WO2024135631A1 - Dispositif de commande et procédé de commande - Google Patents

Dispositif de commande et procédé de commande Download PDF

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Publication number
WO2024135631A1
WO2024135631A1 PCT/JP2023/045355 JP2023045355W WO2024135631A1 WO 2024135631 A1 WO2024135631 A1 WO 2024135631A1 JP 2023045355 W JP2023045355 W JP 2023045355W WO 2024135631 A1 WO2024135631 A1 WO 2024135631A1
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WIPO (PCT)
Prior art keywords
garbage
waste
door
space
pit
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PCT/JP2023/045355
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English (en)
Japanese (ja)
Inventor
暁大 ▲徳▼川
純 小池
謙二郎 森永
薫平 松田
紘基 豊國
Original Assignee
日鉄エンジニアリング株式会社
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Publication of WO2024135631A1 publication Critical patent/WO2024135631A1/fr

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  • One aspect of the present invention relates to a control device and a 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 waiting time of the garbage delivery vehicle (such as a garbage collection truck) that transports garbage to be brought into the garbage pit may be longer.
  • the garbage delivery vehicle lined up on the platform is made to wait, and during that time the garbage crane will grab the garbage, etc., so the waiting time of the garbage delivery vehicle will be longer. If the garbage crane continues to operate near the receiving door for a long time, the garbage delivery vehicle lined up on the platform will be made to wait for a long time.
  • One aspect of the present invention was made in consideration of the above situation, and relates to a control device and control method that can shorten the waiting time of garbage delivery vehicles at the platform.
  • a control device is provided adjacent to a garbage pit and includes an acquisition unit that acquires an image of a specific space on a platform on which garbage delivery vehicles travel, and a state determination unit that determines the operating state of one or more garbage delivery vehicles present in the specific space based on the image, and the state determination unit determines the operating state of one or more garbage delivery vehicles present in the specific space based on the image, with the specific space being defined as including a front-door space, which is a space adjacent to a multiple receiving doors that are opened when garbage is delivered to the garbage pit, and a passing space that is continuous with the front-door space and through which garbage delivery vehicles pass heading toward at least the front-door space, and determines the operating state of one or more garbage delivery vehicles present in the front-door space or the passing space based on the image.
  • the waste treatment control unit may control the waste crane to move to an area of the waste pit that corresponds to a receiving door other than the receiving door toward which the waste delivery truck that is in a ready-to-be-delivered state is heading.
  • the waste crane can appropriately perform loading and unloading operations at a receiving door other than the one toward which the waste delivery truck is heading, while appropriately avoiding the waste delivery truck having to wait due to the operation of the waste crane.
  • the waste treatment mechanism is an open/close possible signal for each of the multiple receiving doors that indicates whether the door can be opened or closed, and the waste treatment control unit may control the open/close possible signal for each receiving door so that when there is one or more waste delivery vehicles that have been determined by the state determination unit to be in a pre-waste delivery state, it is not indicated that the door cannot be opened.
  • the waste treatment control unit may control the open/close possible signal for each receiving door so that when there is one or more waste delivery vehicles that have been determined by the state determination unit to be in a pre-waste delivery state, it is not indicated that the door cannot be opened.
  • the waste disposal mechanism is a waste crane that transports waste within the waste pit, and an open/close signal indicating whether each of the multiple receiving doors can be opened or closed.
  • the state determination unit manages the area within the waste pit by dividing it into multiple addresses, and grasps the waste level, which is the height of the piled up waste, for each address.
  • the waste disposal control unit controls only one open/close signal corresponding to a receiving door that does not have an approaching waste vehicle among the multiple receiving doors corresponding to that address to indicate that the door cannot be opened, and controls the waste crane to perform a transfer operation of the waste for the address corresponding to the receiving door that has been indicated as not being open.
  • the control method is a control method executed by a control device that controls waste treatment equipment, and includes the steps of acquiring an image of a specific space on a platform that is provided adjacent to a waste pit and on which waste delivery vehicles travel, and a state determination step of determining the operating state of one or more waste delivery vehicles that are present in the specific space based on the captured image, in which the specific space includes a front-door space that is adjacent to a number of receiving doors that are opened when waste is delivered to the waste pit, and a passing space that is continuous with the front-door space and through which waste delivery vehicles that are heading toward the front-door space pass, and the operating state of one or more waste delivery vehicles that are present in the front-door space or the passing space is determined based on the captured image.
