accepting door open signal") to the storage section.
  • the data is transmitted to the second control device 100.
  • the crane 30 grasps a part of the material to be incinerated G stored in the garbage pit 21, carries the grasped material to be incinerated G to the hopper 11 of the incinerator 3, and charges it into the hopper 11. .
  • the crane 30 is provided above the garbage pit 21.
  • the crane 30 includes, for example, a moving mechanism 31, a wire 32, a hoist 33, and a grapple 34.
  • the moving mechanism 31 includes, for example, a pair of rails 31a, a girder 31b, and a trolley 31c.
  • a pair of rails 31a are provided at the upper part of the storage section 2.
  • the pair of rails 31a are arranged separately on both sides of the garbage pit 21 in the X direction, and each extends in the Y direction.
  • the girder 31b is arranged so as to straddle the pair of rails 31a, and is movable in the Y direction along the rails 31a.
  • the trolley 31c is arranged on the girder 31b and is movable in the X direction along the girder 31b.
  • the wire 32 is suspended from the trolley 31c.
  • the hoist 33 is provided on the trolley 31c and winds up and lowers the wire 32.
  • a grapple 34 is attached to the tip of the wire 32.
  • the grapple 34 has a plurality of claws 34a for gripping the object G to be incinerated.
  • the grapple 34 is an example of a "grip section" that grips the material to be incinerated G.
  • the grapple 34 can be moved to any position in the X direction, Y direction, and Z direction by the moving mechanism 31 and the hoist 33.
  • the storage unit 2 of this embodiment includes a first crane 30A arranged in the -Y direction and a second crane 30B arranged in the +Y direction as a plurality of cranes 30. .
  • the first crane 30A and the second crane 30B are arranged side by side in the Y direction.
  • the first crane 30A and the second crane 30B share a pair of rails 31a. Therefore, the first crane 30A cannot move beyond the second crane 30B in the +Y direction. Furthermore, the second crane 30B cannot move beyond the first crane 30A in the ⁇ Y direction.
  • first crane 30A and the second crane 30B are not distinguished, they are simply referred to as "crane 30."
  • the plurality of cranes 30 provided in the storage section 2 is not limited to two cranes 30, and may be three or more cranes 30.
  • Each crane 30 has a position sensor 35 and a weight sensor 36 (see FIG. 3).
  • the position sensor 35 detects the position of the crane 30 in which the position sensor 35 is installed in the X direction and the Y direction.
  • Information indicating the position of the crane 30 detected by the position sensor 35 (hereinafter referred to as “position information”) is transmitted to the control device 100 of the storage unit 2.
  • position information information indicating the position of the crane 30 detected by the position sensor 35
  • “crane position” means the position of the grapple 34.
  • the weight sensor 36 detects the weight of the object to be incinerated G gripped by the grapple 34 of the crane 30 in which the weight sensor 36 is installed.
  • Information indicating the weight of the incineration object G detected by the weight sensor 36 (hereinafter referred to as "weight information”) is transmitted to the control device 100 of the storage section 2.
  • the garbage height detection device 41 detects the height of the upper surface of the incineration object G stored in the garbage pit 21.
  • the garbage height detection device 41 is, for example, a laser scanner, which irradiates and scans the surface of the material to be incinerated G stored in the garbage pit 21, and scans the surface of the material to be incinerated G after irradiating the laser light.
  • the time required to receive the laser beam reflected on the surface (TOF: Time of fright) is measured, and the measured information is transmitted to the control device 100 of the storage section 2 as the detection result of the dust height detection device 41.
  • the garbage height detection device 41 detects the height of the top surface of the incineration object G at a predetermined period (for example, every hour).
  • the dust height detection device 41 may be a device that measures the distance based on the parallax of stereo images, or a device that captures an image by projecting an image of a predetermined pattern, and measures the distance based on the shift of the captured pattern. It may also be a device that measures the distance by using the incineration object G, or a device that detects the height of the top surface of the object to be incinerated G by irradiating infrared rays, sound waves, or radio waves.
  • the garbage height detection device 41 is an example of a "sensor".
  • FIG. 3 is a block diagram showing the functional configuration related to the control device 100.
  • the storage unit 2 includes, for example, an input device 51, a display device 52, an operation panel 53, and a control device 100.
  • the input device 51 has a keyboard, a touch panel, or the like, and is a device that can receive input from an operator.
  • the input device 51 may be used, for example, to input the equipment details of the combustion equipment 1 (one or more of the following: amount of waste received and processed in the incineration equipment 1, furnace processing capacity, furnace arrangement, number of furnaces, size of garbage pit, number of cranes, etc.) or incineration equipment.
  • equipment details of the combustion equipment 1 one or more of the following: amount of waste received and processed in the incineration equipment 1, furnace processing capacity, furnace arrangement, number of furnaces, size of garbage pit, number of cranes, etc.
  • Information regarding changed equipment contents or operation policy includes, for example, information indicating index values and threshold values for determination (selection) that are set according to changed equipment contents or operation policy. This information will be described later.
  • Information accepted by the input device 51 is transmitted to the control device 100 as setting information.
  • the display device 52 has a display screen capable of displaying various information, and displays display information received from the control device 100. For example, the display device 52 displays operation plans for a plurality of cranes 30 generated by the control device 100. Furthermore, when an alarm is issued by the control device 100, the display device 52 displays the details of the alarm that is issued.
  • the operation panel 53 is a device that receives operator operations regarding the crane 30. For example, when an alarm is issued by the control device 100, the operator switches the automatic operation of the crane 30 to manual operation by operating the operation panel 53. Information accepted by the operation panel 53 is transmitted to the control device 100 as an operation signal.
  • control device 100 is a control device for automatically operating a plurality of cranes 30 operated in the garbage pit 21.
  • Control device 100 is an example of a "control system.” Note that some or all of the functional units included in the control device 100 may be provided as part of a control device that controls the entire incineration facility 1 instead of the control device 100 of the storage section 2.
  • the control device 100 of this embodiment includes, for example, an information acquisition section 110, an area function setting section 120, an operation setting section 130, a control section 140, a setting reception section 150, and a storage section 160.
