WO2024135627A1 - Dispositif de commande de grue à déchets et procédé de commande de grue à déchets - Google Patents

Dispositif de commande de grue à déchets et procédé de commande de grue à déchets Download PDF

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Publication number
WO2024135627A1
WO2024135627A1 PCT/JP2023/045351 JP2023045351W WO2024135627A1 WO 2024135627 A1 WO2024135627 A1 WO 2024135627A1 JP 2023045351 W JP2023045351 W JP 2023045351W WO 2024135627 A1 WO2024135627 A1 WO 2024135627A1
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Prior art keywords
garbage
vegetation
area
crane
pit
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PCT/JP2023/045351
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English (en)
Japanese (ja)
Inventor
暁大 ▲徳▼川
純 小池
謙二郎 森永
大輔 鬼塚
紘基 豊國
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日鉄エンジニアリング株式会社
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Publication of WO2024135627A1 publication Critical patent/WO2024135627A1/fr

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  • One aspect of the present invention relates to a garbage crane control device and a garbage crane control method.
  • Patent documents 1 to 3 describe a system that controls the operation of a garbage crane that transports garbage in a garbage treatment facility.
  • the state of agitation of garbage in a garbage pit is grasped, and the operation of the garbage crane is controlled to improve the agitation state.
  • the agitation state in the garbage pit is determined, for example, based on image data of the inside of the garbage pit.
  • the waste may contain vegetation.
  • vegetation may contain long, thin, and hard pruning branches, so the amount that falls varies when a waste crane is opened and closed during normal operations. For this reason, it takes time to mix waste that contains vegetation. If the vegetation is not mixed well and a lot of it is thrown into the furnace (incinerator or melting furnace) at once, the furnace's operation may deteriorate, and there is also a risk of problems such as vegetation clogging the furnace. For this reason, the required mixing state of the vegetation is higher than that of regular waste. The need to achieve such a high mixing state is also a factor in the time it takes to mix waste that contains vegetation. The time it takes to mix waste that contains vegetation reduces the efficiency of waste acceptance and mixing in the waste pit.
  • One aspect of the present invention was made in consideration of the above situation, and relates to a garbage crane control device and a garbage crane control method that can improve the efficiency of receiving and stirring garbage in a garbage pit.
  • a garbage crane control device is a garbage crane control device that controls the operation of a garbage crane that transports garbage within a garbage pit, and includes a first determination unit that determines whether garbage including vegetation to be evacuated has been brought into a receiving area in the garbage pit that receives garbage, and a crane control unit that controls the garbage crane so that the garbage including vegetation to be evacuated is evacuated to a specified vegetation evacuation area when the first determination unit determines that garbage including vegetation to be evacuated has been brought into the receiving area.
  • the garbage crane control device when it is determined that garbage containing vegetation to be evacuated has been brought in, the garbage crane is controlled so that the garbage containing vegetation to be evacuated to a specified vegetation evacuation area. In this way, the garbage containing vegetation is evacuated to a specified vegetation evacuation area, so that the garbage containing vegetation can be collected in the vegetation evacuation area.
  • a stirring operation can be performed on normal garbage (garbage not containing vegetation to be evacuated) that does not require a relatively long time for stirring, and in a situation where there is sufficient time, a stirring operation can be performed on the garbage containing vegetation.
  • the garbage crane control device can improve the efficiency of receiving and stirring the garbage in the garbage pit.
  • the vegetation evacuation area may be set in an area that does not interfere with the operation of the garbage crane. This prevents the operation of the garbage crane from being hindered by evacuating garbage containing vegetation to the vegetation evacuation area, and allows for smooth operation of the garbage crane within the garbage pit.
  • the garbage pit has a receiving pit where a receiving area is set, and a garbage dumping/mixing pit where a garbage crane performs a dumping operation to dump garbage into the furnace and a mixing operation to mix the garbage, and the vegetation evacuation area may be set at an end of the garbage dumping/mixing pit away from the dumping area where the garbage crane performs the dumping operation. This configuration prevents garbage containing vegetation before being mixed from being mistakenly dumped into the furnace.
  • the first determination unit may determine that garbage including vegetation to be evacuated has been brought in when the amount of garbage including vegetation in a specified range of the receiving area exceeds a specified receiving capacity based on an image captured inside the garbage pit.
  • the capacity to accept garbage may be set according to the day of the week and the time of day.
  • the criteria for deciding whether or not to evacuate can be changed depending on the time of day when a certain amount of time can be spent on stirring operations, etc. (for example, time of day when little garbage is being accepted) and the time of day when little time can be spent on stirring operations, etc. (for example, time of day when a lot of garbage is being accepted), and the efficiency of accepting and stirring garbage in the garbage pit can be further improved depending on the condition of the garbage brought into the garbage pit.