  • 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 transfer operations to move garbage from the receiving pit 131 to the input/mixing pit 132.
  • 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 cells 400 can measure the weight of the garbage G held by the bucket 111, the installation location, number of installations, and weight calculation method are not limited to the above.
  • the load cells 400 do not necessarily have to be housed in the casing 117, and do not necessarily have to be provided for each wheel 120.
  • 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 has two modes for controlling the garbage crane 110: an automatic control mode in which the garbage crane 110 is automatically controlled, and a manual operation mode in which the garbage crane 110 is controlled by the operation of a crane operator. In the garbage crane control device 1, either the automatic control mode or the manual operation mode is selected to control the garbage crane 110.
  • 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.
  • the space within the garbage pit 130 is divided into meshes (unit spaces) (blocks), which are rectangular parallelepiped regions of a given size, and the entire garbage pit 130 is modeled.
  • meshes unit spaces
  • blocks rectangular parallelepiped regions of a given size
  • garbage type three data items are managed 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 type of waste is distinguished and classified into normal waste and waste containing vegetation, and recorded in the corresponding mesh.
  • the waste crane 110 operates to move the waste G or toss it into the furnace, the movement of the waste, including the number of times it has been stirred and the type of waste, is traced, and the information in the corresponding mesh is updated.
  • This type of garbage pit MAP system makes it possible to quantitatively grasp the accumulation status and characteristics of garbage G, and, for example, to achieve optimal mixing according to the conditions inside the garbage pit 130.
  • the garbage crane control device 1 performs various controls, such as control of the garbage crane 110, based on the operating state of the garbage delivery vehicle C detected on the platform 150. First, vehicle detection on the platform 150 will be described with reference to FIG. 4.
  • FIG 4 is a diagram explaining vehicle detection on the platform 150.
  • the platform 150 is broadly composed of a front-door space S1 and a passing space S2.
  • the front-door space S1 is a space adjacent to the multiple receiving doors 161-166 that are opened when garbage is deposited into the garbage pit 130.
  • the front-door space S1 is provided in one-to-one correspondence with each receiving door 161-166, and is large enough to allow a garbage delivery vehicle C to carry garbage into the garbage pit 130.
  • the passing space S2 is connected to the door space S1 and is a space through which both the garbage delivery vehicle C heading to the door space S1 (before garbage is brought in) and the garbage delivery vehicle C exiting the door space S1 after the garbage is brought in pass.
  • the passing space S2 is connected to the running path S3 outside the platform 150 at its entrance and exit. That is, when the garbage delivery vehicle C brings in garbage, it enters the passing space S2 from the running path S3, passes through the passing space S2, and stops at the door space S1 adjacent to one of the receiving doors 161 to 166. After the garbage is brought in, the garbage delivery vehicle C passes through the door space S1, passes through the passing space S2, and exits to the outside of the platform 150 via the running path S3.
  • the platform 150 is an area inside the building (an area surrounded by the roof and side walls). It is preferable that the door space S1 and the passing space S2 are inside the building, and the running path S3 is outside the building. It is preferable that the entrance and exit of the passage space S2 be an opening provided in the side wall of the building, and that the running path S3 be connected to the passage space S2 through this opening.
  • the platform 150 is provided with a plurality of (e.g., two) cameras 301, 302 capable of capturing images of the above-mentioned door space S1 and passing space S2.
  • the cameras 301, 302 are provided, for example, on a wall (not shown) on the opposite side of the door space S1 in the passing space S2, and are provided in a position that allows the entire door space S1 and the passing space S2 to be captured.
  • the camera 301 is provided, for example, near the entrance/exit (connection point with the running path S3) in the passing space S2.
  • the camera 302 is provided, for example, in the area (rear area) furthest from the entrance/exit (connection point with the running path S3) in the passing space S2.
  • the camera 301 mainly captures images of the passing space S2 and the door space S1 on the entrance/exit side (the door space S1 adjacent to the receiving doors 161-163).
