JP7148327B2 - CRANE CONTROL DEVICE, CONTROL METHOD OF CRANE CONTROL DEVICE, CONTROL PROGRAM, AND RECORDING MEDIUM - Google Patents

Description

The present invention relates to a crane control device, a control method thereof, and the like.

In the garbage incineration facility, the brought-in garbage is temporarily accumulated in a garbage pit, and the accumulated garbage is sequentially sent to the incinerator and incinerated. The garbage brought in includes combustible items and non-combustible items that contain a lot of water. Therefore, in order to incinerate garbage stably, it is important to agitate and homogenize the garbage with a crane in the garbage pit.

For example, the techniques described in Patent Literatures 1 and 2 are known as crane control techniques for agitating such garbage.

Japanese Patent Application Laid-Open No. 2007-126246 (published on May 24, 2007) Japanese Patent Application Laid-Open No. 2017-125627 (published on July 20, 2017)

However, when agitating the dust in order to homogenize the quality of the dust in the dust pit (the state of the dust related to the quality of the fuel), the following problems may occur. That is, if the surface of the dust accumulated in the dust pit is extremely inclined or has large unevenness on the surface, it becomes difficult for the crane to grasp the dust, and the gripping operation must be performed many times. In this case, it is inefficient and it is not possible to agitate the waste according to the operation schedule of the crane. Therefore, the crane is controlled so as to perform the work of stirring the dust and the work of flattening the height of the dust accumulated in the dust pit as appropriate.

In other words, in the control of the crane, it is required to efficiently perform appropriate work in response to various changes in the state of the garbage in the garbage pit. Various types of work performed by the crane have (i) a degree of priority (priority), and (ii) a degree of urgency (urgency) to be performed according to changes in the state of the garbage in the garbage pit. Change.

Conventional techniques such as those described in Patent Literatures 1 and 2 are insufficient to allow the crane to perform appropriate work.

An object of one aspect of the present invention is to realize a technology capable of causing a crane to perform appropriate work by considering the priority and urgency of various works of the crane based on the state of garbage in the garbage pit. there is

In order to solve the above problems, a crane control device according to one aspect of the present invention is a crane control device that causes a crane that transports garbage in a garbage pit to perform a plurality of types of predetermined work, wherein the plurality of types of Based on a first degree of urgency calculated by a first fuzzy inference based on a plurality of pieces of information related to the first task for a first task having a predetermined priority among the predetermined tasks , a first determination unit that determines whether or not to cause the crane to perform the first work; Based on the second degree of urgency calculated by the second fuzzy inference based on a plurality of information related to the second work with the next highest priority, it is determined whether or not to cause the crane to perform the second work. and a second determination unit for determining.

Further, in order to solve the above problems, a control method for a crane control device according to one aspect of the present invention is a control method for a crane control device that causes a crane that transports trash in a trash pit to perform a plurality of types of predetermined work. wherein, of the plurality of types of predetermined work, the first work having a predetermined priority is calculated by a first fuzzy inference based on a plurality of information related to the first work a first determination step of determining whether or not to cause the crane to perform the first work based on a first degree of urgency; and determining not to perform the first work in the first determination step. In the case, based on the second degree of urgency calculated by the second fuzzy inference based on a plurality of information related to the second work with the highest priority next to the first work, the second work and a second determination step of determining whether or not to cause the crane to execute.

According to one aspect of the present invention, it is possible to implement a technology that allows a crane to perform appropriate work by considering the priority and urgency of various work of the crane based on the state of garbage in the garbage pit. can.

1 is a block diagram showing an example of a main configuration of a crane control device according to one embodiment of the present invention; FIG. 1 is a cross-sectional view showing a schematic configuration of a garbage incineration facility having a garbage pit; FIG. It is a figure which shows a mode that the refuse storage part and the refuse hopper were seen from upper direction. It is a figure which shows the example of a setting of the mass in a refuse storage part. FIG. 10 is a perspective view for explaining an example of a three-dimensional array of cells set in the dust storage section; 4 is a flowchart showing the overall flow of processing executed by the crane control device according to one embodiment of the present invention; 4 is a flow chart showing the flow of processing executed by the work determination unit of the crane control device according to the embodiment of the present invention; It is a figure which shows an example of a membership function, and (a) is a figure which shows the membership function regarding hopper height, (b) hopper height decreasing speed, and (c) the urgency of loading work. . FIG. 4 is a diagram for explaining a specific example of first fuzzy inference; (a) is a diagram showing an example of a function showing the relationship between the flatness s and the flatness value sv, and (b) is a diagram showing an example of the function showing the relationship between the stirring degree m and the stirring value mv. be. FIG. 4 is a diagram for explaining selection of a specific range within a stirring area; It is a figure which shows an example of a membership function, (a) is a figure which shows the membership function regarding the flatness s, (b) the stirring degree m, and (c) the urgency of stirring work.

An embodiment of the present invention will be described below with reference to FIGS. 1 to 12. FIG. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crane control device and the like for controlling the operation of a crane that transports garbage in a garbage pit. Therefore, first, a garbage pit and a garbage incineration facility having a garbage pit will be described with reference to FIG.

[Outline of garbage incineration equipment]
FIG. 2 is a sectional view showing a schematic configuration of a garbage incineration facility having a garbage pit. The illustrated garbage incineration facility includes a garbage pit 1 for temporarily storing garbage brought in by a garbage truck P, and an incinerator 2 for incinerating the garbage in the garbage pit 1 . A garbage pit 1 and an incinerator 2 are connected by a garbage hopper 12 for supplying garbage to the incinerator 2, and the garbage in the garbage pit 1 is sent to the incinerator 2 through the garbage hopper 12 and incinerated.

The bottom of the garbage pit 1 is a garbage storage section 11, and the garbage truck P drops garbage into the garbage storage section 11 from the carry-in door 11a, and the garbage is stored in the garbage storage section 11 (garbage G shown in the figure). ).

Moreover, the garbage storage part 11 and the garbage hopper 12 are covered with a building 13, and a crane 14 is provided on the ceiling of the building 13. - 特許庁This crane 14 comprises a girder 15 , a traversing truck 16 , a bucket 17 , a wire 18 and a winder 19 . The girder 15 is arranged so as to bridge between rails (extending in the depth direction of the figure) respectively provided on the opposing wall surfaces of the building 13, and is moved along the rails in the depth direction of the figure. It is possible to do so. In addition, the traversing truck 16 is provided on the girder 15, and can be moved on the girder 15 in the left-right direction in the figure (direction orthogonal to the moving direction of the girder 15). A winder 19 (for example, a winch) is mounted on the traverse carriage 16 , and a bucket 17 for catching the garbage G is provided at the tip of a wire 18 extending from the winder 19 . The bucket 17 can be opened and closed.