  • the crane control unit may control the garbage crane so that the garbage containing vegetation to be evacuated is evacuated to a vegetation evacuation area in priority to the transportation of other garbage.
  • the vegetation is compacted and becomes less likely to be scattered by the stirring operation.
  • the vegetation is prevented from being compacted by new garbage brought in, and the stirring operation is prevented from being hindered.
  • the crane control device may further include a second determination unit that determines whether there is leeway in the operation of the garbage crane, and the crane control unit may control the garbage crane to perform a stirring operation to mix garbage including vegetation present in the vegetation evacuation area when the second determination unit determines that there is leeway.
  • the second determination unit may determine that there is spare time if the time required for the stirring operation of the waste including vegetation falls within the operation interval between the current operation and the next operation of the waste crane.
  • the crane control device may further include an area setting unit that sets at least one of the following for the input/mixing pit: a transfer area where the garbage crane transfers garbage from the receiving pit to the input/mixing pit, a mixing area where the garbage crane mixes the garbage, a input area where the garbage crane inputs the garbage into the furnace, and a vegetation evacuation area.
  • an area setting unit that sets at least one of the following for the input/mixing pit: a transfer area where the garbage crane transfers garbage from the receiving pit to the input/mixing pit, a mixing area where the garbage crane mixes the garbage, a input area where the garbage crane inputs the garbage into the furnace, and a vegetation evacuation area.
  • the operation of the garbage crane required in the input/mixing pit differs depending on whether garbage is being received or not.
  • each area can be set appropriately according to the condition of the garbage being brought into the garbage pit, and the operating efficiency of the garbage crane in the input/mixing pit can be improved.
  • a garbage crane control method is a garbage crane control method performed by a garbage crane control device that controls the operation of a garbage crane that transports garbage within a garbage pit, and includes the steps of: determining whether garbage including vegetation to be evacuated has been brought into a receiving area in the garbage pit that receives garbage; and, if it is determined in the determining step that garbage including vegetation to be evacuated has been brought in, controlling the garbage crane so that the garbage including vegetation to be evacuated is evacuated to a specified vegetation evacuation area.
  • FIG. 1 is a diagram showing a schematic diagram of a waste treatment facility including a waste crane control device according to this embodiment.
  • FIG. 2 is a diagram illustrating an example of area setting within a garbage pit.
  • FIG. 3 is a schematic diagram of a garbage crane.
  • FIG. 4 is a block diagram showing the functions of the garbage crane control device.
  • FIG. 5 is a diagram for explaining the removal of vegetation according to the area setting.
  • FIG. 6 is a diagram for explaining vegetation determination based on a captured image.
  • FIG. 7 is a flow chart showing the procedure of the plant evacuation process.
  • FIG. 8 is a flow chart showing the procedure of the plant mixing process.
  • FIG. 1 is a schematic diagram of a waste treatment facility 100 including a waste crane control device 1 according to this embodiment.
  • the waste treatment facility 100 includes a waste crane 110, a waste pit 130, a platform 150, a waste input section 180, a furnace (not shown), and the waste crane control device 1.
  • FIG. 1 does not include the illustration of a partition wall 133 (see FIGS. 2(a) and (b)), which will be described later.
  • the furnace processes the garbage G in the garbage pit 130 that is input through the garbage input section 180.
  • the furnace may be, for example, a melting furnace such as a shaft-type gasification melting furnace, or an incinerator such as a stoker-type incinerator.
  • the melting furnace is configured to stably and reliably process the garbage G by high-temperature melting (for example, 1,700 to 1,800°C), making it possible to recycle the garbage as harmless molten material.
  • the incinerator is configured to process the garbage G by incinerating it.
  • the garbage treatment facility 100 may further include a boiler and a steam turbine generator, and may be a power generation plant that generates electricity by processing the garbage G.
  • the platform 150 is provided adjacent to the garbage pit 130, and is an area where garbage trucks C travel to transport garbage to be brought into the garbage pit 130.
  • a wall 160 is provided at the boundary between the platform 150 and the garbage pit 130.
  • the wall 160 is provided with a number of receiving doors 161-166. The number of receiving doors is not limited to the above (six).
  • the garbage truck C travels along the running path 151 on the platform 150 and stops in front of any of the receiving doors 161-166.
  • the garbage truck C stops in front of any of the receiving doors 161-166 where no other garbage truck C is stopped.
  • the garbage truck C may also stop in front of any of the receiving doors 161-166 that are determined taking into consideration the status of the garbage G in the garbage pit 130 (such as the amount of garbage G).
  • the receiving doors 161-166 where the garbage collection truck C is parked are opened, and garbage is dropped from the garbage collection truck C, thereby transporting garbage G into the garbage pit 130.
  • the garbage input section 180 is a section that connects the garbage pit 130 and the furnace (not shown), and supplies garbage G input from the garbage pit 130 to the inside of the furnace (not shown).