  • the camera 302 mainly captures images of the passing space S2 and the front door space S1 in the rear area (the front door space S1 adjacent to the receiving doors 164-166). In this way, the ranges covered by the cameras 301 and 302 are divided, so that they are mainly responsible for nearby ranges, improving detection accuracy.
  • the garbage delivery vehicle C4 traveling on the running path S3 outside the platform 150 may be excluded from the current detection target.
  • the positions of the cameras 301 and 302 are one example and are not limited to the above. Also, the number of cameras capturing images may be one, or three or more.
  • the cameras 301 and 302 transmit the captured images to the garbage crane control device 1.
  • a garbage delivery vehicle C1 in a pre-garbage delivery state there are (1) a garbage delivery vehicle C1 in a pre-garbage delivery state, (2) a garbage delivery vehicle C2 in a garbage delivery in progress state, and (3) a garbage delivery vehicle C3 in a post-garbage delivery state.
  • the pre-garbage delivery state is a state in which the garbage delivery vehicle has entered the passage space S2 and has not yet reached the front door space S1.
  • the garbage delivery in progress state is a state in which the garbage delivery vehicle is in the front door space S1 in real time.
  • the post-garbage delivery state is a state in which the garbage delivery vehicle is heading toward the entrance/exit of the passage space S2 after entering the garbage delivery in progress state.
  • Each of these states can be derived by detecting the position of the garbage delivery vehicle C from the above-mentioned captured image and tracing the state of that position.
  • the method for detecting the position of the garbage delivery vehicle C from the captured image may use existing image recognition technology.
  • the position of the garbage delivery vehicle C may be detected by applying a deep learning model to the captured image.
  • FIG. 5 is a diagram illustrating image recognition processing in vehicle detection.
  • the above-mentioned deep learning model is applied to the captured image, and two garbage trucks C are detected from the captured image.
  • the position of the garbage truck C can be detected, it is possible to detect the garbage truck C2 in the garbage loading state and the garbage truck C1 in the pre-garbage loading state by determining whether the garbage truck C is entering a range set in advance within the angle of view. Note that when detecting the garbage truck C, the effect of momentary erroneous recognition can be reduced by performing a multiple frame judgment.
  • FIG. 6 is a block diagram showing the functions of the garbage crane control device 1 which performs control based on the operating state of the garbage delivery vehicle C detected on the platform 150.
  • the garbage crane control device 1 is equipped with an acquisition unit 11, a state determination unit 12, a signal control unit 13 (garbage processing control unit), and a crane control unit 14 (garbage processing control unit).
  • the garbage crane control device 1 is described as also performing control of control objects other than the garbage crane 110, but this is not limited to this.
  • the garbage crane control device 1 may only perform control of the garbage crane 110, and other controls may be performed by other control devices (not shown).
  • the acquisition unit 11 acquires captured images of the door space S1 and the passage space S2 from the cameras 301 and 302 (acquisition step).
  • the acquisition unit 11 acquires captured images from the cameras 301 and 302 continuously, for example, at a predetermined time interval.
  • the state determination unit 12 determines the operating state of one or more waste delivery vehicles C present in the door space S1 or the passing space S2 based on the captured image acquired by the acquisition unit 11 (state determination step).
  • the state determination unit 12 outputs information indicating the determined operating state of the waste delivery vehicle C to the signal control unit 13 and the crane control unit 14.
  • the state determination unit 12 detects the waste vehicle C from the captured image, for example by applying the above-mentioned deep learning model to the captured image, and further determines the operating state of the waste vehicle C. For example, the state determination unit 12 determines the operating state of the waste vehicle C by setting in advance the ranges of the two spaces of the platform 150, the front door space S1 and the passing space S2, within the angle of view, and determining whether the waste vehicle C has entered the set range.
  • the state determination unit 12 may determine whether the state is pre-waste-carrying state, in-waste-carrying state, or post-waste-carrying state from the detected movement (time-series movement) of the garbage delivery vehicle C. For example, the state determination unit 12 determines that a garbage delivery vehicle C that has entered through the entrance/exit of the passing space S2 and has not yet reached the front-door space S1 is in the pre-waste-carrying state. For example, the state determination unit 12 determines that a garbage delivery vehicle C that has moved from the passing space S2 to the front-door space S1 is in the in-waste-carrying state. For example, the state determination unit 12 determines that a garbage delivery vehicle C that has moved from the front-door space S1 toward the passing space S2 is in the post-waste-carrying state.