In this manner, the girder 15 can be moved in the depth direction of the figure, and the traversing cart 16 can be moved in the left-right direction of the figure. can be moved to any position within Further, the wire 18 is extended from the winder 19, the bucket 17 is lowered, and the dust G in the dust storage part 11 can be picked up by the bucket 17. - 特許庁Then, by controlling the operations of the girder 15, the trolley 16, the bucket 17, and the winder 19, the grabbed garbage G is transferred to another position in the garbage storage section 11 or thrown into the garbage hopper 12. can be

Such operation control of the crane 14 can be manually performed from an operation room 21 provided in the side wall portion 13a of the building 13 so as to monitor the inside of the garbage storage portion 11. As will be described later, a crane control device It can also be done automatically by

Although only one crane 14 is shown in FIG. 2, a plurality of cranes 14 may be provided. By providing a plurality of cranes 14, it is possible to perform more sufficient stirring than when only one crane 14 is provided. For example, when two cranes 14 are provided, one crane 14 can be used for transshipment of garbage and loading into the garbage hopper 12, and the other crane 14 can be devoted to stirring.

The incinerator 2 includes a combustion chamber 3 , a waste guide passage 4 , an ash outlet 5 and a flue 6 . Garbage G thrown into the garbage hopper 12 is fed into the combustion chamber 3 through the garbage guide passage 4 and is incinerated. discharged from In addition, although not shown, the incinerator 2 is provided with a boiler, and the heat generated by burning the garbage G is supplied to the boiler, and the steam generated by the boiler is used to generate power.

[Garbage storage part]
Next, details of the above-described dust storage section 11 will be described with reference to FIG. FIG. 3 is a diagram showing a state of the garbage storage part 11 and the garbage hopper 12 viewed from above. The illustrated garbage storage part 11 has a laterally long rectangular shape, and three loading doors 11a are positioned on one of its long sides, and one garbage hopper 12 is positioned on the opposite long side. In the illustrated example, the inside of the garbage storage unit 11 is divided into 80 compartments (mass) of 5 vertical x 16 horizontal. The three rows of partitions on the side of the dust hopper 12 serve as areas for stirring dust.

In the operation of the garbage pit 1, it is important to efficiently operate the crane 14 in the limited-capacity garbage storage section 11 to appropriately agitate and transport the garbage. In addition, the shape of the dust storage part 11 is not limited to a rectangular shape, and may be a square shape. Further, the position, number and shape of the dust hoppers 12 are not particularly limited.

[Overview of Crane Control Device in One Embodiment of the Present Invention]
The crane 14 performs various operations within the trash storage section 11 as described above. The work that needs to be performed by the crane 14 includes the work of throwing garbage into the garbage hopper 12, the transshipment work of moving the garbage in the receiving area, and the like. Important works performed by the crane 14 include agitation work and ground leveling work.

The agitating operation is an operation of tearing the garbage bag and crushing the garbage to mix the garbage. Specifically, the dust is agitated by grasping the dust with the bucket 17 of the crane 14 and releasing the dust after moving the crane 14 (or without moving). As a result, the waste to be put into the incinerator 2 can be homogenized, and stable combustion can be performed in the incinerator 2 . Here, the quality of waste means the properties of the waste such as the type of waste, the moisture content, the ratio of combustible components, etc., and the state of the waste related to the quality of the fuel.

Further, the ground leveling work is performed to flatten the height of the garbage accumulated in the garbage storage unit 11 so that the bucket 17 of the crane 14 can correctly catch the garbage. For example, the ground leveling work is performed by moving the girder 15 or the traversing cart 16 while the bucket 17 is in contact with the surface of the garbage accumulated in the garbage storage unit 11, thereby sliding the bucket 17 on the garbage. This is work to reduce the variation in thickness. Further, the ground leveling work may be a work of grasping high-level trash among the trash in the range to be leveled and dropping it to a low place (however, it is not necessary to lift the trash to a high place as much as the agitating work). The above ground leveling work is required for the following reasons. That is, in the dust storage section 11, dust is thrown into the dust storage section 11 from the carry-in door 11a (platform), so that the dust is piled high in the receiving area. Therefore, it is easy for the dust to accumulate in the dust storage portion 11 with an inclination. Further, by performing the stirring operation, a step may occur on the surface of the dust accumulated in the dust storage section 11 . It is difficult for the bucket 17 of the crane 14 to correctly grip trash that has steps or slopes. Note that the leveling work can also be referred to as leveling work or flattening work.

The crane 14 cannot perform multiple types of work (work patterns) in parallel (or simultaneously). Therefore, when determining the work to be performed by the crane 14, it is necessary to select one work from among multiple types of work candidates.

At this time, there is an order in which priority should be given to the plurality of types of work candidates. In other words, the various types of work to be performed by the crane 14 have different degrees of priority (priority). The priority is always taken into consideration in order to smoothly proceed with garbage disposal in the garbage incineration facility. For example, the input work is usually the work with the highest priority. This is because if the amount of refuse in the refuse hopper 12 is insufficient, the amount of refuse fed into the incinerator 2 will decrease, which may hinder the burning of refuse in the combustion chamber 3 .

Further, the degree of urgency (degree of urgency) for each type of work performed by the crane 14 changes according to changes in the state of the garbage in the garbage pit. The urgency of a work can also be referred to as the demand level of the work at that time.

Conventionally, various types of work as described above are performed by a person (operator) operating a crane, and there is a problem that the degree of dust agitation and crane operating technique differ depending on the operator.

In addition, in the garbage incineration facility during the daytime on weekdays when garbage is collected, the collected garbage brought into the garbage incineration facility is thrown into the garbage storage unit 11 with high frequency. If the garbage in the receiving area of the garbage storage unit 11 is piled up too high, it will not be possible to receive new garbage, and there is a risk that the accumulated garbage will collapse. It is also necessary to carry out transshipment work to move to Furthermore, in order to stably generate power, in addition to the transshipment work, stirring work, and leveling work, it is necessary to continuously perform the loading work. As described above, the situation of the dust pit 1 drastically changes with time. Therefore, it is required to quickly and appropriately select the work to be performed by the crane 14 according to the situation.

Therefore, the crane control device 50 determines whether it is necessary to perform a plurality of types of work performed by the crane 14 in descending order of priority. The crane control device 50 controls the crane 14 to perform the first work when it is determined that the first work with high priority should be performed. Then, when it is determined that the first work is not required to be executed, it is determined whether or not the second work, which has the next highest priority after the first work, is to be executed. Further, the crane control device 50 uses fuzzy inference to determine whether or not each work should be executed.

Schematically, the crane control device 50 calculates the urgency of a plurality of types of work performed by the crane 14 by performing fuzzy inference using information related to the work to be determined. If the calculated degree of urgency is greater than or equal to a predetermined threshold, it is determined that the work should be executed.

