​Field of technology
[0001]
​The present invention relates to a computing device and the like for creating an operation schedule of a crane in a refuse pit provided in a refuse incineration facility
​Related art
[0002]
​The garbage incineration facility is provided with a refuse pit for temporarily storing dust carried in by a garbage collection vehicle, the dust in the refuse pit is agitated by a crane, and then fed into an incinerator and incinerated. The agitation is performed to homogenize the quality of dust to be fed into the incinerator, it is an important process for stably burning dust
[0003]
​Improvement of a garbage stirring method is conventionally carried out. For example, the following patent document 1 detects a color distribution in a dust pit, and moving the dust in the dust pit so that the whole of the dust pit has the same color distribution. Also, as a technique relating to automatic operation of a crane in a refuse pit, the following patent document 2 is also cited
​Prior art literature
​Patent document
[0004]
​Patent document 1: japanese patent application laid-open no. 64-49815 (published on feb. 27, 1989)
​Patent document 2: japanese patent application laid-open no. 56-28188 (published mar. 19, 1981)
​The present invention
​Problem to be solved by the invention
[0005]
​However, none of the conventional techniques as described above is a crane # (# 1) it is not sufficient to fully automate the operation. For example, in the technique of patent document 1, stirring is performed so that the color distribution becomes uniform, the color of the dust does not necessarily represent dust quality, in addition, the degree of stirring is not known by the color of dust. The patent document (1) there is a case in which a stirring state in which dust quality is uniform cannot be obtained in some cases ​In the present state, an evaluation index for dust quality enough for practical use is not present, thereby making it difficult to automatically create the operation schedule of the crane. Also, the patent document (2) the height of the dust layer is determined by the technique of the present invention, it is possible to automatically replace the dust from a high place to a low place, the uniformity of dust quality is not taken into consideration, it is impossible to perform a stirring state in which the dust quality is equalized
[0006]
​As described above, in the prior art, to automatically create an operation schedule of a crane capable of uniformly agitating dust, the crane cannot be automatically operated according to the schedule. Therefore, in the present situation, many garbage incineration facilities are provided, a crane is operated by experience or intuition by an operator, depending on the quality of the operator, there is a problem that the fluctuation of the dust quality to a certain degree cannot be avoided ​Further, in recent years, miniaturization of refuse incineration equipment is progressing, the manufacturing cost of the refuse incineration equipment can be reduced by miniaturization, the dust storage part becomes narrower, and dust is laminated in a narrow space, it is difficult to perform a stirring operation for the homogenization of the refuse quality. Further, the garbage is carried into the narrow refuse storage part one after another, there is also a time restriction that the time for loading the refuse is limited and the time for agitating the dust is limited, there is a possibility that the combustion of dust becomes unstable by being incinerated while the sufficient agitation is not performed
[0007]
​The present invention has been made in view of the above problems, the purpose of the present invention is to provide a crane which does not rely on experience and intuition of an operator of a crane, to provide a computing device and the like capable of automatically creating an operation schedule of a crane capable of setting dust into a predetermined state
​Means for solving the problem
[0008]
​In order to solve the above problems, the calculation device according to the present invention is provided, there is provided a computing device for creating an operation schedule for a predetermined period of a crane for conveying dust in a garbage pit, a first generation gene generation part for generating a gene group consisting of a gene showing an operation pattern of movement and opening/closing of the crane during the predetermined period, the evaluation of the fitness of each gene contained in the gene group and the update of the gene group based on the evaluation are repeated, the dust in the initial state is set to a predetermined state ​; an optimization calculation unit for selecting a gene indicating an operation pattern that can be brought close to the state, and a control means for controlling the operation of the control means
[0009]