  • the state determination unit 12 may further determine that a garbage delivery vehicle C that is in a pre-garbage delivery state is in a delivery preparation state when the garbage delivery vehicle C is heading toward an area of the passage space S2 that corresponds to one of the receiving doors (an area of the passage space S2 that is close to the receiving door).
  • the status determination unit 12 may determine the status of the garbage pit 130 other than the operating status of the garbage delivery vehicle C. For example, the status determination unit 12 may determine whether or not there is an address in the receiving area 131a where the garbage level is equal to or higher than a predetermined value. The status determination unit 12 can derive the garbage level for each mesh by using the garbage pit MAP system described above. The status determination unit 12 outputs information related to the address where the determined garbage level is equal to or higher than a predetermined value to the signal control unit 13 and the crane control unit 14.
  • FIG. 7 is a diagram explaining the garbage level in the receiving area 131a.
  • there are three garbage levels and when the garbage level is so high that it is difficult to accept one garbage truck C's worth of garbage, it is judged to be at level "HH.”
  • the garbage level is so high that transshipment is required, it is judged to be at level "H.”
  • the garbage level is so low that transshipment has been completed, it is judged to be at level "L.”
  • the state determination unit 12 determines whether there is an input request from the furnace 190.
  • the state determination unit 12 may determine whether there is an address in the input area 132a and the mixing area 132b where the number of mixing times is below a predetermined threshold.
  • the state determination unit 12 outputs to the crane control unit 14 whether there is an input request and whether mixing is required.
  • the signal control unit 13 may control the door front signal 200 (see FIG. 7) of each receiving door 161-166 so that a red signal is not used to indicate that the receiving door cannot be opened when there is one or more garbage delivery vehicles C that have been determined by the state determination unit 12 to be in a pre-garbage state.
  • the fact that the receiving door cannot be opened may be indicated by something other than a red signal, for example, by simply having a signal turned on.
  • the door front signal 200 is an open/close possible signal that indicates whether the door can be opened or closed for each of the multiple receiving doors 161-166.
  • a state in which a red signal is turned on in the door front signal 200 means that the receiving door corresponding to the door front signal 200 is prohibited from being opened.
  • the red light of the front door signal 200 is not lit, which effectively prevents the garbage delivery vehicles C that have been determined to be in a pre-garbage delivery state from going into a standby state.
  • the signal control unit 13 Based on the information output from the state determination unit 12 regarding the addresses where the garbage level in the receiving area 131a is equal to or higher than a predetermined value, the signal control unit 13 turns on a red light for the door front signal 200 of the receiving door corresponding to the address where the garbage level is equal to or higher than "HH" (prohibiting the door from opening).
  • the signal control unit 13 turns on a red light for the door front signal 200 of the receiving door corresponding to one selected address.
  • the signal control unit 13 turns on a red light for only one door front signal 200 corresponding to a receiving door where there is no approaching garbage delivery vehicle C among the receiving doors corresponding to each of the multiple addresses, to indicate that the door cannot be opened.
  • the signal control unit 13 controls the addresses where the garbage level is equal to or higher than "H” and lower than "HH" so that two or more door front signals 200 do not turn on a red light (prohibiting the door from opening) at the same time.
  • the dust level is equal to or higher than a predetermined value
  • the door front signal 200 turns red and the door cannot be opened, allowing the loading/unloading operation to be carried out appropriately.
  • the crane control unit 14 controls the garbage crane 110, which is a garbage disposal mechanism related to garbage disposal, based on the operating state of one or more garbage delivery vehicles C determined by the state determination unit 12.
  • the crane control unit 14 controls the garbage crane 110 to perform operations other than those related to the area of the garbage pit 130 corresponding to the receiving door toward which the garbage delivery vehicle C in the above-mentioned loading preparation state is heading.
  • the crane control unit 14 may control the garbage crane 110 to move to an area of the garbage pit 130 corresponding to a receiving door other than the receiving door toward which the garbage delivery vehicle C in the loading preparation state is heading. In this case, the crane control unit 14 may control the garbage crane 110 to perform a transfer operation for an area of the garbage pit 130 corresponding to a receiving door other than the receiving door toward which the garbage delivery vehicle C is heading.