As described above, the crane control device 50 determines whether or not to perform each work by hierarchically performing fuzzy reasoning. As a result, it is possible to quickly and appropriately select which work is to be executed by the crane 14 according to the current situation inside the garbage pit 1 . In addition, by flexibly making determinations using fuzzy reasoning, it is possible to realize crane control that satisfies both the degree of dust agitation and the degree of flatness of dust to some extent. Satisfied to some extent means: That is, it is impossible to achieve a state in which both the degree of dust agitation and the degree of flatness of dust satisfy the targets in a certain period of time. In such a case, the crane control device 50 controls the crane 14 so as to minimize the sum of the differences between the current state and the ideal state regarding both the degree of dust agitation and the degree of flatness of the dust. .

[Crane control device]
A crane control device according to this embodiment will be described with reference to FIG. FIG. 1 is a block diagram showing an example of the main configuration of a crane control device 50. As shown in FIG. Note that the crane control device 50 may be arranged in the operation room 21 described above, or may be arranged at another location.

The crane control device 50 includes, as shown in the drawing, a control section 51 that controls each section of the crane control device 50 and a storage section 52 that stores various data used by the crane control device 50 .

The control section 51 includes a pit state information update section 61 , a pit state evaluation section 62 , a work determination section 63 and a crane control section 64 . The work determining section 63 includes a first determining section 71 , a second determining section 73 and a third determining section 75 . The storage unit 52 stores work priority information 81, division information 82, fuzzy rules 83, and membership functions 84. FIG.

The crane control device 50 also includes an input unit 53 that receives user input to the crane control device 50, and a communication unit 54 that allows the crane control device 50 to communicate with other devices. The input unit 53 may be, for example, a mouse and keyboard, or may be a touch panel.

The communication unit 54 is communicably connected to the dust height detection device 26 and the agitation information generation device 27, and the hopper height detection unit 31 and the throw-in request signal generation unit 32 provided in relation to the dust hopper 12. are communicatively connected.

The dust height detection device 26 is a device that detects the height of dust for each square (section) in the dust storage section 11 . The method for detecting the height of the garbage is not particularly limited, and for example, the height of the garbage in a certain square may be calculated from the length of the wire 18 when the crane 14 is lowered to the surface of the garbage in that square. Further, for example, the height may be detected using a distance sensor, or the height may be detected by analyzing an image of the dust storage section 11 captured by a camera.

The stirring information generating device 27 generates stirring information indicating the number of stirring times for each square. The stirring information generating device 27, for example, partitions and manages the inside of the garbage pit 1 in a three-dimensional array, and generates stirring information in which coordinates (addresses) of each partition (square) and the number of times of stirring are linked. For example, the stirring information generation device 27 generates stirring information using the following model.

That is, when the dust is brought in, the number of dust agitations in the square that received the dust is set to zero. Further, when the crane 14 stirs the dust, the dust at the dust gripping position moves to the dust releasing position. value indicating that it does not exist), and the number of times of stirring in the cell at the dust release position is updated to a value obtained by adding 1 to the number of times of stirring at the dust picking position.

Further, when the crane 14 is used to level the ground, the movement of the bucket 17 of the crane 14 causes the garbage in the relatively high grid M1 to move onto the relatively low grid M2. Therefore, the stirring information generating device 27 updates the number of stirring times for each square according to the movement of the dust. For example, when all the dust in the square M1 has been moved onto the square M2, the agitation information generating device 27 updates the number of times of stirring the dust in the square M1 to zero (a value indicating that there is no dust), The number of times of stirring of the cell directly above M2 is updated to the same value as the number of times of stirring of cell M1.

Note that the above model used for updating the number of times of stirring is merely an example, and the present invention is not limited to this. Also, the pit state information update unit 61 may update the number of times of stirring.

How to define each section in the dust pit 1, in other words, the volume of each section may be set in advance. The preset divisions are also commonly used in various processes executed by the crane control device 50 .

Note that the stirring information is not limited to the information regarding the number of times of stirring as described above. Any information that can evaluate the degree of dust agitation in the dust pit 1 can be used, and known techniques can be applied as appropriate. For example, when the dust is stirred, the height at which the dust is dropped from the crane 14, the fine particle size of the dust, the bulk specific gravity, etc. may be used as information indicating the degree of stirring of the dust.

The hopper height detection unit 31 is a device for detecting the height of the dust in the dust hopper 12, and includes a camera for imaging the dust hopper 12, for example. For example, the dust hopper 12 is provided with a dust height measurement band on an inclined wall surface, and based on the length of the dust height measurement band exposed above the surface of the dust in the dust hopper 12, the dust hopper 12 The height of dust inside can be detected. The above method is an example, and the specific method for detecting the height of the dust in the dust hopper 12 is not particularly limited. In this specification, the height of the trash in the trash hopper 12 is sometimes referred to as the hopper height. The hopper height may be the maximum height of trash in the trash hopper 12 .

When the hopper height detected by the hopper height detector 31 is below a predetermined threshold, the throw-in request signal generator 32 generates a throw-in request signal requesting the throw-in of dust into the dust hopper 12. . The generated input request signal is transmitted to the work determination section 63 of the control section 51 via the communication section 54 .

[Control part]
Each part of the control part 51 provided in the crane control device 50 of the present embodiment will be schematically described below. The details of each part of the control unit 51 will be described later together with the flow of processing executed by the crane control device 50 .

The pit state information updating unit 61 updates (i) information linking the coordinate values, the dust height, and the number of times of agitation for each of the divisions (squares) that divide the inside of the dust storage unit 11 in a three-dimensional array, and ( ii) holds pit state information including information about the height of the debris in the debris hopper 12 (hopper height); The pit state information updater 61 updates the pit state information based on signals (information) received from the dust height detector 26 , the agitation information generator 27 and the hopper height detector 31 . Note that the pit state information may further include other information.

(partition setting)
Here, a setting example of division (square) will be described with reference to FIGS. 4 and 5. FIG. FIG. 4 is a diagram showing a setting example of the squares in the garbage storage section 11. As shown in FIG. FIG. 5 is a perspective view for explaining an example of a three-dimensional array of cells set in the dust storage section 11. As shown in FIG.

In the example of FIG. 4, the dust storage section 11 is divided into 80 squares of 5 vertical×16 horizontal when viewed from above. The figure also shows the height of dust in each square (the square corresponding to the top layer of dust) and the number of stirring times. Although the method of division is not particularly limited, if the range corresponding to one grip of the crane 14 is set to one square, updating of the state of the garbage in the garbage pit 1 after the operation of the crane 14 becomes straightforward, which is preferable.

In FIG. 4, the position of each square is indicated by (X, Y) coordinate values (X=1, 2, . . . , 16), (Y=1, 2, . Area settings (details will be described later with reference to FIG. 6) are indicated by different colors. Specifically, the range of 1≤X≤15, 1≤Y≤3 is the stirring area, the range of 1≤X≤15, 4≤Y≤5 is the receiving area, and X=16, 1≤Y≤3. are set to non-stirring areas that are not used for stirring.