  • the garbage input section 180 is located at the top of the furnace, and can be considered as one of the components of the furnace.
  • the garbage input section 180 has multiple hoppers 181, 182 (two in this example). Garbage in the garbage pit 130 is input into the hoppers 181, 182, and is sent through the hoppers 181, 182 to the furnace (not shown).
  • the hoppers 181, 182 may supply garbage G to the same furnace (not shown), or may supply garbage G to different furnaces (not shown).
  • the garbage pit 130 temporarily stores garbage G brought in by the garbage truck C.
  • the garbage pit 130 has a receiving pit 131 and an input/mixing pit 132 (see Fig. 2 (a) and (b)).
  • Fig. 2 (a) and (b) are plan views of the garbage pit 130, and are diagrams explaining an example of area setting within the garbage pit 130.
  • the receiving pit 131 is a part of the garbage pit 130 that receives garbage.
  • the receiving pit 131 is located near the platform 150 in the garbage pit 130.
  • the input/mixing pit 132 is a part where the garbage crane 110 performs the input operation of inputting garbage G into a furnace (not shown) via hoppers 181 and 182, and the mixer operation of mixing the garbage G.
  • the input/mixing pit 132 is located near the garbage input section 180 in the garbage pit 130.
  • the receiving pit 131 and the input/mixing pit 132 are adjacent to each other via a partition wall 133.
  • the partition wall 133 does not necessarily have to be provided.
  • the garbage crane control device 1 described below sets areas for the operations performed by the garbage crane 110. As shown in FIG. 2(a), each area in a plan view of the garbage pit 130 is divided into 36 addresses: 9 (1-9) x 4 (A-D). The size of one of the addresses may be set, for example, according to the size of the bucket 111 of the garbage crane 110 (see FIG. 3, described below). The number of addresses may also be determined according to the size of the garbage pit 130. The number of addresses and the way they are divided may also be determined using other methods or concepts.
  • the area 1 to 9 ⁇ A of the receiving pit 131 is set as the receiving area 131a.
  • the area 2 to 9 ⁇ D of the input/mixing pit 132 is set as the combined input area 132a and mixing area 132b.
  • the areas 2 to 9 ⁇ B and C of the input/mixing pit 132 are set as the transfer area 132c.
  • the area 1 ⁇ B to D of the input/mixing pit 132 is set as the grass and tree evacuation area 132d.
  • the receiving area 131a is an area in which garbage G is received in the garbage pit 130.
  • the input area 132a is an area in which the garbage crane 110 performs the input operation of inputting garbage into the furnace via hoppers 181 and 182.
  • the mixing area 132b is an area in which the garbage crane 110 performs the mixing operation of mixing the garbage.
  • the transfer area 132c is an area where the garbage crane 110 performs a transfer operation to move garbage from the receiving pit 131 to the input/mixing pit 132.
  • the grass and tree evacuation area 132d will be described later.
  • the area settings in the garbage pit 130 are not limited to the above.
  • the receiving area 131a, the transfer area 132c, and the grass and tree evacuation area 132d may not be set, and only the input area 132a and the mixing area 132b may be set.
  • the area 1-9 ⁇ C,D of the input and mixing pit 132 is set as the input area 132a
  • the area 1-9 ⁇ B-D of the input and mixing pit 132 is set as the mixing area 132b.
  • the area 1-9 ⁇ C,D is set as a shared area for the input area 132a and the mixing area 132b.
  • the area settings shown in FIG. 2(a) and (b) are merely examples, and the area settings in the garbage pit 130 are not limited to these.
  • the garbage crane 110 is a crane that transports garbage G within the garbage pit 130.
  • the garbage crane 110 performs the above-mentioned loading operation, stirring operation, and loading/unloading operation in accordance with the control of the garbage crane control device 1. Note that while only one garbage crane 110 is shown in FIG. 1, multiple garbage cranes 110 may be provided. Details of the garbage crane 110 will be described with reference to FIG. 3.
  • FIG. 3 is a schematic diagram of the garbage crane 110.
  • the garbage crane 110 includes a bucket 111, a motor 112, a bucket opening/closing mechanism 113, a wire 114, a casing 115, a motor 116, a casing 117, motors 118 and 119, and wheels 120.
  • the wire 114 extends vertically, with its upper end connected to a motor 116 housed in a casing 115, and its lower end connected to a bucket opening/closing mechanism 113.
  • the bucket opening/closing mechanism 113 is a mechanism that opens and closes the bucket 111 in response to power from the motor 112.
  • the motor 112 is a hydraulic motor that provides power to the bucket opening/closing mechanism 113.
  • the bucket 111 holds the waste G by clamping it therebetween.
  • the casing 115 is a casing that houses the motor 116.