  • the information acquisition unit 110 acquires various information necessary for the control device 100. For example, the information acquisition unit 110 receives a loading request signal transmitted from the hopper 11, a reception door open signal transmitted from the garbage reception door 23, position information transmitted from the position sensor 35 of the crane 30, and the weight sensor 36 of the crane 30. The weight information transmitted from the garbage height detection device 41, the detection result transmitted from the garbage height detection device 41, etc. are acquired.
  • the area function setting unit 120 sets area usage methods for each of the plurality of areas within the garbage pit 21 at predetermined time intervals.
  • the area usage method is not created for a specific incineration facility, but is an operational pattern for each area that has been patterned (generalized) in advance so that it can be set for any incineration facility. .
  • FIGS. 4 and 5 are diagrams for explaining the functions of the area function setting section 120.
  • the area function setting unit 120 sets a plurality of virtual sections R within the garbage pit 21.
  • the plurality of sections R are arranged, for example, in a grid pattern.
  • FIGS. 4 and 5 are examples in which a total of 60 sections R are set in the garbage pit 21 in 6 rows in the X direction and 10 columns in the Y direction.
  • the number of sections R is not limited to the above example, and may be smaller than the above example, or may be larger than the above example.
  • the section R is set small enough that two or more sections R aligned in the Y direction correspond to one garbage reception door 23.
  • Each section R is not limited to a square shape, but may be rectangular. Further, the size of the divisions R does not need to be the same in all areas within the garbage pit 21, and divisions R of different sizes may exist.
  • the area function setting unit 120 sets first to third areas A1 to A3 as a plurality of areas within the garbage pit 21.
  • the first area A1 includes, for example, 20 sections R defined by 4 rows on the +X direction side and 5 columns on the -Y direction side among the plurality of sections R described above.
  • the second area A2 includes, for example, 20 sections R defined by 4 rows on the +X direction side and 5 columns on the +Y direction side among the plurality of sections R described above.
  • the third area A3 includes nine sections R included in one row closest to the ⁇ X direction among the plurality of sections R described above.
  • a first dedicated area C1 and a second dedicated area C2 may be further set in the third area A3.
  • the first dedicated area C1 includes one or more sections R that are closest to the -Y direction side in the third area A3.
  • the second dedicated area C2 includes one or more sections R that are closest to the +Y direction in the third area A3.
  • first to third areas A1 to A3 may be virtual areas or may be areas actually divided by banks or the like. Further, the settings of the first to third areas A1 to A3 are not limited to the above example. For example, the first area A1 and the second area A2 may have different sizes. Further, the setting of the first dedicated area C1 and the second dedicated area C2 may be omitted.
  • the area function setting unit 120 sets the area usage method for a predetermined time for each of the first to third areas A1 to A3.
  • area usage methods "receiving source area”, “receiving area”, “loading area”, “first crane exclusive receiving area”, and “second crane exclusive receiving area” are preset patterns.
  • the area function DB 161 of the storage unit 160 is registered in the area function DB 161 of the storage unit 160.
  • the "receiving source area” is an area that receives the incinerated material G from the packer vehicle P.
  • the “receiving source area” is an area where the incineration object G can be grasped by either the first crane 30A or the second crane 30B.
  • the “receiving area” is an area that receives the incineration material G that is moved from the “receiving source area” (see the arrow in FIG. 4).
  • the “receiving area” is an area in which the materials to be incinerated G in the receiving area are prevented from being thrown into the hopper 11.
  • the materials to be incinerated G are transshipped within the receiving area, and the properties of the materials to be incinerated G are equalized.
  • the “receiving area” also receives incinerated materials G from the "first crane-only receiving area” and the "second crane-only receiving area", which will be described later.
  • the "loading area” is an area where the materials to be incinerated G in the input area are loaded into the hopper 11 when a request from the incinerator 3 (for example, a loading request signal from the hopper 11) is received (Fig. 5 (see arrow inside).
  • a request from the incinerator 3 for example, a loading request signal from the hopper 11
  • Fig. 5 see arrow inside
  • the "first crane-only receiving area” and the “second crane-only receiving area” are areas that receive the incinerated materials G from the packer cars P, like the other sections R in the "receiving area.”
  • the "first crane exclusive receiving source area” is an area where only the first crane 30A can grasp the incinerated material G, for example, because the first crane 30A and the second crane 30B interfere with each other.
  • the "first crane dedicated receiving area” may be set simply as a receiving area assigned to the first crane 30A without being associated with interference between the first crane 30A and the second crane 30B.
  • the “second crane dedicated receiving area” is an area where only the second crane 30B can grasp the incinerated material G, for example, because the first crane 30A and the second crane 30B interfere.
  • the "second crane dedicated receiving area” may be set as a receiving area simply assigned to the second crane 30B without being associated with interference between the first crane 30A and the second crane 30B.
  • the area function setting unit 120 configures a plurality of areas in the garbage pit 21 as area usage methods at a predetermined time such as "receiving source area”, “receiving area”, “loading area”, " 1st Crane Dedicated Receiving Source Area” and “Second Crane Dedicated Receiving Source Area” are set.
  • the area function setting unit 120 sets the "receiving area” to the first area A1 and the "input area” to the second area as the area usage method at a first time (for example, 24 hours in a certain day).
  • A2 set the "receiving source area” to the third area A3, set the "first crane dedicated receiving source area” to the first dedicated area C1, and set the "second crane dedicated receiving source area” to the second Set in dedicated area C2.
  • the area function setting unit 120 sets the "input area” to the first area A1, and sets the "input area” to the first area A1 as an area usage method at a second time (for example, 24 hours the next day) different from the first time. " is set in the second area A2, the "receiving source area” is set in the third area A3, the "first crane full-time receiving area” is set in the first dedicated area C1, and the “second crane full-time receiving source area” is set in the third area A3.
  • area is set as the second exclusive area C2.
  • the functions assigned to the first area A1 and the second area A2 are alternately changed at predetermined time intervals (for example, on a daily basis) while the incineration material G stored in each area remains unchanged.
  • the incineration material G is transferred from the second area A2 to the second area A2. It is put into the first hopper 11A or the second hopper 11B.