As shown in FIG. 5, when the inside of the dust storage section 11 is divided three-dimensionally, each square can be identified by the coordinate values of (X, Y, Z) obtained by adding the coordinate value of Z to the above X and Y. can. The above-described pit state information includes information in which the coordinate values of (X, Y, Z), the dust height, and the number of times of agitation are associated with each square in the dust storage section 11 .

(Area setting)
The dust storage part 11 of the dust pit 1 is divided into a plurality of areas for each use and managed. How to divide the inside of the dust storage unit 11 into a plurality of areas is preset manually or automatically. In this embodiment, the garbage storage section 11 is divided into the following three areas.

(A) Receiving area: An area provided on the side of the carrying-in door 11a, where the garbage brought in by the garbage truck P is dropped.

(B) Stirring area: An area where stirring work is performed. Normally, the entire stirring area is divided into two areas, and the dust is moved from one area to the other area to stir the dust. The reception area can also be used as the agitation area during times such as nighttime when no garbage is brought in. In other words, the area setting may be changed according to the time period.

(C) non-agitation area: an area not used for agitation operations. An area for accumulating waste not suitable for incineration.

For example, the receiving area and the stirring area may be separated by a bank or the like. Further, an area other than the above may be set in the garbage storage unit 11 (for example, an area for storing garbage before being thrown into the garbage hopper 12, and an area for accumulating high-quality garbage, etc.). .

In the crane control device 50 of the present embodiment, the information regarding the setting of the squares and various areas described above is stored in the storage section 52 as section information 82 . The partition information 82 may be set in advance in the pit state information updating section 61 .

A pit state evaluation unit 62 of the control unit 51 evaluates the state of dust in the dust storage unit 11 based on the pit state information acquired from the pit state information update unit 61 . The evaluation of the state of dust by the pit state evaluation unit 62 will be described later in detail.

(Work judgment)
The work determination unit 63 of the control unit 51 determines what kind of work the crane 14 will perform or not. Crane 14 performs one of a plurality of types of predetermined work. In this embodiment, the plurality of types of predetermined work are loading work, transshipment work, stirring work, and ground leveling work.

here,
Loading work: Work to put garbage from the agitation area into the garbage hopper 12 Reloading work: Work to reload the garbage from the receiving area to the agitation area Agitation work: Work to grab the garbage in the agitation area and release the grabbed garbage in the same area Leveling work: This is a work for flattening the height of the dust accumulated in the dust storage unit 11 .

A predetermined priority is set for each of the plurality of types of predetermined work. The loading work has the highest priority, and the transshipment work has the second highest priority after the loading work. The stirring work and the ground leveling work have the same priority and are lower than the transshipment work. Predetermined priorities for the plurality of types of predetermined work are stored in the storage unit 52 as work priority information 81 .

The work determination unit 63 hierarchically performs fuzzy inference on the plurality of types of predetermined work by the first determination unit 71, the second determination unit 73, and the third determination unit 75, and determines which work the crane 14 is to perform. make a judgment. The first decision section 71 includes a first fuzzy reasoning section 72 , the second decision section 73 includes a second fuzzy reasoning section 74 , and the third decision section 75 includes a third fuzzy reasoning section 76 .

Based on the first degree of urgency calculated by the first fuzzy inference unit 72, the first determination unit 71 determines whether or not to cause the crane 14 to perform the input work, which is the work with the highest priority. As a result, when a situation arises in which the loading work is required, the loading work can be executed quickly.

If it is determined not to execute the input work, the second determination unit 73 selects transshipment work with the next highest priority after the input work based on the second degree of urgency calculated by the second fuzzy inference unit 74. It is determined whether or not the crane 14 is to be executed. As a result, in situations where loading work is not required but transshipment work is required, transshipment work can be carried out quickly.

When it is determined that the transshipment work is not to be performed, the third determination unit 75 makes a third fuzzy inference as to which of the stirring work and the ground leveling work should be performed by the crane 14, or neither should be performed. The determination is made based on the output value of the unit 76 . This makes it possible to cause the crane 14 to perform either the stirring work or the leveling work, whichever is more preferable, in a situation where neither loading work nor transshipment work is required. Further, when neither the stirring work nor the ground leveling work needs to be performed, neither work can be performed. It should be noted that the third determination unit 75 performs the above determination for a predetermined range selected from the stirring area. Details of the predetermined range will be described later.

[Process flow]
Next, the flow of processing (control method of the crane control device) executed by the crane control device 50 will be described below with reference to FIGS. 6 to 12. FIG. FIG. 6 is a flowchart showing the overall flow of processing executed by the crane control device 50. As shown in FIG.

As shown in FIG. 6 , first, the crane control device 50 outputs (i) height information about the height of the dust and (ii) the height information about the height of the dust in the dust storage section 11 from the dust height detection device 26 and the agitation information generation device 27 . Agitation information is received (S11).

The crane control device 50 also receives information about the height of the dust in the dust hopper 12 (hopper height) from the hopper height detector 31 of the dust hopper 12 (S13). Note that the above S11 and S13 are not limited to this order, and the order may be reversed, and the above S11 and S13 may be performed in parallel.

Next, the pit state information updating section 61 updates the pit state information based on the information received in S11 and S13 (S15). More specifically, the pit state information includes information on the state of dust in the dust storage section 11 and information on the hopper height of the dust hopper 12 . The pit state information includes information in which coordinate values, dust heights, and the number of times of stirring of each square partitioned in a three-dimensional array are associated with at least the stirring area in the dust storage unit 11 .

Next, the pit state evaluation unit 62 uses the updated pit state information to evaluate the pit state (S17).

Next, the work determination unit 63 determines whether or not an input request signal has been received (S19). Here, if the work determining unit 63 determines that the input request signal has been received from the input request signal generating unit 32 (YES in S19), the work determining unit 63 instructs the crane 14 to perform the work based on the priority and urgency of the plurality of types of work. A process for determining the work to be performed is performed (S23).

On the other hand, when the work determining unit 63 determines that the closing request signal has not been received from the closing request signal generating unit 32 (NO in S19), the work that the crane 14 was performing last time (immediately before the current time) ends. determine whether or not

Here, when the work determination unit 63 determines that the work has not been completed (NO in S21), the process returns to S19. This means continuing the work that the crane 14 is currently performing.

On the other hand, when the work determination unit 63 determines that the work has been completed (YES in S21), the process proceeds to S23. In other words, if the crane 14 has finished its work and the input request signal has not been received, the determination of the next crane work (processing of S23) is executed.

Then, the crane control unit 64 causes the crane 14 to perform the work determined to be performed by the work determination unit 63 in S23 (S25). It should be noted that when the work determination unit 63 determines in S23 that there is no work to be executed, the crane control unit 64 temporarily stops the crane 14 .