  • the motor 116 is a motor that winds up and down the wire 114.
  • the casing 117 is a casing that houses the casing 115 and the load cell 400.
  • Four wheels 120 are provided on the underside of the casing 117 on the front, back, left and right.
  • the motor 118 is a travel motor that applies power to the wheels 120 to rotate them.
  • the wheels 120 rotate on the rails 500. This causes the casing 117 (and the bucket 111 connected via the wires 114) with the wheels 120 attached to its underside to move in the travel direction along the rails 500.
  • Motor 119 is a traverse motor that provides power to move casing 117 (and bucket 111 connected via wire 114) in a direction intersecting the travel direction described above.
  • the rails related to the traverse movement according to the power of motor 119 are not shown.
  • bucket 111 moves in the up and down direction based on motor 116, moves in the travel direction based on motor 118, and moves in a direction intersecting the travel direction based on motor 119.
  • the load cell 400 measures the weight of the casing 115, motor 116, wire 114, motor 112, bucket opening/closing mechanism 113, bucket 111, and the garbage G held by the bucket 111. By measuring the weight, the load cell 400 can determine whether or not garbage G is being held by the bucket 111.
  • a load cell 400 is provided, for example, for each wheel 120. In other words, four load cells 400 are provided for each garbage crane 110.
  • the garbage crane control device 1 is a device that controls the operation of the garbage crane 110 that transports garbage G within the garbage pit 130.
  • the garbage crane control device 1 is an electronic control unit that has a microcomputer (CPU) as well as memory elements (storage media) such as RAM and ROM.
  • the garbage crane control device 1 automatically controls the operation of the garbage crane 110.
  • the garbage crane control device 1 may also be switched to a manual operation mode, allowing the operation of the garbage crane 110 to be manually controlled by the crane operator.
  • the garbage crane control device 1 employs a garbage pit MAP system that makes it possible to grasp the garbage characteristics inside the garbage pit 130.
  • the garbage pit MAP system is a technology that numerically models the inside of the garbage pit 130, traces the loading and movement (receiving, transferring, mixing) (transporting and conveying) of garbage G, and records the storage status of the garbage G. By utilizing this system, it is possible to continuously grasp the accumulation status and properties of garbage G throughout the entire garbage pit 130.
  • each mesh manages three pieces of data as parameters that represent the pile-up status and properties of the garbage G: (1) garbage level, (2) number of stirrings, and (3) garbage type.
  • the garbage level is an index that represents the height of the garbage pile in the garbage pit 130.
  • the garbage level is added or subtracted for the target mesh in the garbage pit MAP system according to the operation of the garbage crane 110, such as dumping, transferring, stirring, etc.
  • the actual garbage pile height may be estimated from the measurement results of a level sensor such as an electromagnetic wave level meter installed near the garbage pit 130, or from height information when the garbage crane 110 touches down, and the garbage level in the garbage pit MAP system may be corrected based on the estimated result.
  • the number of mixing times is an index that indicates the degree to which the garbage is mixed, and the number of mixing times is added to the target mesh in the garbage pit MAP system according to the operation of the garbage crane 110.
  • the types of waste are distinguished and classified into normal waste and waste containing vegetation, and recorded in the corresponding mesh.
  • the waste crane 110 moves or throws waste G into the furnace, the movement of the waste, with the number of times it has been stirred and the type of waste recorded, is traced, and the information in the corresponding mesh is updated.
  • a wide range of waste can be processed in the melting furnace, and a wide variety of waste materials, such as incineration ash and excavated waste, are thrown into the furnace. Therefore, in order to operate the melting furnace stably, in addition to stirring the waste, it is important that the most suitable type of waste according to the conditions inside the furnace is thrown into the furnace.
  • Such selection of waste types usually requires a high level of operational experience. Therefore, depending on the conditions inside the furnace, selective throwing of waste may be performed manually by the crane operator. In this regard, since the waste types are managed in the waste pit MAP system, the melting furnace can be operated stably even by automatic control.
  • This type of garbage pit MAP system makes it possible to quantitatively grasp the accumulation status and properties of garbage G, and, for example, realize optimal mixing according to the conditions inside the garbage pit 130.
  • the furnace (not shown) is a melting furnace, it also becomes possible to select the garbage to be put in according to the conditions inside the furnace.
  • waste may contain vegetation.
  • Vegetation here may include, for example, tree branches. Because such vegetation (vegetation waste) is long and thin and hard compared to normal waste, and the branches may become tangled and integrated, there may be variation in the amount of waste that falls during normal opening and closing operations of the waste crane 110. For this reason, it takes time to agitate waste that contains vegetation. If the vegetation is not agitated well and a lot of vegetation is thrown into the furnace at once, the operation of the furnace may deteriorate, and there may also be a risk of problems such as clogging of the vegetation in the furnace. For this reason, the required value for the agitation state of the vegetation is higher than that of normal waste.