  • the incineration material G is removed from the first area A1 both when receiving the input request signal from the first hopper 11A and when receiving the input request signal from the second hopper 11B. It is put into the first hopper 11A or the second hopper 11B.
  • the operation setting unit 130 sets an operation mode for each of the plurality of cranes 30 at predetermined time intervals.
  • the operation mode is not created for a specific incineration facility, but is an operation pattern of each crane 30 that is patterned (generalized) in advance so that it can be set for any incineration facility.
  • FIG. 6 is a diagram for explaining the functions of the operation setting section 130.
  • the operation setting unit 130 sets an operation mode for a predetermined time for each of the first crane 30A and the second crane 30B.
  • the operation modes "putting mode” and “accepting mode” are prepared as patterns in advance and are registered in the operation mode DB 162 of the storage unit 160.
  • the "loading mode” is an operation mode in which the material to be incinerated G in the loading area is loaded into the hopper 11 when a request from the incinerator 3 (for example, a loading request signal from the hopper 11) is received.
  • a request from the incinerator 3 for example, a loading request signal from the hopper 11
  • the "loading mode” moves the incinerated material G from the receiving area to the receiving area between loading operations.
  • incineration is transferred from the receiving area exclusively occupied by the crane 30 set to the loading mode (the "first crane exclusive receiving area” or the “second crane exclusive receiving area”) to the receiving area.
  • Move object G Note that the crane 30 set to the loading mode is placed in a section other than section R ("first crane exclusive receiving area” or “second crane exclusive receiving area") in which the crane 30 works exclusively in the receiving area.
  • the incineration material G may also be moved from R to the receiving area.
  • the "input mode" is associated with a plurality of work contents, each of which has been patterned (generalized) in advance as a unit work.
  • the plurality of work contents include, for example, “receiving work”, “transshipment work”, and “loading work”.
  • “Receiving work” is a work in which the crane 30 set in the loading mode moves the incinerated material G from the receiving area (for example, a dedicated receiving area exclusively occupied by the crane 30 set in the loading mode) to the receiving area. It is.
  • "Transshipment work” is work to transship the incinerated materials G within the input area.
  • the “loading work” is a job of loading the material to be incinerated G in the charging area into the hopper 11.
  • the work contents as these unit works are registered in the operation mode DB 162 of the storage section 160.
  • the "acceptance mode” is an operation mode in which the incineration material G is suppressed from being put into the hopper 11 and the incineration material G is received from the receiving area to the receiving area.
  • the materials to be incinerated G are transshipped within the receiving area between receiving operations, and the properties of the materials to be incinerated G are evened out.
  • the "acceptance mode” moves the incinerated material G from the receiving area to the receiving area.
  • section R hereinafter sometimes referred to as "section R of specific area”
  • section R of specific area other than the exclusive receiving source area where the crane 30 set to the loading mode operates exclusively in the receiving source area. Move the incineration object G to the destination area.
  • the "acceptance mode" is associated with a plurality of work contents, each of which is patterned (generalized) in advance as a unit work.
  • the plurality of work contents include, for example, "acceptance work” and "transshipment work”.
  • the "acceptance work” is a work to move the incinerated materials G from the section R of the specific area in the receiving area to the receiving area.
  • "Transshipment work” is work to transship the incinerated materials G within the receiving area.
  • a plurality of stirring methods are prepared in advance as patterns (generalization), each as a unit work.
  • Multiple stirring methods include, for example, “vertical stirring,” “moving stirring,” and “moving scattering stirring.”
  • a patterned charging operation is prepared in advance as a unit operation similar to the stirring method. The stirring method and charging operation as these unit operations are registered in the operation mode DB 162 of the storage section 160.
  • FIG. 7 is a flowchart for explaining "vertical stirring".
  • "Vertical stirring” as a unit operation involves moving the crane 30 to a position where it grasps the material to be incinerated G (S11), grasping and lifting the material to be incinerated G by the crane 30 (S12), and removing the material to be incinerated from the lifted position. This includes a series of operations including releasing the grip on G and performing vertical stirring (S13).
  • FIG. 8 is a flowchart for explaining "moving stirring”.
  • “Movement agitation” as a unit operation involves moving the crane 30 to a position where the material to be incinerated G is held (S21), grasping and lifting the material to be incinerated G by the crane 30 (S22), and lifting the material to be incinerated G. It includes a series of operations including moving the crane 30 from the position in at least one of the X direction and the Y direction (S23), and then releasing the grip on the material to be incinerated G and performing moving stirring (S24). .
  • FIG. 9 is a flowchart for explaining "moving scattering stirring”.
  • “Moving scattering agitation” as a unit operation involves moving the crane 30 to a position to grasp the material to be incinerated G (S31), grasping and lifting the material to be incinerated G by the crane 30 (S32), and lifting the material to be incinerated G.
  • the crane 30 is moved in at least one of the X direction and the Y direction from the position where the moving scattering agitation is started (S33), and then, while moving the crane 30, the grip on the material to be incinerated G is gradually released and moved.
  • FIG. 10 is a flowchart for explaining the "throwing operation".
  • the "feeding operation” as a unit operation involves grasping and lifting the material to be incinerated G by the crane 30 (S41), moving the crane 30 from the position where the material to be incinerated G was lifted to the hopper 11 (S42), and then loading the material to be incinerated. This process includes a series of operations including releasing the grip on the material to be incinerated G and charging the material to be incinerated G into the hopper 11 (S43).
  • each of the receiving work and the transshipment work that are associated with the receiving mode, and each of the receiving work and the transshipment work that are associated with the input mode include, as a stirring method for the incinerated material G, One or more (for example, two or more) of patterned vertical stirring, moving stirring, and moving scattering stirring as a unit work are associated as candidates, and can be arbitrarily selected.
  • "receiving work” in “injection mode” is associated with “mobile scattering stirring” and “mobile stirring” as candidates, which can be selected arbitrarily.
  • "Transshipment work” in the "loading mode” is associated with “mobile scattering agitation” and “mobile agitation” as candidates, which can be selected arbitrarily.
  • “Vertical stirring” is associated with the “feeding operation” of the "feeding mode” as a candidate, and can be selected arbitrarily.
  • “moving scattering stirring” and “moving stirring” are associated with “accepting work” in “accepting mode” as candidates, and can be selected arbitrarily.