Note that, as described above, the crane control device 50 of the present embodiment, when the crane 14 is executing a certain work (NO in S21) and has received the closing request signal (YES in S19), process. This means that interrupt processing is performed when an input request signal is received. Thus, even when the crane 14 is executing a certain work, upon receiving the loading request signal, it is possible to quickly determine whether or not to execute the loading work with the highest priority.

(Details of work determination processing)
Details of the processing performed in S23 will be described with reference to FIG. FIG. 7 is a flow chart showing the flow of processing executed by the work determination unit 63 of the crane control device 50. As shown in FIG.

As shown in FIG. 7, the first fuzzy inference section 72 of the first determination section 71 performs the first fuzzy inference based on a plurality of pieces of information related to the input work, and calculates the urgency of the input work. Specifically, the first fuzzy reasoning unit 72 calculates the degree of urgency using the hopper height and the hopper height reduction speed as the information related to the input work. Note that the above information related to the input work may be acquired from the pit state evaluation section 62 . The hopper height can be specified from the detection value of the hopper height detector 31 . Also, the hopper height reduction speed can be calculated from the time-series change in the hopper height. The information used in the first fuzzy reasoning is not limited to the above information as long as it is correlated with the degree of urgency (or degree of margin) of input work.

This first fuzzy inference will be described below with reference to FIGS. 8 and 9. FIG. (a) of FIG. 8 is a diagram showing an example of a membership function relating to the hopper height. (b) of FIG. 8 is a diagram showing an example of a membership function relating to the hopper height decreasing speed. (c) of FIG. 8 is a diagram showing an example of a membership function relating to the urgency of input work.

The membership functions shown in (a) and (b) of FIG. 8 define three fuzzy sets: VS (Very Small), ME (Medium), and VB (Very Big). The membership function shown in FIG. 8(c) defines five fuzzy sets: VS, MS (medium small), ME, MB (medium big), and VB.

In the membership function shown in FIG. 8(a), the horizontal axis is the hopper height (higher toward the right), and the vertical axis is the fitness (0 to 1). In the membership function shown in FIG. 8(b), the horizontal axis is the hopper height decreasing speed (faster toward the right), and the vertical axis is the fitness (0 to 1). In the membership function shown in FIG. 8(c), the horizontal axis represents the urgency level (0 to 1) of input work, and the vertical axis represents the value of the membership function μ. An input work urgency level of 1 means that the urgency level is the maximum (urgent input work is required), and an input work urgency level of 0 means that the urgency level is the minimum (urgent input work is required). means that there is sufficient time to reach the required state).

The fuzzy rules used in the first fuzzy inference can be represented by the rule table shown in Table 1 below.

The rule table shown in Table 1 contains a total of five fuzzy rules, for example, "If the hopper height is VB (very high) and its decreasing speed urgency is MB (slightly high)".

The first fuzzy reasoning section 72 makes a first fuzzy reasoning based on the values of the hopper height and the hopper height decreasing rate received from the pit condition evaluating section 62 . A specific example of this first fuzzy inference will be described below with reference to FIG. FIG. 9 is a diagram for explaining a specific example of the first fuzzy inference.

As shown in FIG. 9, for example, the minimum possible value of the hopper height is H0 and the maximum value is H1, and the minimum value of the hopper height decreasing speed is V0 and the maximum value is V1. Assume, for example, that the hopper height received from the pit state evaluation unit 62 is Ha and the hopper height reduction speed is Va. Here, Ha is a value slightly higher than the center of the numerical range (H0 to H1) of the hopper height, and Va is similarly higher than the center of the numerical range (V0 to V1) of the hopper height reduction speed. It is a slightly higher value.

In this case, the first fuzzy inference can be performed as follows based on the rule table shown in Table 1 above. Both the hopper height and the hopper height reduction rate have zero goodness of fit to the fuzzy set of VS. Therefore, the following two fuzzy rules apply.
Rule 1: If the waste height in the hopper is VB (very high) and its decreasing speed is VB (very fast), the urgency of the loading operation is MB (slightly high).
Rule 2: If the height of the waste in the hopper is ME (normal) and its decreasing speed is ME (normal), the urgency of the loading operation is ME (normal).

In both rules 1 and 2 above, two antecedents (IF) are connected by "AND". Therefore, according to the rule of fuzzy operation, the value of the smaller one of the two antecedents is used as the fitness of the antecedent part of the rule. The fitness of the antecedent part of the obtained rule is the membership function value (μ) of the consequent part (THEN). As a result, the inference result of rule 1 becomes the trapezoidal portion (shaded portion) in the MB membership function, and the inference result of rule 2 becomes the trapezoidal portion (shaded portion) in the ME membership function.

Then, the first fuzzy inference unit 72 calculates the position of the center of gravity in the figure obtained by superimposing the two trapezoids obtained as the inference results of rule 1 and rule 2 as the urgency level (first urgency level) of the input work. (S33).

Next, the first determination unit 71 determines whether or not the input work is necessary using the urgency of the input work, which is the calculation result of S33 (S35). Specifically, when the urgency of the loading work is equal to or greater than a predetermined threshold, the first determination unit 71 determines that the loading work is to be executed (YES in S35), and causes the crane control unit 64 to perform the loading work (S37). ).

On the other hand, when the urgency of the input work is less than the predetermined threshold, the first determination unit 71 determines that the input work at that time is unnecessary (NO in S35), and transmits an event signal to the second determination unit 73. do.

Upon receiving the event signal transmitted from the first determination unit 71, the second fuzzy inference unit 74 of the second determination unit 73 performs a second fuzzy inference based on a plurality of pieces of information related to the transshipment work. The urgency of replacement work is calculated (S39). Specifically, the second fuzzy inference unit 74 uses the average garbage height of each square in the receiving area and the maximum garbage height of the squares in the receiving area as information related to the transshipment work to determine the degree of urgency. calculate. The information related to the transshipment work may be obtained from the pit state evaluation section 62 . The information used in the second fuzzy reasoning is not limited to the above information, as long as it is correlated with the degree of urgency (or degree of margin) of transshipment work.

The fuzzy rules used in the second fuzzy inference can be represented by the rule table shown in Table 2 below.

As the membership functions relating to the average garbage height, the maximum garbage height, and the urgency of the transshipment work, for example, a membership function having a fuzzy set similar to that of FIG. 8 can be used. Also, since the second fuzzy inference is the same as the first fuzzy inference described above, detailed description of the second fuzzy inference is omitted.

As described above, the second fuzzy reasoning unit 74 calculates the urgency level (second urgency level) of the transshipment work by the second fuzzy reasoning (S39).

Next, the second determination unit 73 determines whether transshipment work is necessary using the urgency of transshipment work, which is the calculation result of S39 (S41). Specifically, when the urgency of the transshipment work is equal to or greater than a predetermined threshold, the second determination unit 73 determines that the transshipment work is to be executed (YES in S41), and instructs the crane control unit 64 to execute the transshipment work. (S43).