​The control method of the computing device according to the present invention is provided to solve the above problems, there is provided a control method of a computing device for creating an operation schedule for a predetermined period of a crane for conveying dust in a garbage pit, a first generation gene generation step of generating a gene group consisting of a gene showing an operation pattern of movement and opening/closing of the crane in the predetermined period, the evaluation of the fitness of each gene contained in the gene group and the update of the gene group based on the evaluation are repeated, the dust in the initial state is set to a predetermined state ​; and an optimization calculation step of selecting a gene indicating an operation pattern that can be brought close to the state
​Effects of the invention
[0010]
​The present invention does not rely on experience and intuition of an operator of a crane, the state of dust in the dust pit is set to a predetermined state, the operation schedule of the crane capable of being brought close to the state can be automatically created
​Simple description of drawings
[0011]
​FIG. 1 is a block diagram showing an example of a main part configuration of a crane control device according to an embodiment of the present invention
​FIG. 2 is a cross-sectional view showing a schematic configuration of a garbage incineration facility having a dust pit
​FIG. 3 is a diagram showing a state in which a garbage storage part and a hopper in the dust pit are viewed from above
​FIG. 4 is a diagram showing an example of pit state information
​FIG. 5 is a diagram illustrating an example of area setting
​FIG. 6 is a diagram illustrating an overview of optimization operations using a genetic algorithm
​FIG. 7 is a diagram illustrating an example of a pit model image
​FIG. 8 is a flowchart illustrating an example of processing executed by the crane control device;
​FIG. 9 is a flowchart showing an example of an optimization operation executed by the crane control device; and
​FIG. 10 is a diagram showing an example of an operation schedule of an area unit
​Means for carrying out the invention
[0012]
​A first embodiment of the present invention will be described
​An embodiment of the present invention is described with reference to FIGS. 1-9. the present invention relates to a crane # 1 for conveying dust in a garbage pit (# 1) the present invention relates to a computing device and the like for creating an operation schedule, here, a garbage pit and a garbage incineration facility including a dust pit are described with reference to FIG. 2
[0013]
​Outline of garbage incineration facility
​FIG. 2 is a cross-sectional view showing a schematic configuration of a garbage incineration facility having a dust pit. To solve the problem that a refuse incineration facility shown in the figure includes a garbage pit for temporarily storing dust carried in by a garbage collection vehicle p; a dust pit (1); and an incinerator (2) for burning the dust in the dust pit (1). A garbage pit 1 and an incinerator 2 include: a hopper (12) the garbage in the refuse pit 1 is connected to a hopper (12) is fed into the incinerator 2 and incinerated
[0014]
​The bottom part of the garbage pit 1 serves as a dust storage part 11 the garbage collection vehicle p includes a carrying-in door (11a) the refuse is dropped into the refuse storage part 11 from the refuse storage part 11 and the refuse is stored in the refuse storage part (11) (dust g shown in the figure)
[0015]
​The garbage storage part 11 and the hopper 12 are covered with a building 13 the building (13) is provided with a crane 14. A crane 14 includes: a girder 15; a traverse truck 16; a bucket (17); a wire 18; and a winder 19. The girder 15 extends in a depth direction of a rail (the figure) respectively provided on opposed wall surfaces of the building 13) and is disposed so as to bridge between, and can be moved along the rail in the depth direction of the figure ​The traverse truck 16 is provided on the girder 15, in the right and left direction (girder) of the figure on the girder 15, (15) can be moved in a direction orthogonal to the moving direction of the motor. The traverse truck 16 is provided with a winding machine 19 (for example, a winch) which extends from the winding machine 19 is mounted on the wire (18) and a bucket (17) for gripping the dust (G) is provided at a tip of the bucket (17). The bucket 17 can perform opening/closing operation
[0016]
​Thus, the girder 15 can be moved in the depth direction in the figure, and the traverse truck (16) can be moved in the right and left directions of the figure and the bucket (17) can be moved to an arbitrary position in the garbage storage part 11. the wire (18) of the bucket 17 is extended and the bucket 17 is lowered, the garbage g in the garbage storage part 11 can be grasped by the bucket 17 ​The gripped garbage g includes a girder 15, a traverse truck 16, a bucket 17, and a winder (19) of the garbage storage part 11 to another position in the garbage storage part 11 by controlling the operation of the hopper (12) can be turned on
[0017]
​The operation control of the crane 14 is such that the side wall part of the building 13 can be monitored so that the inside of the garbage storage part 11 can be monitored (13a) can be manually performed from an operation chamber (21) provided in the housing, and can be automatically performed by a crane control device, as will be described later