  • FIG 8 is a diagram explaining the control of the waste crane 110.
  • the movement of the waste crane 110 toward the receiving door 162 was given priority, and a waste vehicle C approaching the receiving door 162 was ordered to wait or re-guided to another receiving door 161.
  • the movement of the waste vehicle C is determined early based on the captured image, so that by changing the movement of the waste crane 110 (moving preferentially toward the receiving door 161), the waste vehicle C does not have to wait.
  • the waste crane 110 can also perform meaningful loading and unloading operations, etc.
  • FIG. 9 is a diagram explaining the difference in the waiting time of the garbage delivery vehicle C with the comparative example.
  • the comparative example as shown in FIG. 9(a), it is assumed that the delivery vehicle waiting on the platform moves to a certain receiving door (No. 1 receiving door). Then, at that timing, the garbage crane moves to the No. 1 receiving door (the address of the garbage pit 130 behind the No. 1 receiving door), and the No. 1 receiving door is prohibited from opening. This type of control occurs frequently in a situation where the movement of the delivery vehicle is not observed (not considered), and the delivery vehicle is made to wait. In contrast, in the control according to this embodiment shown in FIG. 9(b), when the delivery vehicle moves to the No. 1 receiving door, the garbage crane moves to the No.
  • the waiting time of the delivery vehicle (garbage delivery vehicle C) can be significantly reduced.
  • the crane control unit 14 controls the motors 116, 118, and 119 to move the bucket 111 of the garbage crane 110 in three dimensional directions, and controls the motor 112 to open and close the bucket 111 using the bucket opening and closing mechanism 113. In this way, the movement and opening and closing of the bucket 111 is realized, making it possible to properly carry out the above-mentioned transfer operation.
  • the crane control unit 14 does not necessarily have to cause the garbage crane 110 to perform a loading/unloading operation, and may cause the garbage crane 110 to perform a dumping or stirring operation as "operations other than operations related to the area of the garbage pit 130 corresponding to the receiving door to which the garbage delivery vehicle C is heading.”
  • the crane control unit 14 controls the garbage crane 110 so that a transfer operation for an address is performed based on information output from the status determination unit 12 relating to the address where the garbage level in the receiving area 131a is equal to or higher than a predetermined value.
  • the crane control unit 14 also controls the garbage crane 110 so that a dumping operation or agitation operation is performed based on information output from the status determination unit 12 relating to the presence or absence of a dumping request and the need for agitation.
  • FIG. 10 is a flowchart showing the control procedure.
  • step S1 it is determined whether or not there is an address in the receiving area 131a with a waste level of "HH” or higher (step S1). If there is an address with a waste level of "HH” or higher, the first transfer operation is carried out (step S2). Step S2 will be described later with reference to FIG. 11.
  • step S1 If it is determined in step S1 that there are no addresses with a waste level of "HH" or higher, it is determined whether or not there is a request for a dumping operation from the furnace 190 (step S3). If there is a request for a dumping operation, the dumping operation is carried out (step S4). In this case, the waste crane 110 is controlled to carry out the dumping operation.
  • step S3 If it is determined in step S3 that there is no input request from the furnace 190, it is determined whether there is an address with a waste level of "H” or higher (step S5). If there is an address with a waste level of "H” or higher, a second transfer operation is performed (step S6). Step S6 will be described later with reference to FIG. 12.
  • step S5 If it is determined in step S5 that there are no addresses with a garbage level of "H" or higher, it is determined whether there are any addresses in the input mixing area that have had n or fewer mixing times (step S7). If there are any addresses that have had n or fewer mixing times in step S7, mixing operation is performed (step S8). In this case, the garbage crane 110 is controlled to perform the mixing operation.
  • FIG. 11 is a flow chart showing the details of the first reloading operation process.
  • first it is determined whether there are multiple addresses with a garbage level of "HH” or above (step S21). If there are multiple addresses, the door front signals 200 of all receiving doors corresponding to addresses with a garbage level of "HH” or above are turned red (step S26), and the doors are prohibited from opening.