On the other hand, if the urgency of the transshipment work is less than the predetermined threshold, the second determination unit 73 determines that the transshipment work at that point in time is unnecessary (NO in S41), and sends an event signal to the third determination unit 75. to send.

Next, upon receiving the event signal from the second determination unit 73, the third fuzzy inference unit 76 of the third determination unit 75 determines the dust state (flatness value and agitation value) of a specific range within the agitation area. A third fuzzy inference is made based on (S45). Then, the third determination unit 75 determines whether to cause the crane control unit 64 to perform agitation work, to perform ground leveling work, or to perform neither agitation work nor ground leveling work (S47). Details of the processing of S45 and S47 will be described later.

In S47, if it is determined that the stirring work is to be performed, or if it is determined that the ground leveling work is to be performed (YES in S47), the third determination unit 75 selects the work determined to be performed (the stirring work or the ground leveling work). The crane control unit 64 is made to execute (S51). On the other hand, when it is determined that neither the stirring work nor the leveling work should be performed (NO in S47), the third determination section 75 causes the crane control section 64 to stop the work by the crane 14 (S49).

(Details of the third fuzzy reasoning)
The determinations of S45 and S47 will be described below with reference to FIGS. 10 to 12. FIG. First, the flatness s and the churning degree m used for the third fuzzy inference will be explained.

The flatness s is an index indicating the degree of flatness of dust in a predetermined range of squares. The flatness s is maximized if the heights of dust particles in the predetermined range of squares are all the same, and the flatness s decreases as the height difference between the squares increases. For example, when calculating the flatness s of a range A1 of 3×3=9 squares as shown in FIG. Then, the total value of the differences is calculated. This total value is called the flat value sv. The "neighborhood" is a neighborhood (Neumann neighborhood) on the X, Y plane. The pit state evaluation unit 62 also calculates the flatness value sv for the range A2, and similarly calculates the flatness value sv for each range within the stirring area. Further, the pit state evaluation unit 62 specifies the maximum flatness value among the calculated flatness values sv as the maximum flatness value msv. Then, the pit state evaluation unit 62 normalizes the flatness value sv in each range using the maximum flatness value msv, and defines the normalized value as the flatness s. The pit state evaluation unit 62 may calculate the flatness s by, for example, the following formula (1).

Flatness s = 1 - (flatness value sv) / (maximum flatness value msv) Equation (1)
The graph of Equation (1) is shown in FIG. 10(a). As shown, the flatness s ranges from 0 to 1. More specifically, the flatness s is closer to 1 as the flatness value sv is closer to 0 (the masses within the predetermined range are closer to flatness), and is closer to 0 as the flatness value sv is closer to the maximum flatness value msv. becomes. Note that the flatness s is not limited to this example as long as it indicates the degree of flatness of dust in a predetermined range of squares. For example, the average value of the flatness values sv in each predetermined range may be calculated, a numerical value indicating the variation from the average value may be calculated for each predetermined range, and the normalized numerical value may be used as the flatness s. Further, for example, the flatness s may be calculated using a learned model constructed by machine learning using an image of a dust surface with a known flatness s.

On the other hand, the degree of agitation m is an index indicating the degree of agitation of the dust at each position (the position represented by the coordinate values of X and Y) in the dust storage section 11 . For example, when calculating the degree of agitation m, the pit state evaluation unit 62 may first calculate an agitation value mv at each position in the agitation area using the following formula (2). Note that the following evaluation coefficients are coefficients set so that the number of times of agitation of a mass near the surface of the dust has a greater influence on the agitation value mv than the number of times of agitation of a mass far from the surface of the dust (a mass located at a deep position). is. For example, the evaluation coefficient of the mass corresponding to the surface of the dust may be set to the maximum value, and a smaller value of the evaluation coefficient may be used as the distance from the surface increases (the value of Z decreases). The reason for using such an evaluation coefficient is that the dust thrown into the dust hopper 12 is near the surface. Alternatively, the evaluation coefficient may be set to increase as the distance from the position where the bucket 17 of the crane 14 releases the dust to the surface of the dust increases in the height direction inside the dust storage section 11 . This is because a higher stirring effect can be expected as the dust falling distance increases.

Stirring value mv = Σ (stirring times of coordinates (X, Y) x evaluation coefficient) Equation (2)
Then, the stirring degree m may be calculated from the calculated stirring value mv by the following formula (3). With this formula, the degree of stirring m in which the stirring value mv is normalized in the range of 0 to 1 can be calculated.

Stirring degree m = (stirring value mv) / (maximum stirring value mmv) Equation (3)
A graphical representation of Equation (3) is shown in FIG. 10(b). As shown, the degree of agitation m ranges from 0 to 1. More specifically, the agitation degree m approaches 0 as the agitation value mv approaches 0 (the number of agitations is small), and approaches 1 as the agitation value mv approaches the maximum agitation value mmv. Note that the agitation degree m is not limited to this example as long as it indicates the degree of agitation of the dust at each position in the dust storage section 11 .

As described above, since the flatness s is calculated for the predetermined range of the dust storage section 11, the pit state evaluation section 62 first selects the range when calculating the flatness s. For example, the pit state evaluation unit 62 may select a range based on a predetermined standard from candidates such as range A1 and range A2 shown in FIG. The predetermined reference is not particularly limited, and for example, the selection may be made sequentially from the upper left corner of the dust storage section 11 toward the lower right corner.

Also, the pit state evaluation unit 62 calculates the agitation degree m representing the range from the agitation degree m at each position (X, Y) in the selected range. For example, the pit state evaluation unit 62 may calculate an average value of the stirring degree m at each position in the above range as the stirring degree m representing the range.

The third fuzzy inference executed by the third fuzzy inference section 76 will be described below with reference to FIG. FIG. 12(a) is a diagram showing an example of a membership function relating to flatness s. FIG. 12(b) is a diagram showing an example of a membership function related to the stirring degree m. (c) of FIG. 12 is a diagram showing an example of a membership function relating to the urgency of the stirring work.

An example of membership functions shown in FIGS. 12(a) and 12(b) defines three fuzzy sets VS, ME, and VB. An example of the membership function shown in FIG. 12(c) also defines three fuzzy sets VS, ME, and VB.

In the membership function shown in FIG. 12(a), the horizontal axis is the flatness s (higher toward the right), and the vertical axis is the fitness (0 to 1). In the membership function shown in FIG. 12(b), the abscissa indicates the degree of agitation m (higher toward the right), and the ordinate indicates the fitness (0 to 1). Here, in the membership function shown in FIG. 12(c), VB indicates that the urgency of the stirring work is high, and VS indicates that the urgency of the stirring work is low (the leveling work should be prioritized). represents. Note that the setting of such a membership function is not particularly limited as long as it is possible to make the desired determination (here, the determination of whether to perform the stirring work or the ground leveling work). not something. For example, VB may say that the level of urgency for grading is high.