[0018]
​Although only one crane 14 is shown in fig. 2, a crane is shown (14) may be provided in a plurality of groups. A crane (14) can be sufficiently agitated in comparison with a case where only one is provided. For example, when a crane 14 is provided in two groups, (12) the other crane 14 can be made to concentrate on stirring
[0019]
​The incinerator 2 includes a combustion chamber 3 and a dust guide passage (4) an ash take-out port 5 and a flue 6. A garbage g thrown into a hopper 12 flows through a dust guide passage 4 to a combustion chamber (3) and the ash produced by incineration is blown into an ash take-out port (5) and the smoke generated by incineration is discharged from the flue 6. Although not shown, the incinerator (2) the boiler is provided with a boiler, and heat generated by burning the refuse g is supplied to the boiler, power generation is performed by the steam generated by the boiler
[0020]
​Garbage storage unit
​Subsequently, the details of the garbage storage unit (11) will be described with reference to FIG. 3. FIG. 3 is a diagram showing a state in which a garbage storage part 11 and a hopper 12 are viewed from above. A dust storage part 11 shown in the figure has a horizontally long rectangular shape, (3つ) of carrying-in doors 11a are located on the opposite long sides (2つ) of hopper 12 is located. Each hopper 12 is composed of the same incinerator (2) the garbage may be supplied to a different incinerator (2) it is possible to supply dust to the heat sink. That is, a plurality of incineration furnaces 2 May be included in the garbage incineration equipment of the present embodiment
[0021]
​In operation of a refuse pit (1), a crane is efficiently installed in a garbage storage part (11) having a limited volume (14) is operated so as to properly agitate and convey the dust. The shape of the dust storage part 11 is not limited to a rectangular shape, but may be a square shape. The position, number, and shape of the hopper 12 are not particularly limited
[0022]
​Crane control device
​Next, an operation schedule of the above-described crane 14 is created, and the crane (14) of a crane control device for automatically operating the crane control device according to the first embodiment of the present invention; FIG. 4 is a diagram (1) on the basis of the result of the determination. There is provided (1) of the crane control device (computing device) (50) is a block diagram showing an example of a configuration of a main part of the power supply device according to the first embodiment of the present invention. The crane control device (50) may be disposed in the above-described operation chamber 21 or may be disposed at another place
[0023]
​The crane control device 50, as shown in the figure, is a crane control device (50); and a control unit (51) and a crane control unit (51) for collectively controlling each part of the control unit (51) (50); and a storage unit (52) for storing various kinds of data to be used by the storage unit (52). The crane control device 50 includes: an input part for receiving input of an user to the crane control device 50; an input part (53) and the crane control device 50 communicates with another device (54); and a display unit (55) for displaying an image according to the control of the control unit (51). The display part 55 is a crane control device (50) may be integrally formed, or may be externally attached
[0024]
​The control unit (51) further includes a restriction condition setting unit (61) and a first generation gene generation unit (62); a pit state prediction unit 64; a pit model generation unit 65; and a crane control unit (66); a hopper insertion instruction detection unit 67; and a pit state monitoring unit 68. An operation schedule 71 and pit state information 72 are stored in the storage part 52
[0025]
​A constraint condition setting unit 61 sets an optimization calculation unit (63) a constraint condition in the optimization operation by the optimization calculation is set. A constraint condition setting unit (61) an area setting in the dust pit 1 and an area setting in the dust pit 1 are set, an acceptance setting for loading of dust is included. The restriction condition setting unit 61 also includes a period (hereinafter referred to as a schedule period) to be a target for creating an operation schedule) and calculates the number of times of stirring that can be executed by the first generation gene generation part (62) on the basis of the result of the determination. Details of these are described later
[0026]
​A first generation gene generation part 62 generates a crane in a schedule period (14) and a gene group consisting of a gene showing an operation pattern of opening and closing is generated. The gene is described in detail later, the position information indicating the gripping position of the dust in the schedule period and the position information indicating the separation position of the dust, and the arrangement order of the position information in the gene is the same as that of the crane (14) position (more specifically, the position of the bucket 17)
[0027]