  • “Vertical stirring” and “mobile stirring” are associated with "transshipment work” in "receiving mode” as candidates, and can be selected arbitrarily.
  • control unit 140 which will be described later, controls each of a plurality of operations (for example, receiving operation and transshipment operation) associated with the receiving mode, and a plurality of operations associated with the loading mode (for example, receiving operation). and transshipment work), based on the settings accepted by the setting reception unit 150 (described later) or the detection results of one or more sensors (for example, the height of the garbage pile, the properties of the garbage (agitation progress, etc., described later), and the opening/closing status of the garbage reception door 23), select one or more stirring methods from among the one or more stirring methods associated as candidates as the stirring method for the incinerated material G. Correlate and execute.
  • a plurality of operations for example, receiving operation and transshipment operation
  • loading mode for example, receiving operation
  • transshipment work based on the settings accepted by the setting reception unit 150 (described later) or the detection results of one or more sensors (for example, the height of the garbage pile, the properties of the garbage (agitation progress, etc., described later), and the opening/
  • control unit 140 associates “vertical stirring” with “feeding work” and “mobile stirring” with “receiving work” based on the settings accepted by the setting reception unit 150 or the detection results of one or more sensors. and “transshipment work” is associated with “mobile stirring.”
  • control unit 140 may associate and execute two or more arbitrary stirring methods from among the plurality of stirring methods associated as candidates in each task.
  • control unit 140 associates and executes “mobile stirring” and “vertical stirring” with “transshipment work” based on the settings accepted by the setting reception unit 150 or the detection results of one or more sensors.
  • "transshipment work” may be associated with two or more "moving stirring operations”.
  • the operation setting unit 130 sets a "throwing mode” or a "receiving mode” for the plurality of cranes 30 as the operation mode at a predetermined time. For example, the operation setting unit 130 sets the first crane 30A to the "accepting mode” and the second crane 30B to the "throwing mode” as the operating modes at the first time. On the other hand, the operation setting unit 130 sets the first crane 30A to the "throwing mode” and the second crane 30B to the "receiving mode” as the operation modes at the second time. That is, in this embodiment, the operation modes assigned to the first crane 30A and the second crane 30B are alternately switched at predetermined time intervals (for example, on a daily basis).
  • only one crane 30 among the plurality of cranes 30 is set as the "loading crane". That is, at the first time, the second crane 30B removes the materials to be incinerated from the charging area both when receiving the charging request signal from the first hopper 11A and when receiving the charging request signal from the second hopper 11B. G is put into the first hopper 11A or the second hopper 11B. On the other hand, at the second time, when receiving the loading request signal from the first hopper 11A and when receiving the loading request signal from the second hopper 11B, the first crane 30A removes the incinerated material from the loading area. Object G is put into the first hopper 11A or the second hopper 11B.
  • control section 140 controls each of the plurality of cranes 30 based on the combination of the area usage method set by the area function setting unit 120 and the operation mode set by the operation setting unit 130.
  • control unit 140 controls the control unit 140 to control how, at the first time, the accumulation is carried out in the receiving area by the combination of the "accepting area” set in the first area A1 and the "accepting mode” set in the first crane 30A.
  • the object to be incinerated G is grasped and moved to the first area A1.
  • control unit 140 controls the control unit 140 to control whether the accumulation is deposited in the second area A2 at the first time by combining the “feeding area” set in the second area A2 and the “feeding mode” set in the second crane 30B.
  • the incinerated material G is grasped and thrown into the hopper 11. Therefore, at the first time, the crane 30 that mainly operates in the first area A1 is limited to the first crane 30A, and the crane 30 that primarily operates in the second area A2 is limited to the second crane 30B.
  • the control unit 140 controls the input area to be placed in the first area A1 due to the combination of the “loading area” set in the first area A1 and the “loading mode” set in the first crane 30A.
  • the accumulated incineration material G is grasped and thrown into the hopper 11.
  • the control unit 140 controls the control unit 140 to control that, at the second time, the accumulation is carried out in the receiving source area by the combination of the "accepting area” set in the second area A2 and the "accepting mode” set in the second crane 30B.
  • the object to be incinerated G is grasped and moved to the second area A2. Therefore, even at the second time, the crane 30 that primarily operates in the first area A1 is limited to the first crane 30A, and the crane 30 that primarily operates in the second area A2 is limited to the second crane 30B.
  • FIG. 11 is a block diagram showing the functional configuration of the control section 140.
  • the control unit 140 includes, for example, a garbage height calculation unit 141, a stirring frequency calculation unit 142, a bulk specific gravity calculation unit 143, an evaluation value calculation unit 144, a selection unit 145, and an operation control unit 146.
  • the garbage height calculation unit 141 calculates the height of the incineration material G accumulated in the garbage pit 21 (hereinafter referred to as "garbage pile height") based on the detection result of the garbage height detection device 41.
  • the garbage pile height is calculated for each of the plurality of sections R set in the garbage pit 21.
  • the stirring number calculation unit 142 calculates the number of times the incineration material G is stirred, for example, based on the history of stirring operations by the crane 30. The number of times the material to be incinerated G is stirred is calculated for each of the plurality of sections R set in the garbage pit 21.
  • the bulk specific gravity calculation unit 143 calculates the bulk specific gravity of the incinerated material G based on the weight information from the weight sensor 36 of the crane 30.
  • the "bulk specific gravity” is not the specific gravity of the object, but is the specific gravity calculated from the "weight per unit volume including voids.”
  • the bulk specific gravity of the material to be incinerated G is calculated for each of the plurality of sections R set in the garbage pit 21.
  • the evaluation value calculation unit 144 calculates the stirring rate in each compartment R based on, for example, the number of times of stirring in each compartment R calculated by the stirring frequency calculation unit 142 and the bulk specific gravity in each compartment R calculated by the bulk specific gravity calculation unit 143.
  • An evaluation value (hereinafter referred to as a "comprehensive evaluation value" for convenience of explanation) indicating the degree of progress is calculated.
  • the evaluation value calculation unit 144 may calculate the overall evaluation value for each section R based on an image analysis of an image taken of the inside of the garbage pit 21.