  • the garbage crane control device 1 therefore determines whether garbage including vegetation has been brought in, and if so, evacuates the garbage including vegetation to a specified vegetation evacuation area. Then, if there is sufficient operating time for the garbage crane 110, the garbage crane control device 1 performs an agitation operation of the evacuated garbage including vegetation. This prevents the garbage receiving and agitation efficiency in the garbage pit 130 from deteriorating due to the influence of garbage including vegetation, which requires time for the agitation operation.
  • the detailed functions of the garbage crane control device 1 related to the above-mentioned vegetation evacuation process and vegetation agitation process will be described with reference to Figures 4 to 6.
  • FIG. 4 is a block diagram showing the functions (functions related to the grass evacuation process and grass mixing process) of the garbage crane control device 1.
  • the garbage crane control device 1 includes an area setting unit 11, an acquisition unit 12, a first determination unit 13, a second determination unit 14, and a crane control unit 15.
  • the area setting unit 11 sets each area in the input mixing pit 132. Specifically, the area setting unit 11 sets at least one of the transfer area 132c, mixing area 132b, input area 132a, and grass and tree evacuation area 132d in the input mixing pit 132. For example, in the example shown in FIG. 2(a), all of the above areas are set. Also, in the example shown in FIG. 2(b), only the input area 132a and mixing area 132b are set.
  • the area setting unit 11 may set the receiving area 131a in the receiving pit 131.
  • the receiving area 131a has two options: it is either set in the receiving pit 131 or not, and it is never set in the input mixing pit 132.
  • FIG. 5 is a diagram explaining the evacuation of vegetation according to area settings.
  • the area setting unit 11 has set an input area 132a, a mixing area 132b, and a vegetation evacuation area 132d in the input/mixing pit 132.
  • the vegetation evacuation area 132d is an area for evacuating "garbage including vegetation” (hereinafter, may be simply referred to as "vegetation G1").
  • vegetature G1 By evacuating the vegetation G1 to be evacuated to the vegetation evacuation area 132d, the vegetation G1 that takes time to mix is separated from normal garbage.
  • vegetation G1 is, for example, pruning waste such as pruning branches.
  • the grass and tree evacuation area 132d is preferably set at an end of the input/mixing pit 132 that is separated from the input area 132a where the garbage crane 110 performs the input operation.
  • the grass and tree evacuation area 132d is preferably set in an area near the wall of the input/mixing pit 132, at least one of the two ends facing the furnace.
  • the grass and tree evacuation area 132d is also preferably set at an end that does not overlap with the mixing area 132b. In this way, the grass and tree evacuation area 132d is preferably set in an area that does not interfere with the operation of the garbage crane 110, specifically, the input operation, mixing operation, and stacking operation.
  • the grass and tree evacuation area 132d may be set at a location other than the above-mentioned end, as long as it is an area in the input/mixing pit 132 that does not interfere with the operation of the garbage crane 110.
  • the grass and tree evacuation area 132d may be set at a position adjacent to the input area 132a (not separated from the input area 132a).
  • the vegetation evacuation area 132d may be provided in the receiving pit 131.
  • the size (area) of the vegetation evacuation area 132d may be set to 1/100 to 1/5, for example 1/9, of the total area of the input/mixing pit 132.
  • the area setting unit 11 may change the area of the vegetation evacuation area 132d depending on the level of the garbage piled up in the vegetation evacuation area 132d or the amount of vegetation brought into the receiving area 131a.
  • the vegetation evacuation area 132d may be equal to or larger than the area of one handful of garbage in the bucket 111.
  • the vegetation evacuation area 132d may be set in an area that does not interfere with the operation of the garbage crane 110, and may be set in a position separated from the input area 132a and adjacent to the mixing area 132b.
  • the acquisition unit 12 acquires an image captured within the receiving area 131a of the receiving pit 131 of the garbage pit 130.
  • the captured image is an image that at least enables the characteristics of the garbage within the receiving area 131a to be determined, and more specifically, an image that enables the determination of whether the garbage includes vegetation G1.
  • the acquisition unit 12 acquires the captured image from a camera 300 that is provided in a position that enables the interior of the garbage pit 130 to be photographed.
  • the first determination unit 13 determines whether or not the vegetation G1 to be evacuated has been brought into the receiving area 131a (determination step). The first determination unit 13 determines whether or not the vegetation G1 to be evacuated has been brought into the receiving area 131a based on an image captured inside the receiving area 131a of the garbage pit 130.
  • FIG. 6 is a diagram for explaining vegetation determination based on the captured image P.
  • the first determination unit 13 detects vegetation G1 from among the garbage G in the receiving area 131a of the garbage pit 130 shown in the captured image P using a conventionally known image recognition technique.