The membership function shown in (c) of FIG. 12 means that the crane 14 should be made to perform the leveling work when the final output result of the third fuzzy inference corresponds to VS. Also, if the final output result of the third fuzzy reasoning corresponds to VB, it means that the crane 14 should be caused to perform the stirring work. Also, if the final output result by the third fuzzy reasoning corresponds to the ME, a rule is set in advance to perform either the stirring work or the ground leveling work, for example, the crane 14 is caused to perform the stirring work. You should keep it.

The fuzzy rule used in the third fuzzy inference can be any rule that can determine whether to perform the stirring work or the ground leveling work based on the flatness s and the stirring degree m. is a rule.
Rule 1: If the degree of flatness s is VB (very large) and the degree of stirring m is VS (very small), then the stirring operation should be performed (VB).
Rule 2: If the flatness s is VS (very small) and the agitation m is VB (very large), then leveling should be done (VS).

In addition to the above rules 1 and 2, other rules can be set as appropriate. For example, if the final output result of the third fuzzy inference corresponds to ME as described above, and the stirring work is to be executed, the following rules can be set. For example, if the degree of flatness s is VB (very large) and the degree of stirring m is ME (normal), the rule is that if anything, stirring should be performed (ME), or if the degree of flatness s is VS (very In addition to the above rules 1 and 2, a rule such as that if the degree of agitation m is ME (medium), ground leveling work should be performed (VS), or the like may be set.

Further, when the flatness s is VB (very large) and the fitness is 1, and the stirring degree m is VB (very large) and the fitness is 1, the third fuzzy reasoning unit 76 may determine that neither agitation nor leveling operations need to be performed. Further, the third fuzzy reasoning unit 76 determines that, for example, when both the flatness s and the stirring degree m are VB and the matching degree is equal to or greater than a predetermined threshold value, neither the stirring work nor the leveling work need be executed. You can judge. As a result, the stirring work and the leveling work can be avoided in the range where the flatness s and the stirring degree m are sufficient. In this case, the third fuzzy reasoning unit 76 uses the flatness s and the stirring degree m calculated for the other range by the pit state evaluating unit 62 to perform either the stirring work or the leveling work in the other range. It is necessary to determine whether

Further, when the flatness s is ME (normal) and the stirring degree m is also ME (normal), or the flatness s is VS (very small) and the stirring degree m is also VS (very small) It is also possible that As described above, when the final output result of the third fuzzy inference corresponds to ME, the third fuzzy inference unit 76 may determine that either the stirring work or the leveling work should be performed. . In this case, it may be determined in advance which of the stirring work and the ground leveling work should be performed.

For example, depending on the setting of fuzzy rules by the third fuzzy reasoning section 76, the final output result of the third fuzzy reasoning may not correspond to any of VS, ME, and VB. In that case, the third determination unit 75 may adopt the previous determination result as it is. Thereby, the processing executed by the crane control device 50 can be further stabilized.

The membership functions and fuzzy rules described above are stored in the storage unit 52 as membership functions 84 and fuzzy rules 83 . The membership functions and fuzzy rules may be prestored in the first fuzzy reasoner 72, the second fuzzy reasoner 74, and the third fuzzy reasoner 76, respectively. It should be noted that the above membership functions and fuzzy rules are merely examples, and the present invention is not limited to these. Membership functions and fuzzy rules can be modified accordingly.

[Modification]
(a) As described in the above embodiment, when the crane 14 finishes the work in S21 (see FIG. 6), the work determination unit 63 may perform the following processing. That is, when the first determination unit 71 has not received a loading request signal, the loading operation is triggered by the fact that the crane 14 has completed any one of the loading operation, the transshipment operation, the stirring operation, and the ground leveling operation. It may be determined whether or not to cause the crane to perform the work. As a result, it is possible to prevent the crane 14 from being temporarily stopped unnecessarily, so that various kinds of processing in the garbage pit 1 can be efficiently performed.

(b) The present invention can be applied to a crane control device as in the above embodiment, and can also be applied to an information processing device that does not have a crane control function. In this case, the information processing device may determine the work to be performed by the crane and notify the crane control device of the determined work.

(c) A plurality of dust hoppers 12 may be provided in the dust pit 1 . In this case, the crane controller 50 receives information from each of the two trash hoppers 12 . The first fuzzy inference section 72 may determine whether or not the throwing operation is necessary for each of the two garbage hoppers 12 based on the information received from each of the two garbage hoppers 12 .

(d) The input request signal generator 32 may generate an input request signal at predetermined time intervals.

[Example of realization by software]
The control blocks of the crane control device 50 (particularly each part included in the control unit 51) may be realized by a logic circuit (hardware) formed in an integrated circuit (IC chip) or the like, or may be realized by software. good.

In the latter case, the crane control device 50 has a computer that executes instructions of a program, which is software that implements each function. This computer includes, for example, one or more processors, and a computer-readable recording medium storing the program. In the computer, the processor reads the program from the recording medium and executes it, thereby achieving the object of the present invention. As the processor, for example, a CPU (Central Processing Unit) can be used. As the recording medium, a "non-temporary tangible medium" such as a ROM (Read Only Memory), a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like can be used. In addition, a RAM (Random Access Memory) for developing the above program may be further provided. Also, the program may be supplied to the computer via any transmission medium (communication network, broadcast wave, etc.) capable of transmitting the program. Note that one aspect of the present invention can also be implemented in the form of a data signal embedded in a carrier wave in which the program is embodied by electronic transmission.

The present invention is not limited to the above-described embodiments, and can be modified in various ways within the scope of the claims. It is included in the technical scope of the invention.

[Additional notes]
A crane control device according to an aspect of the present invention is a crane control device that causes a crane that transports garbage in a garbage pit to perform a plurality of types of predetermined work, wherein among the plurality of types of predetermined work, a predetermined For the first work having the determined priority, based on the first urgency calculated by the first fuzzy inference based on a plurality of information related to the first work, the first work is performed by the crane and a first determination unit that determines whether or not to execute the first work, and if the first determination unit determines not to execute the first work, a second work having the next highest priority after the first work a second determination unit that determines whether or not to cause the crane to perform the second work based on a second degree of urgency calculated by second fuzzy inference based on a plurality of pieces of information related to the work; I have.

The first work is the work of throwing the garbage in the garbage pit into the garbage hopper. The value of the subject part uses a fuzzy rule in which the first degree of urgency is used, the first determination unit calculates the first degree of urgency, and the calculated degree of urgency is equal to or greater than a predetermined threshold It may be determined whether or not to cause the crane to perform the loading work, depending on whether or not.