  • the selection section 145 includes a work selection section 145a and a grip position selection section 145b.
  • the work selection unit 145a selects a work suitable for each crane 30 according to the situation of the garbage pit 21 or the incinerator 3 from among the plurality of works respectively associated with the receiving mode and the input mode, and selects the work suitable for each crane 30. Switch the work performed by For example, the work selection unit 145a selects a request from the incinerator 3 (for example, a request from the hopper 11) or one or more of the Based on the sensor detection results (for example, based on one or more of the garbage pile height, garbage properties (agitation progress, etc.), and the opening/closing status of the garbage reception door 23), multiple Switch the work to be executed within the work (for example, receiving work and transshipment work). For example, the work selection unit 145a switches the work to be executed from among the plurality of works associated with the acceptance mode, based on a comparison between the detection results of the one or more sensors and a preset threshold value Ta.
  • the work selection unit 145a receives a request from the incinerator 3 (for example, a request from the hopper 11) or one or more of the cranes 30 provided in the incinerator 1 with respect to the crane 30 set to the input mode among the plurality of cranes 30. Based on the detection results of the sensors (for example, based on one or more of the height of the garbage pile, the properties of the garbage (agitation progress, etc.), and the opening/closing status of the garbage reception door 23), multiple (for example, receiving work, transshipment work, and loading work).
  • the work selection unit 145a switches the work to be executed from among the plurality of works associated with the input mode based on a comparison between the detection results of the one or more sensors and a preset threshold Tb.
  • the work selection unit 145a selects the settings based on the settings received by the settings reception unit 150 (described later) or the detection results of the one or more sensors (for example, the height of the garbage pile, the properties of the garbage (the degree of stirring progress), etc. etc.), one or more (for example, two or more) associated with each of the receiving operation and transshipment operation in receiving mode, and the receiving operation and transshipment operation in input mode. Select and execute at least one stirring method from among the stirring methods.
  • the work selection unit 145a selects one or more stirring methods from two or more stirring methods based on a comparison between the detection results of the one or more sensors and a preset threshold Tc. Let it run. For example, when the degree of stirring progress of only a specific section R is lower than a predetermined threshold value, vertical stirring for the specific section R is selected and executed. In addition, if the difference between the height of the garbage pile in one section R and the height of the garbage pile in another section R is larger than a predetermined threshold, movement stirring is performed to move the incinerated material G from one of the two sections R to the other. is selected and executed. In addition, moving scattering stirring is selected and executed when increasing the stirring progress of the entire area or when vertical stirring and moving stirring are inappropriate.
  • the gripping position selection unit 145b selects based on the detection results of the one or more sensors (for example, the height of the waste pile, the properties of the waste), etc.
  • the position at which to grip the incinerated material G is selected based on one or more of the following: the degree of progress of stirring, etc.), the opening/closing status of the garbage receiving door 23, etc.).
  • the gripping position selection unit 145b selects a position for gripping the incineration object G in the receiving area when moving the incinerated object G from the receiving area to the receiving area.
  • the gripping position selection unit 145b determines the position at which to grip the incinerated material G in the receiving area or the input area when reloading the incinerated material G in the receiving area or the input area. In addition, the gripping position selection unit 145b selects a position in the input area at which the incineration object G is to be gripped when the incineration object G is inputted into the hopper 11 from the input area. For example, the gripping position selection unit 145b selects a position for gripping the incineration object G based on a comparison between the detection results of the one or more sensors and a preset threshold Td.
  • the operation control unit 146 causes each crane 30 to move and grasp the material to be incinerated G by transmitting a control signal to the control panel of each crane 30. For example, the operation control unit 146 causes the crane 30 to execute the work or stirring method selected by the work selection unit 145a. Further, the operation control unit 146 moves the crane 30 to the gripping position selected by the gripping position selection unit 145b, and causes the crane 30 to grip the object to be incinerated G.
  • the operation control unit 146 determines the priority order of the multiple cranes 30 based on the type of work that each crane 30 is currently performing or scheduled to perform. Then, the operation control unit 146 avoids interference between the cranes 30 by transmitting an evacuation instruction to a crane 30 with a lower priority among the plurality of cranes 30 that may interfere with each other.
  • the priorities set for the types of work for example, "input work” has the highest priority, "acceptance work” has the next highest priority, and "transshipment work” has the lowest priority.
  • these priorities may be changed at any time depending on the degree of agitation progress in each area, the height of garbage in the receiving area, and the like. Information indicating these priorities is registered in the priority information DB 163 of the storage unit 160.
  • the setting receiving unit 150 receives setting information transmitted from the input device 51 to accept various settings specified by the operator.
  • the various settings include, for example, the types of indicators used for determination and selection and the sizes of various threshold values.
  • Various threshold values include, for example, threshold values Ta and Tb used to select a work to be performed from among a plurality of works set corresponding to the receiving mode or the input mode, and threshold values Ta and Tb used to select a work to be performed from among two or more stirring methods. It includes a threshold value Tc used for selecting the stirring method, a threshold value Td used for selecting the gripping position of the material to be incinerated G, and the like.
  • the above various settings are registered in the determination condition DB 164 of the storage section 160.
  • the types of the above indicators and various threshold values are based on the equipment details of the incineration equipment 1 (the amount of waste received and processed by the incineration equipment 1, the furnace processing capacity, the furnace arrangement, the number of furnaces, the size of the garbage pit) , the number of cranes, etc.) or the operation policy of the incineration facility 1.
  • the types of the above-mentioned indicators and various threshold values can be changed when the equipment contents or operation policy of the incineration equipment 1 are changed. will be reset accordingly.
  • the setting reception unit 150 is a work selection unit that selects a work to be executed from among a plurality of works associated with the receiving mode or the input mode when the equipment contents or operation policy of the incineration facility 1 is changed. It is possible to accept changes in the threshold values Ta and Tb so that the selection results of 145a are different. In addition, the setting reception unit 150 determines that when the equipment contents or operation policy of the incineration equipment 1 are changed, the selection result of the work selection unit 145a that selects the stirring method to be executed from among the plurality of stirring methods will be different. It is possible to accept changes in the threshold value Tc.