  • the first determination unit 13 may determine that the "evacuation target" vegetation G1 has been brought in when the vegetation G1 in a predetermined range of the receiving area 131a exceeds a predetermined acceptance capacity based on the captured image P. From the captured image P, it is possible to determine that it is vegetation G1 when it reaches an amount equivalent to about 1/6 of the cross-sectional area of the bucket 111.
  • the acceptance capacity may be set to about 0.3 tons, which is about 30% of the amount of one handful of the bucket 111. In this way, when the first determination unit 13 detects vegetation G1 based on the captured image P, it may determine that vegetation G1 to be "evacuated” has been brought in only if the vegetation G1 exceeds the acceptable capacity.
  • the allowable amount of garbage to be accepted may be set according to the day of the week and the time of day. For example, the allowable amount of garbage to be accepted may be set high during times when a certain amount of time can be spent on stirring operations, etc. (e.g., times when little garbage is being accepted), and the allowable amount of garbage to be accepted may be set low during times when little time can be spent on stirring operations, etc. (e.g., times when a lot of garbage is being accepted).
  • the crane control unit 15 controls the garbage crane 110 so that the vegetation G1 to be evacuated to a specified vegetation evacuation area 132d (control step).
  • the crane control unit 15 controls the motors 116, 118, and 119 to move the bucket 111 to the position of the vegetation G1 to be evacuated, controls the motor 112 to cause the bucket 111 to hold the vegetation G1, controls the motors 116, 118, and 119 to move the bucket 111 to the vegetation evacuation area 132d, and controls the motor 112 to drop the vegetation G1 from the bucket 111 into the vegetation evacuation area 132d.
  • the crane control unit 15 determines that the vegetation G1 to be evacuated has been brought in, if there is sufficient time to perform stirring operations, etc., it may continue stirring without transporting the vegetation to the vegetation evacuation area 132d. In the following, it will be explained that there is not enough time when the vegetation G1 to be evacuated has been brought in, and so the vegetation G1 is first transported to the vegetation evacuation area 132d.
  • the crane control unit 15 may control the garbage crane 110 to evacuate the vegetation G1 to the vegetation evacuation area 132d in priority to the transportation of other normal garbage.
  • the second judgment unit 14 judges whether there is a margin of time for the operation of the garbage crane 110 in a situation where grass G1 is present in the grass evacuation area 132d. Whether grass G1 is present in the grass evacuation area 132d may be judged, for example, based on an image captured inside the input/agitation pit 132 of the garbage pit 130. The second judgment unit 14 may judge that there is the margin of time when the time required for the agitation operation for the grass G1 falls within the operation interval between the current operation and the next operation of the garbage crane 110. The second judgment unit 14 may judge that there is a margin of time, for example, when the time required for the agitation operation for the grass G1 falls within the time interval between the most recent garbage input operation and the next garbage input operation.
  • the second judgment unit 14 may judge that there is a margin of time, for example, when the time required for the agitation operation for the grass G1 falls within the time interval between successive input operations and reloading operations.
  • the time required to stir the vegetation G1 is expected to be at least three times longer than the time required to stir normal waste, and may be estimated to be, for example, about 180 seconds.
  • the crane control unit 15 controls the garbage crane 110 to perform a stirring operation on the grass G1 present in the grass evacuation area 132d.
  • the crane control unit 15 controls the motors 116, 118, and 119 to move the bucket 111 to the position of the grass G1 in the grass evacuation area 132d, controls the motor 112 to make the bucket 111 hold the grass G1, controls the motors 116, 118, and 119 to move the bucket 111 to the stirring area 132b, and controls the motor 112 to open the bucket 111 and perform scattering stirring in the stirring area 132b.
  • an alarm may be issued to prompt the crane operator to stir manually.
  • the crane control unit 15 controls the garbage crane 110 to perform agitation operation on normal garbage in the agitation area 132b as well. As a result, garbage in which vegetation G1 and normal garbage are layered on top of each other is generated in the agitation area 132b. If this garbage meets the requirement of a vegetation content rate of 20% or less, which is a prescribed value for the agitation degree (level of agitation), the garbage is deemed to have been sufficiently agitated. In that case, the crane control unit 15 may control the garbage crane 110 to move the garbage to the input area 132a. As a result, the garbage is input into the input area 132a.
  • FIG. 7 is a flowchart showing the steps of the vegetation evacuation process.
  • the garbage crane control device 1 first acquires an image of the receiving area 131a of the receiving pit 131 of the garbage pit 130 (step S1).
  • step S2 based on the captured image, it is determined whether there is a mesh in which the amount of vegetation G1 in a specified range of the reception area 131a exceeds a specified reception capacity (step S2).
  • the garbage in the receiving area 131a is transported (transported) according to the normal rules (step S3). For example, garbage in a mesh with a high garbage level may be transported preferentially.