The second work is a transshipment work of reloading the refuse from the reception area for receiving the refuse brought into the refuse pit to the agitation area for stirring the refuse, and the second fuzzy reasoning is , a plurality of pieces of information about the state of garbage in the receiving area are included in the antecedent part, and the value of the consequent part is the second urgency level. When the first determination unit determines not to execute the loading work, the second urgency is calculated, and depending on whether or not the calculated urgency is equal to or greater than a predetermined threshold, the transshipment work is performed by the crane. It may be determined whether or not to execute the

In addition, among the plurality of types of predetermined work, the work with the highest priority next to the transshipment work is the work of stirring the garbage in the garbage pit with the crane, and the work of adjusting the height of the garbage in the garbage pit. When the second determining unit determines that the transshipment work is not to be performed, the crane is caused to perform the stirring work, the ground leveling work is performed, or the stirring work is performed. and a third judgment unit for judging by a third fuzzy reasoning whether neither of the ground leveling work and the ground leveling work is to be executed, the third fuzzy reasoning includes information on the degree of agitation of the garbage in the garbage pit and information on the degree of flatness of the garbage. may be included in the antecedent part, and the consequent part may be a fuzzy rule in which the determination result of causing the crane to perform the stirring work or the ground leveling work or not to perform any of them is the consequent part.

In addition, the first determination unit executes the loading work on the crane when the crane finishes any one of the loading work, the transshipment work, the stirring work, and the ground leveling work as a trigger. It may be determined whether or not to allow

A crane control device according to an aspect of the present invention is a crane control device that causes a crane that transports garbage in a garbage pit to perform a plurality of types of predetermined work, wherein the plurality of types of predetermined work are performed by the crane. including an agitating operation of agitating the garbage in the garbage pit and a leveling operation of flattening the height of the garbage in the garbage pit, causing the crane to perform the agitating operation for the garbage in a predetermined range in the garbage pit; Whether the ground leveling work is to be performed or neither the stirring work nor the ground leveling work is to be performed is determined by the degree of agitation indicating the degree of stirring of the dust in the predetermined range and the degree of flatness of the dust in the predetermined range. A decision unit is provided for making a decision by fuzzy inference based on the flatness shown.

A control method for a crane control device according to an aspect of the present invention is a control method for a crane control device that causes a crane that transports garbage in a garbage pit to perform a plurality of types of predetermined work, wherein the plurality of types of predetermined work are performed. Among them, for the first work having a predetermined priority, based on the first urgency calculated by the first fuzzy inference based on a plurality of information related to the first work, the first a first determination step of determining whether or not to cause the crane to execute the work No. 1; Based on a second degree of urgency calculated by a second fuzzy inference based on a plurality of pieces of information related to a second work with a high priority, it is determined whether or not to cause the crane to perform the second work. and a second determination step.

The crane control device according to each aspect of the present invention may be realized by a computer. In this case, the crane control device is operated by operating the computer as each part (software element) provided in the crane control device. An information processing program realized by , and a computer-readable recording medium recording it are also included in the scope of the present invention.

1 Garbage Pit 12 Garbage Hopper 14 Crane 50 Crane Control Device 71 First Judging Section 73 Second Judging Section 83 Fuzzy Rule

Claims (6)

A crane control device that causes a crane that transports garbage in a garbage pit to perform a plurality of types of predetermined work,
A first urgency calculated by a first fuzzy inference based on a plurality of pieces of information related to the first task for a first task having a predetermined priority among the plurality of types of predetermined tasks a first determination unit that determines whether or not to cause the crane to perform the first work based on the degree;
When the first determination unit determines not to execute the first work, by a second fuzzy inference based on a plurality of pieces of information related to a second work having a priority next to the first work a second determination unit that determines whether or not to cause the crane to perform the second work based on the calculated second degree of urgency ,
The first work is a throwing work of throwing the garbage in the garbage pit into a garbage hopper,
The first fuzzy inference uses a fuzzy rule in which the antecedent part contains a plurality of pieces of information about the state of the garbage in the garbage hopper and the value of the consequent part is the first degree of urgency,
The first determination unit calculates the first degree of urgency, and determines whether or not to cause the crane to execute the loading work based on whether the calculated degree of urgency is equal to or greater than a predetermined threshold,
The second work is a transshipment work of transshipping the refuse from the reception area for receiving the refuse brought into the refuse pit to the agitation area for agitation of the refuse,
The second fuzzy reasoning uses a fuzzy rule in which the antecedent part contains a plurality of pieces of information regarding the state of garbage in the reception area and the consequent part value is the second urgency level,
The second determination unit calculates the second urgency when the first determination unit determines not to execute the input work, and determines whether or not the calculated urgency is equal to or greater than a predetermined threshold. , determining whether or not to cause the crane to perform the transshipment work,
Among the plurality of types of predetermined work, the work with the highest priority next to the transshipment work is the stirring work of stirring the garbage in the garbage pit with the crane, and the leveling of the height of the garbage in the garbage pit. It is a ground leveling work to
When the second determination unit determines not to perform the transshipment work, the crane is caused to perform the stirring work, the leveling work is performed, or both the stirring work and the leveling work are performed. further comprising a third determination unit that determines whether or not to allow the
The third fuzzy inference includes information on the degree of agitation of the garbage in the garbage pit and information on the degree of flatness in the antecedent part, and causes the crane to perform the agitation work or the ground leveling work, or neither. A crane control device characterized in that a judgment result uses a fuzzy rule which is a consequent part . The first determination unit causes the crane to perform the loading work when the crane finishes any one of the loading work, the transshipment work, the stirring work, and the ground leveling work as a trigger. 2. The crane control device according to claim 1 , wherein it is determined whether or not. A crane control device that causes a crane that transports garbage in a garbage pit to perform a plurality of types of predetermined work,
The plurality of types of predetermined work includes an agitation work of stirring the garbage in the garbage pit with the crane and a leveling work of flattening the height of the garbage in the garbage pit,
Whether the crane is caused to perform the agitation work, the ground leveling work, or neither the agitation work nor the ground leveling work for the trash in the predetermined range in the trash pit is determined. and a determination unit that determines by fuzzy inference based on the degree of agitation indicating the degree of agitation of the dust and the flatness indicating the degree of flatness of the dust in the predetermined range. A control method for a crane control device that causes a crane that transports garbage in a garbage pit to perform a plurality of types of predetermined work, comprising:
The plurality of types of predetermined work includes a stirring work of stirring the dust in the dust pit with the crane, and a leveling work of flattening the height of the dust in the dust pit,
Whether the crane is caused to perform the agitation work, the ground leveling work, or neither the agitation work nor the ground leveling work for the trash in the predetermined range in the trash pit is determined. A control method for a crane control device, comprising a determination step for determining by fuzzy inference based on the degree of agitation indicating the degree of agitation of the dust and the flatness indicating the degree of flatness of the dust in the predetermined range. . A control program for causing a computer to function as the crane control device according to claim 3 , the control program for causing the computer to function as the determination unit . A computer-readable recording medium on which the control program according to claim 5 is recorded.

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