  • the setting reception unit 150 also includes a gripping position selection unit that selects a gripping position for actually gripping the material to be incinerated G from among a plurality of gripping position candidates when the equipment contents or operation policy of the incineration equipment 1 are changed. It is possible to accept a change in the threshold value Td so that the selection result of 145b is different.
  • the storage unit 160 stores various information.
  • the storage unit 160 stores the above-mentioned area function DB 161, operation mode DB 162, priority information DB 163, determination condition DB 164, and the like.
  • the "operation plan” is a plan indicating the basic operation of the crane 30, and the control content can be changed by changing the types of indicators and various threshold values (for example, threshold values Ta, Tb, Tc, Td) mentioned above. It means a plan.
  • FIG. 12 is a flowchart showing the flow of the operation planning method for the crane 30.
  • a plurality of area usage methods that can be set for a plurality of areas within the garbage pit 21 are registered as the area function DB 161 (S101).
  • the setting reception unit 150 receives registration of the plurality of area usage methods described above. As mentioned above, these multiple area usage methods are not created for a specific incineration facility, but are pre-patterned operation patterns for each area that can be set for any incineration facility. It is.
  • the setting accepting unit 150 accepts registration of the plurality of operation modes.
  • these operation modes are not created for a specific incineration facility, but are operation patterns for each crane 30 that are pre-patterned so that they can be set for any incineration facility.
  • Each operation mode is associated with a plurality of work contents, such as receiving work, transshipment work, or loading work.
  • one or more (for example, two or more) stirring methods are associated with each of the plurality of work contents of each operation mode.
  • operation plans for the plurality of cranes 30 are derived by selectively combining a plurality of area usage methods and a plurality of operation modes according to the equipment contents or operation policy of the incineration facility 1 (S103).
  • "combining” is not limited to directly associating an area usage method with an operation mode, but rather setting a specific area usage method for a specific area and assigning a specific operation mode to a specific crane 30. By setting, it may also be possible to specify the crane 30 that mainly operates in the specific area or to limit the area in which the specific crane 30 moves.
  • the control unit 140 derives an operation plan for the plurality of cranes 30 based on a selective combination of a plurality of area usage methods and a plurality of operation modes set according to the equipment details or operation policy of the incineration facility 1.
  • ⁇ Deriving an operation plan according to the equipment details or operation policy'' means, for example, how to use areas at predetermined times for multiple areas in the pit and multiple cranes depending on the equipment details or operation policy. This includes setting an operation mode for a plurality of cranes 30 and defining an operation plan for a plurality of cranes 30 by combining the operation modes.
  • "According to equipment details or operation policy” means, for example, based on one or more of the following: the amount of waste received and processed included in the equipment details, the furnace processing capacity, the number of furnaces, the size of the garbage pit, etc. Means to set the operating mode of the crane.
  • the setting accepting unit 150 accepts registration of the types of indicators and various threshold values. Thereby, the details of the control content of the crane 30 in the above-mentioned operation plan are defined.
  • Crane control in loading mode> 13 to 15 are flowcharts showing the flow of control of the crane 30 in the loading mode.
  • the crane 30 set to the loading mode will be referred to as a "throwing crane 30T.”
  • the crane 30 set to the receiving mode is referred to as a "receiving crane 30U.”
  • area setting A a state in which the receiving area is set to the first area A1 and the input area is set to the second area A2
  • area setting B a state in which the input area is set to the first area A1 and the receiving area is set to the second area A2 is referred to as "area setting B.”
  • the selection unit 145 determines whether there is a charging request signal from the hopper 11 (S201). If there is no loading request signal from the hopper 11 (S201; NO), the selection unit 145 determines that loading work is unnecessary, and proceeds to processing related to receiving work or transshipment work.
  • the selection unit 145 selects any one whose overall evaluation value or garbage height is equal to or higher than a predetermined reference value from among the plurality of sections R in the loading area.
  • One section R is selected as the section R that holds the incineration object G (S202).
  • the operation control unit 146 transmits to the loading crane 30T an instruction to execute "vertical stirring" associated with the loading mode (S203). As a result, vertical stirring is performed for the section R selected in the process of S202.
  • the operation control unit 146 transmits to the loading crane 30T an instruction to execute the "throwing operation" associated with the loading mode (S204). As a result, the material to be incinerated G is held in the section R selected in the process of S202, and the material to be incinerated G is thrown into the hopper 11.
  • the selection unit 145 selects the garbage pile height among the plurality of sections R included in the receiving area (for example, the full-time receiving area associated with the loading crane 30T). It is determined whether there is a section R that is equal to or greater than a preset threshold value T1 (S301). If the determination result in S301 is negative (S301; NO), the selection unit 145 determines that the receiving work is unnecessary, and proceeds to processing related to the transshipment work.
  • the selection unit 145 executes the acceptance work. In this case, the selection unit 145 selects one section R having the highest garbage pile height among the plurality of sections R determined in the process of S301 (S302). Note that if there are multiple sections R with the same and highest garbage pile height, the section R closest to the loading crane 30T is selected from among the multiple sections R.
  • the selection unit 145 selects the column that includes section R with the lowest garbage height in the receiving area (S303).
  • the operation control unit 146 transmits to the loading crane 30T an instruction to execute "moving scattering agitation" associated with the transshipment operation in the loading mode (S304).
  • the object to be incinerated G is gripped in the section R selected in the process of S302, and the gripped object to be incinerated G is moved, scattered, and stirred along the row selected in S303.
  • the receiving crane 30U is evacuated. That is, the loading crane 30T that performs the "receiving work" included in the loading mode is given priority over the receiving crane 30U that performs any work included in the receiving mode.
  • the selection unit 145 determines whether there is a section R whose garbage pile height is equal to or higher than a preset threshold value T2 from among the plurality of sections R in the input area. Determination is made (S401). If there is no section R in which the garbage pile height is equal to or greater than the threshold value T2 among the plurality of sections R in the input area (S401; NO), the selection unit 145 returns to the process of S201.
  • the selection unit 145 selects a section R from among the plurality of sections R whose garbage pile height is equal to or higher than the threshold T2 value (S401; YES).