  • step S4 if there is a mesh in which the amount of vegetation G1 exceeds the capacity, the waste from that mesh is preferentially transported to the vegetation evacuation area 132d (step S4).
  • FIG. 8 is a flowchart showing the steps of the vegetation mixing process.
  • the garbage crane control device 1 first acquires an image of the inside of the input/mixing pit 132 of the garbage pit 130 (step S11).
  • step S12 based on the captured image, it is determined whether or not there is any vegetation G1 in the vegetation evacuation area 132d (step S12).
  • step S13 it is determined whether there is sufficient time (step S13). Specifically, it is determined whether the time required for the stirring operation of the grass or trees G1 falls within the time interval between the most recent garbage dump operation and the next garbage dump operation.
  • step S14 If it is determined that there is sufficient time, the plants G1 present in the plant evacuation area 132d are scattered and stirred (step S14).
  • the garbage crane control device 1 is a garbage crane control device that controls the operation of the garbage crane 110 that transports garbage within the garbage pit 130, and includes a first determination unit 13 that determines whether or not vegetation G1 to be evacuated has been brought into the receiving area 131a that receives garbage in the garbage pit 130, and a crane control unit 15 that controls the garbage crane 110 so that the vegetation G1 to be evacuated is evacuated to a specified vegetation evacuation area 132d when the first determination unit 13 determines that the vegetation G1 to be evacuated has been brought into the receiving area 131a.
  • the garbage crane 110 when it is determined that the vegetation G1 to be evacuated has been brought in, the garbage crane 110 is controlled so that the vegetation G1 to be evacuated to a specified vegetation evacuation area 132d is evacuated. In this way, the vegetation G1 is evacuated to the specified vegetation evacuation area 132d, so that the vegetation G1 can be collected in the vegetation evacuation area 132d.
  • This makes it possible, for example, to perform a stirring operation on the vegetation G1 collected in the vegetation evacuation area 132d collectively when there is sufficient time for the operation of the garbage crane 110 (for example, at night, etc.).
  • a stirring operation can be performed on normal garbage (garbage that does not include the vegetation G1 to be evacuated) that does not require a relatively long time for the stirring operation, and when there is sufficient time, a stirring operation can be performed on the vegetation G1.
  • the garbage crane control device 1 can improve the efficiency of receiving and stirring garbage in the garbage pit 130.
  • the above-mentioned aspect can prevent a large amount of grass and trees G1 from being thrown into the furnace, and can avoid problems such as clogging of the furnace due to grass and trees G1.
  • the vegetation evacuation area 132d may be set to an area that does not interfere with the operation of the garbage crane 110. This prevents the operation of the garbage crane 110 from being hindered by evacuating the vegetation G1 to the vegetation evacuation area 132d, and allows the garbage crane 110 to operate smoothly within the garbage pit 130.
  • the garbage pit 130 has a receiving pit 131 in which a receiving area 131a is set, and a loading/mixing pit 132 in which the garbage crane 110 performs the loading operation to load garbage into the furnace and the mixing operation to mix the garbage, and the grass and tree evacuation area 132d may be set at an end of the loading/mixing pit 132 that is separated from the loading area 132a in which the garbage crane 110 performs the loading operation. This configuration prevents undue grass and trees G1 from being accidentally loaded into the furnace before mixing.
  • the first determination unit 13 may determine that the vegetation G1 to be evacuated has been brought in when the amount of vegetation G1 in a specified range of the receiving area 131a exceeds a specified receiving capacity based on an image captured inside the garbage pit 130.
  • the acceptable amount of garbage can be set according to the day of the week and the time of day.
  • the criteria for determining whether or not to evacuate can be changed depending on the time period when a certain amount of time can be spent on stirring operations, etc. (for example, time periods when little garbage is received) and time periods when little time can be spent on stirring operations, etc. (for example, time periods when a lot of garbage is received), and the efficiency of receiving and stirring garbage in the garbage pit 130 can be further improved depending on the condition of the garbage brought into the garbage pit 130.
  • the crane control unit 15 may control the garbage crane 110 to evacuate the vegetation G1 to the vegetation evacuation area 132d in priority to the transportation of other garbage.
  • the vegetation G1 is compacted and is less likely to be scattered by the stirring operation.
  • the vegetation G1 is prevented from being compacted by new garbage brought in, and the stirring operation is prevented from being hindered.
  • the garbage crane control device 1 further includes a second judgment unit 14 that judges whether there is spare time for the operation of the garbage crane 110, and the crane control unit 15 may control the garbage crane 110 to perform a stirring operation to mix the garbage with the grass and trees G1 present in the grass and trees evacuation area 132d when the second judgment unit 14 judges that there is spare time.