  • the reloading operation is then repeated until the garbage level of all addresses with a garbage level of "HH” or above falls below the garbage level “H” (step S27), and when the garbage level of all addresses falls below “H", all door front signals 200 are turned green, indicating that the receiving doors can be opened (step S29).
  • step S21 if there are not multiple addresses with a garbage level of "HH” or higher in step S21, the door signal for the address with a garbage level of "HH” or higher is turned red (step S22), and the reloading operation is repeated until the garbage level at that address falls below “H” (step S23).
  • step S24 the door signal 200 is turned green (step S25).
  • the dust level below "H” determination step (steps corresponding to steps S24 and S28 in FIG. 11), and the green light change step (steps corresponding to steps S25 and S29 in FIG. 11) may be executed in common. Additionally, the fact that the receiving door can be opened may be indicated by something other than a green light, for example, by a light that was turned on going out.
  • FIG. 12 is a flowchart showing the details of the second reloading operation process. As shown in FIG. 12, it is determined whether there are multiple addresses with a garbage level of "H" or higher (step S61). If there are multiple addresses, it is determined whether there is a vehicle in front of the receiving door of the target address (step S62). Also, in step S61, it is determined whether there is an address with a garbage level of "H" or higher that has no vehicle in front of the receiving door (step S67). If there is such an address, one target address is selected from the addresses with no vehicle (step S68).
  • a process is performed to change the door front signal 200 to a red signal (step S63). Then, the reloading operation is performed (step S64) until the garbage level falls below L (reloading completion level), and when the garbage level falls below L, the door front signal 200 is changed to a green signal (step S66).
  • the garbage crane control device 1 includes an acquisition unit 11 that acquires captured images of the front-door space S1, which is a space adjacent to the multiple receiving doors 161-166 that are opened when garbage is brought into the garbage pit 130, and the passing space S2 that is continuous with the front-door space S1 and through which garbage delivery vehicles C pass heading toward at least the front-door space S1, and a state determination unit 12 that determines the operating state of one or more garbage delivery vehicles C present in the front-door space S1 or the passing space S2 based on the captured images.
  • the operating state of the waste vehicle C present in the door space S1 and the passing space S2 is determined based on the captured images of these spaces.
  • the operating state of the waste vehicle C is determined from images captured not only of the door space S1 but also of the passing space S2 through which the waste vehicle C passes toward the door space S1, so that the operating state of the waste vehicle C at an early stage before it reaches the door space S1 can be identified.
  • the waste crane control device 1 may further include a waste treatment control unit that controls a waste treatment mechanism related to waste treatment based on the operating state of one or more waste delivery vehicles C determined by the state determination unit 12.
  • the waste treatment mechanism can be controlled taking into account the operating state of the waste delivery vehicle C that can be identified at an early stage, and control can be preferably implemented to shorten the waiting time of the waste delivery vehicle C.
  • the garbage disposal mechanism is a garbage crane 110 that transports garbage in the garbage pit, and the state determination unit 12 determines, based on the captured image, that a garbage delivery vehicle C that has not yet reached the front-door space S1 after entering the passing space S2 is in a pre-garbage state, and further determines that the garbage delivery vehicle C in a pre-garbage state is in a state of preparation for loading when the garbage delivery vehicle C in a pre-garbage state heads toward an area of the passing space S2 corresponding to one of the receiving doors, and controls the garbage crane 110 to perform an operation other than an operation related to the area of the garbage pit 130 corresponding to the receiving door toward which the garbage delivery vehicle in a pre-garbage state heads.
  • the operation of the garbage crane 110 is not performed in the area of the garbage pit 130 corresponding to the receiving door toward which the garbage delivery vehicle C identified based on the captured image is headed. Therefore, the garbage delivery vehicle C does not have to wait due to the operation of the garbage crane 110, and the waiting time of the garbage delivery vehicle C can be suitably shortened.
  • the crane control unit 14 may control the garbage crane 110 to move to an area of the garbage pit 130 that corresponds to a receiving door other than the receiving door toward which the garbage delivery vehicle C, which is in a state of preparation for delivery, is heading.
  • the garbage crane 110 can appropriately perform loading and unloading operations at a receiving door other than the one toward which the garbage delivery vehicle C is heading, while appropriately avoiding the garbage delivery vehicle C having to wait due to the operation of the garbage crane 110.