  • the highest section R is selected as a transshipment source candidate (S402). Note that when a plurality of sections R having the same garbage pile height are detected, the selection unit 145 selects one section R with the highest comprehensive evaluation value from among the plurality of sections R. Note that when a plurality of sections R having the same and highest overall evaluation value are detected among the plurality of sections R, the selection unit 145 selects the loading crane 30T from among the plurality of sections R having the same and highest overall evaluation value. Select the nearest section R.
  • the selection unit 145 selects the section R with the lowest garbage pile height as a transfer destination candidate among the plural sections R in the input area (S403). Note that when a plurality of sections R having the same garbage pile height are detected, the selection unit 145 selects one section R having the lowest comprehensive evaluation value from among the plurality of sections R. In addition, when a plurality of sections R having the same overall evaluation value and the lowest among the plurality of sections R are detected, the selection unit 145 selects the charging crane 30T from among the plurality of sections R having the same and lowest overall evaluation value. Select the nearest section R.
  • the receiving crane 30U when the receiving crane 30U is present in a predetermined area near the boundary between the receiving area and the input area (for example, in a section R within two rows near the boundary between the receiving area and the input area), The above-mentioned transshipment is carried out from among a plurality of sections R in the input area excluding a predetermined area near the boundary between the receiving area and the input area (for example, the section R within two rows near the boundary between the receiving area and the input area).
  • the original candidate section R and the transshipment destination candidate section R are selected.
  • the receiving crane 30U that performs any of the operations included in the receiving mode is given priority over the loading crane 30T that performs the "transshipment work" included in the loading mode.
  • the operation control unit 146 transmits to the loading crane 30T an instruction to execute "moving stirring" associated with the transshipment work in the loading mode (S404).
  • the material to be incinerated G is grasped in the section R selected in the process of S402, and the grasped material to be incinerated G is transferred to the section R selected in the process of S403 by moving and stirring.
  • FIG. 16 is a flowchart showing the flow of control of the receiving crane 30U, and shows the flow of "accepting work" included in the receiving mode.
  • the receiving crane 30U carries out the receiving work by transporting the incinerated material G from a section R (section R in a specific area) other than the dedicated receiving area where the crane 30, which is set in the loading mode, in the receiving area to the receiving area.
  • the receiving work is the same as that performed by the loading crane 30T, except for the movement.
  • the threshold values T1 and T2 that appeared in the above explanation are threshold values included in any of the above-mentioned threshold values Ta, Tb, Tc, and Td, and can be changed according to the equipment details or operation policy of the incineration equipment 1.
  • Garbage pits in recent years are often horizontally elongated areas because the latter incinerators are placed on the left and right, and depending on the amount of garbage received and the size of the incinerator, multiple cranes are used to receive the incinerated material G, Stirring and dosing are performed.
  • the logic that controls the automatic operation of cranes such as the amount of waste received by the incineration facility, the furnace processing capacity, the furnace layout, the number of furnaces, the size of the garbage pit, and the number of cranes, is determined by examining plans and policies for each incineration facility. Changes were needed.
  • the control device 100 includes an area function setting section 120, an operation setting section 130, and a control section 140.
  • the area function setting unit 120 sets an area usage method at a predetermined time for each of the plurality of areas in the garbage pit 21 where the incineration material G is deposited.
  • the operation setting unit 130 sets an operation mode for each of the plurality of cranes 30.
  • the control unit 140 controls each of the plurality of cranes 30 based on the combination of the area usage method set by the area function setting unit 120 and the operation mode set by the operation setting unit 130.
  • the operation of the plurality of cranes 30 can be easily automated. For example, depending on the area usage method and operation mode, the cranes 30 that mainly operate in each area are limited (or the movement range of each crane 30 is limited), reducing the risk of interference between the cranes 30. be able to. Thereby, the operation of the plurality of cranes 30 can be easily automated.
  • FIG. 17 is a hardware configuration diagram showing the configuration of the computer 1100 according to this embodiment.
  • Computer 1100 includes, for example, a processor 1110, main memory 1120, storage 1130, and interface 1140.
  • Each functional unit of the control device 100 described above is implemented in a computer 1100.
  • the operations of each functional unit described above are stored in the storage 1130 in the form of a program.
  • Processor 1110 reads the program from storage 1130, expands it to main memory 1120, and executes the above processing according to the program. Further, the processor 1110 reserves storage areas to be used by each of the above-mentioned functional units in the main memory 1120 according to the program.
  • the program may be for realizing a part of the functions that the computer 1100 performs.
  • the program may function in combination with other programs already stored in the storage 1130 or in combination with other programs installed in other devices.
  • the computer 1100 may include a custom LSI (Large Scale Integrated Circuit) such as a PLD (Programmable Logic Device) in addition to or in place of the above configuration.
  • PLDs include PAL (Programmable Array Logic), GAL (Generic Array Logic), CPLD (Complex Programmable Logic Device), and FPGA (Field Programmable Gate Array).
  • part or all of the functions implemented by processor 1110 may be implemented by the integrated circuit.
  • Examples of the storage 1130 include magnetic disks, magneto-optical disks, semiconductor memories, and the like.
  • Storage 1130 may be internal media connected directly to the bus of computer 1100, or external media connected to computer 1100 via interface 1140 or a communication line. Further, when this program is distributed to the computer 1100 via a communication line, the computer 1100 that received the distribution may develop the program in the main memory 1120 and execute the above processing. Further, the program may be for realizing part of the functions described above. Furthermore, the program may be a so-called difference file (difference program) that implements the above-described functions in combination with other programs already stored in the storage 1130.
  • difference file difference program
  • the control system of the first aspect includes an area function setting unit 120 that sets an area usage method at a predetermined time for each of a plurality of areas in a pit (for example, garbage pit 21) where incineration materials G are deposited.
  • the area usage method set by the area function setting unit 120, and the operation mode set by the operation setting unit 130, , and a control unit 140 that controls each of the plurality of cranes 30 According to such a configuration, by deriving an operation plan based on a combination of an area usage method and an operation mode, it is possible to easily automate the operation of a plurality of cranes 30. For example, depending on the area usage method and operation mode, the cranes 30 that mainly operate in each area are limited (or the movement range of each crane 30 is limited), reducing the risk of interference between the cranes 30. Can be done.