  • a stirring operation of the grass and trees G1 that takes time is performed, so that the efficiency of garbage reception and stirring in the garbage pit 130 is prevented from deteriorating due to the influence of the stirring operation of the grass and trees G1.
  • the second determination unit 14 may determine that there is spare time if the time required for the stirring operation of the vegetation G1 falls within the operation interval between the current operation and the next operation of the garbage crane 110. With this configuration, the stirring operation of the vegetation G1 can be completed between operations of the garbage crane 110, so that the efficiency of garbage reception and stirring in the garbage pit 130 is prevented from deteriorating due to the influence of the stirring operation of the vegetation G1.
  • the waste crane control device 1 may further include an area setting unit 11 that sets at least one of the following for the input/mixing pit 132: a transfer area 132c where the waste crane 110 transfers waste from the receiving pit 131 to the input/mixing pit 132; a mixing area 132b where the waste crane 110 mixes the waste; a feed area 132a where the waste crane 110 feeds the waste into the furnace; and a grass and tree evacuation area 132d.
  • an area setting unit 11 sets at least one of the following for the input/mixing pit 132: a transfer area 132c where the waste crane 110 transfers waste from the receiving pit 131 to the input/mixing pit 132; a mixing area 132b where the waste crane 110 mixes the waste; a feed area 132a where the waste crane 110 feeds the waste into the furnace; and a grass and tree evacuation area 132d.
  • the operation of the waste crane 110 required in the input/mixing pit 132 differs depending on whether or not waste is being received.
  • each area can be appropriately set according to the
  • the area setting unit 11 may change the area of the vegetation evacuation area 132d depending on the level of garbage piled up in the vegetation evacuation area 132d or the amount of vegetation brought into the receiving area 131a, within the range of 1/100 to 1/5 of the total area of the input mixing pit 132. With this configuration, it is possible to ensure that the vegetation evacuation area 132d is sufficiently large depending on the situation, taking into account the sizes of other areas.
  • the vegetation evacuation area 132d is set in an area that does not interfere with the operation of the waste crane 110, and may be set at a position separated from the input area 132a and adjacent to the mixing area 132b. This configuration makes it possible to prevent unmixed vegetation from being mistakenly input into the furnace, while allowing the unmixed vegetation to be smoothly moved to the mixing area 132b during mixing, making it easier to mix.
  • the above-mentioned garbage crane control device 1 includes one level sensor that measures the pile height of garbage accumulated in the input mixing pit 132, and the grass and tree evacuation area 132d may be set at a position far from the installation position of the level sensor or at the end of the input mixing pit 132.
  • the pile height of garbage in the input mixing pit 132 is measured with one level sensor (e.g., a laser sensor, a camera, etc.)
  • one level sensor e.g., a laser sensor, a camera, etc.
  • a position far from the installation position of the level sensor may be, for example, a position that is a longer distance than the distance from the installation position of the level sensor to the center of the input mixing pit 132.
  • transport and “conveyance” are synonymous, and transport or conveyance includes the actions of loading, stirring, and dumping.
  • stirring does not only include cases where garbage is moved to another location, but can also include cases where garbage is picked up and dropped in the same location, where there is no substantial horizontal movement.
  • 1...Crane control device 11...Area setting unit, 13...First judgment unit, 14...Second judgment unit, 15...Crane control unit, 110...Waste crane, 130...Waste pit, 131...Receiving pit, 131a...Receiving area, 132...Feeding mixing pit, 132a...Feeding area, 132b...Mixing area, 132c...Transloading area, 132d...Vegetation evacuation area.

Landscapes

  • Refuse Collection And Transfer (AREA)

Abstract

Ce dispositif de commande de grue à déchets commande le fonctionnement d'une grue à déchets qui transporte des déchets à l'intérieur d'une fosse à déchets. Le dispositif de commande de grue à déchets comprend : une première unité de détermination qui détermine si des déchets verts à évacuer ont été transportés dans une zone d'acceptation pour accepter des déchets au niveau de la fosse à déchets ; et une unité de commande de grue qui, si la première unité de détermination détermine que les déchets verts à évacuer ont été transportés, commande la grue à déchets pour transporter les déchets verts à évacuer vers une zone d'évacuation de déchets verts prédéfinie.
PCT/JP2023/045351 2022-12-19 2023-12-18 Dispositif de commande de grue à déchets et procédé de commande de grue à déchets WO2024135627A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2022-202412 2022-12-19
JP2022202412 2022-12-19

Publications (1)

Publication Number Publication Date
WO2024135627A1 true WO2024135627A1 (fr) 2024-06-27

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PCT/JP2023/045351 WO2024135627A1 (fr) 2022-12-19 2023-12-18 Dispositif de commande de grue à déchets et procédé de commande de grue à déchets

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Country Link
WO (1) WO2024135627A1 (fr)

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