  • the waste disposal mechanism is a front-door signal for each of the multiple receiving doors that indicates whether the door can be opened or closed, and the signal control unit 13 may control the front-door signal 200 for each receiving door so that when there is one or more waste delivery vehicles C that have been determined by the state determination unit 12 to be in a pre-waste delivery state, it is not indicated that the door cannot be opened.
  • the signal control unit 13 may control the front-door signal 200 for each receiving door so that when there is one or more waste delivery vehicles C that have been determined by the state determination unit 12 to be in a pre-waste delivery state, it is not indicated that the door cannot be opened.
  • three garbage levels are set for the receiving area 131a, but four or more levels may be set.
  • a garbage level "H4" higher than the garbage level "HH” may be further set.
  • the order of addresses in which reloading is performed may be as follows.
  • the reloading operation may be performed with priority given to addresses with garbage level "H4" or higher, or the reloading operation may be performed with priority given to addresses with garbage level "HH” or higher but lower than "H4".
  • the garbage level of the address can be lowered more quickly (with fewer reloads) than when reloading addresses above "H4". This allows an acceptance door that is not prohibited from being opened to be prepared quickly, and the waiting of the garbage delivery vehicle C can be more appropriately avoided.
  • the reloading operation may be performed with priority given to the lowest address among the addresses.
  • an acceptance door that is not prohibited from being opened can also be prepared quickly.
  • the condition for changing the door front signal 200 of each acceptance door to a green signal after it has turned red (the release condition for releasing the door opening prohibition after the door opening prohibition has been set) may be when the garbage level of the corresponding address becomes "H” or lower, when it becomes “HH” or lower, or when it becomes “L” or lower.
  • the release condition may be variable depending on the operating state of the garbage delivery vehicle C on the platform (for example, the state of the garbage delivery vehicle C before garbage is delivered).
  • the addresses in the receiving area 131a and the receiving doors may have a one-to-one correspondence, a one-to-multiple correspondence, or a multiple-to-one correspondence. In other words, there may be multiple receiving doors corresponding to one address. Multiple addresses may be associated with one receiving door. For example, as shown in FIG. 2(a), address 2 ⁇ A may correspond to both receiving door 165 and receiving door 166. Also, for example, addresses 1 ⁇ A and 2 ⁇ A may be associated with receiving door 166. One address may be shared (overlapped) by multiple receiving doors. The number of addresses and the number of receiving doors in the receiving area 131a may be the same or different. If the number of addresses and the number of receiving doors in the receiving area 131a are different, the number of addresses in the receiving area 131a may be a multiple of the number of receiving doors.
  • 1...garbage crane control device 11...acquisition unit, 12...status determination unit, 13...signal control unit, 14...crane control unit, 110...garbage crane, 130...garbage pit, 200...front door signal, 301, 302...camera, S1...front door space, S2...passing space.

Landscapes

  • Refuse Collection And Transfer (AREA)

Abstract

La présente invention raccourcit le temps d'attente des véhicules pour le transport de déchets sur une plateforme.　Un dispositif de commande de grue pour déchets (1) comprend : une unité d'acquisition (11) qui acquiert une image capturée dans laquelle est capturée une image d'un espace avant de porte (S1) qui est adjacent à une pluralité de portes de réception (161-166) ouvertes lorsqu'un déchet est transporté dans une fosse à déchets (130) et d'un espace de passage (S2) contigu à l'espace avant de porte (S1) et à travers lequel passent au moins des véhicules pour le transport de déchets (C) avançant vers l'espace avant de porte (S1) ; et une unité de détermination d'état (12) qui détermine, sur la base de l'image capturée, l'état de fonctionnement d'un ou de plusieurs des véhicules pour le transport de déchets (C) présents dans l'espace avant de porte (S1) ou l'espace de passage (S2).
PCT/JP2023/045355 2022-12-19 2023-12-18 Dispositif de commande et procédé de commande WO2024135631A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2022202415 2022-12-19
JP2022-202415 2022-12-19

Publications (1)

Publication Number Publication Date
WO2024135631A1 true WO2024135631A1 (fr) 2024-06-27

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Country Link
WO (1) WO2024135631A1 (fr)

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