  • the control system of the second aspect is the control system of the first aspect, wherein the plurality of areas include at least a first area A1 and a second area A2, and the area function setting unit 120 , as a method of using the area at the first time, the first area A1 is set as the receiving area that receives the incinerated materials G while suppressing the input of the incinerated materials G into the hopper 11, and the incinerated materials G are placed in the hopper 11.
  • the input area for inputting is set to the second area A2, and as a method of using the area in the second time different from the first time, the input area is set to the first area A1, and the receiving area is set to the second area A2. Set to .
  • the movement of the crane 30 can be managed separately in an area related to receiving and an area related to loading.
  • the operation automation of the plurality of cranes 30 can be performed more easily.
  • the risk of interference between the cranes 30 can be further reduced.
  • the control system of the third aspect is the control system of the first aspect or the second aspect, wherein the plurality of cranes 30 include at least a first crane 30A and a second crane 30B, and the operation setting
  • the unit 130 sets the first crane 30A to a receiving mode in which the material to be incinerated G is received while suppressing the charging of the material to be incinerated into the hopper 11 as the operating mode at the first time
  • the loading mode for loading the object G is set to the second crane 30B
  • the loading mode is set to the first crane 30A as the operation mode at the second time
  • the receiving mode is set to the second crane 30B.
  • the movement of the crane 30 can be managed separately between the crane in charge of receiving and the crane in charge of loading.
  • the operation automation of the plurality of cranes 30 can be performed more easily. For example, the risk of interference between the cranes 30 can be further reduced.
  • the control system according to the fourth aspect is the control system according to the third aspect, wherein the receiving mode includes a receiving operation for receiving the incinerated materials G and a transshipment of the incinerated materials G within the receiving area.
  • a plurality of operations are associated with each other, including a transshipment operation in which the materials G to be incinerated are loaded into the hopper 11, and a transshipment operation in which the materials G to be incinerated are transferred within the input area.
  • a plurality of tasks including the above are associated with each other, and the control unit 140 performs operations based on a request from the incinerator 3 or a detection result of one or more sensors with respect to the crane 30 in which the acceptance mode is set among the plurality of cranes 30.
  • the control system according to the fifth aspect is the control system according to the fourth aspect, further comprising a setting reception unit 150 capable of accepting settings by an operator, and wherein the control system corresponds to the receiving mode or the input mode. At least one of the plurality of operations is performed based on the settings accepted by the setting reception unit 150 or the detection results of the one or more sensors described above, as the stirring method for the incineration material G, such as vertical stirring, moving stirring, and moving. One or more of the scattering stirrings are executed in association with each other. According to such a configuration, it is possible to perform the at least one operation in combination with any predefined stirring method (for example, by rearranging the stirring method as appropriate). Thereby, automatic operation of the crane 30 can be performed more easily.
  • the operation planning method is an operation planning method for a plurality of cranes 30 operated in the storage section 2 for incinerated materials G, and includes a computer having a pit (for example, a garbage pit) in the storage section 2.
  • a computer having a pit (for example, a garbage pit) in the storage section 2.
  • Register a plurality of area usage methods that can be set for a plurality of areas register a plurality of operation modes that can be set for a plurality of cranes 30, Accordingly, the plurality of area utilization methods and the plurality of operation modes are selectively combined to derive operation plans for the plurality of cranes 30.
  • by deriving an operation plan based on a combination of an area usage method and an operation mode it is possible to easily automate the operation of a plurality of cranes 30. For example, depending on the area usage method and operation mode, the cranes 30 that mainly operate in each area are limited, and the risk of interference between the cranes 30 can be reduced.
  • Control device 110... Information acquisition section 120... Area function setting section 130... Operation setting section 140... Control section 141... Dust height calculation section 142... Stirring number calculation section 143... Bulk specific gravity calculation section 144... Evaluation value calculation section 145... Selection section 146 ...Operation control section 150...Setting reception section

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)
  • Paper (AREA)
  • Incineration Of Waste (AREA)

Abstract

L'invention concerne un système de commande comprenant : une unité de réglage de la fonction de zone qui définit un procédé d'utilisation de la zone à un moment prédéterminé pour chacune des zones d'une fosse où sont déposés les matériaux à incinérer ; une unité de réglage des opérations qui définit un mode de fonctionnement pour chacune des grues ; et une unité de commande qui contrôle chacune des grues sur la base d'une combinaison du procédé d'utilisation de la zone définie par l'unité de réglage de la fonction de zone et du mode de fonctionnement défini par l'unité de réglage de fonctionnement.
PCT/JP2022/044908 2022-06-14 2022-12-06 Système de commande et procédé de planification de fonctionnement WO2023243119A1 (fr)

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JP2022096009A JP7161642B1 (ja) 2022-06-14 2022-06-14 制御システムおよび運転計画方法
JP2022-096009 2022-06-14

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017218316A (ja) * 2016-06-09 2017-12-14 日立造船株式会社 クレーン制御装置、クレーン制御装置の制御方法、制御プログラム、および記録媒体
JP2021042873A (ja) * 2019-09-06 2021-03-18 三菱重工環境・化学エンジニアリング株式会社 ごみクレーン制御システム

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Publication number Priority date Publication date Assignee Title
JP6812311B2 (ja) * 2017-06-20 2021-01-13 日立造船株式会社 情報処理装置、情報処理方法、および、制御プログラム
JP7148327B2 (ja) * 2018-08-31 2022-10-05 日立造船株式会社 クレーン制御装置、クレーン制御装置の制御方法、制御プログラム、および記録媒体
JP7459582B2 (ja) * 2020-03-17 2024-04-02 Ｊｆｅエンジニアリング株式会社 管理装置、管理方法、およびプログラム
JP7310758B2 (ja) * 2020-08-28 2023-07-19 Ｊｆｅエンジニアリング株式会社 情報処理装置、情報処理方法、およびプログラム

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017218316A (ja) * 2016-06-09 2017-12-14 日立造船株式会社 クレーン制御装置、クレーン制御装置の制御方法、制御プログラム、および記録媒体
JP2021042873A (ja) * 2019-09-06 2021-03-18 三菱重工環境・化学エンジニアリング株式会社 ごみクレーン制御システム

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