​The optimization calculation unit 63 is under the constraints set by the constraint condition setting unit 61, and the garbage in the refuse pit 1 is in a predetermined stirring state (14) of operation patterns are calculated by an optimization operation. Specifically, an optimization calculation unit (63) of the first generation gene generation part (62) and the evaluation of the fitness by the evaluation function of each gene included in the gene group generated by the genetic algorithm and the updating of the gene group based on the evaluation are repeated, a gene having improved adaptability is selected ​The details are described later, and the evaluation function is a crane in an operation pattern indicated by the gene (14) when the state of the dust in the dust pit 1 is closer to a predetermined state, the evaluation of the adaptability becomes higher. Thereby, an initial state (a state indicated by the pit state information 72) is obtained) is brought into a predetermined state, or a gene indicating an operation pattern that can be brought close to the state is selected. The optimization calculation unit 63 stores the selected gene in the storage unit 52 as an operation schedule 71
[0028]
​A pit state prediction unit 64 predicts a pit state according to an operation pattern indicated by the gene selected by the optimization calculation unit 63 (14) and generates pit state prediction information indicating the state of the dust in the dust storage part 11 after the operation of the dust storage part 11. the generated pit state prediction information is used to generate a pit model image by a pit model generation part 65
[0029]
​It is to be noted that the operation of any crane 14, and how the height of dust and the number of times of stirring are changed is previously modeled and stored. For example, the height of 0.5 m is reduced for one operation of grasping dust, the height of 0.5 m increases per one operation for separating the dust, it is also possible to use a model in which the number of times of stirring at the separated positions increases once. Thereby, the optimization calculation unit (63) in the garbage storage part 11 at the time when the operation of the operation pattern indicated by the gene generated by the gene is completed, (# 1) and calculates an estimated value of the height of the refuse at each position and the number of times of stirring, pit state prediction information can be generated
[0030]
​Further, although details are described later, the pit state prediction information includes a dust pit (1) of garbage in the garbage pit 1 and a hopper of dust in the refuse pit 1 (12) is reflected in the optimization operation
[0031]
​A pit model generation part 65 generates a pit state prediction part (64) and generates a pit model image using the pit state prediction information generated by the pit state prediction information. A pit model image includes: an optimization calculation part 63 for generating a pit model image on the basis of an operation pattern indicated by a gene generated by an optimization calculation part 63, (14) is operated, the state of dust in the dust pit 1 is three-dimensionally. A pit model generation part 65 displays the generated pit model image on a display part 55
[0032]
​The crane control unit 66 controls the crane according to the operation pattern indicated by the gene generated by the optimization calculation unit 63 (14) is operated. The hopper insertion instruction detection unit (67) to the hopper 12 when the introduction instruction of dust to the hopper 12 is detected, the operation of the operation schedule is stopped, and dust is thrown into the hopper 12
[0033]
​A hopper insertion instruction detection section 67 detects the instruction to input dust into the hopper 12 and controls the crane control section (66) on the basis of the result of the determination. Specifically, a hopper charging instruction detection part (67) in which the height of the dust in the hopper 12 is less than or equal to the predetermined number # (# 1) and notifies the hopper height notification device that the lower limit value is equal to or less than the lower limit value (30) when the notification is received via the communication unit 54, (12) it is detected that there is an instruction to feed dust to the outside
[0034]
​The pit state monitoring part 68 monitors the state of the dust pit 1, in particular, the dust storage part (11) to monitor the height of the dust and the number of times of stirring. A pit state monitoring part 68 includes: a dust storage part (11) into a plurality of sections (details are described later) and manages them, generates pit state information indicating the height of dust in each compartment and the number of times of stirring, and stores the information in a storage part 52. the pit state monitoring part 68 is configured so that the pit state monitoring part 68 monitors the state of the crane (14); and a control means for controlling the operation of the storage part. when the refuse is replaced or agitated by the storage part (52) and updates the height and the number of times of agitation of the dust stored in the storage means ​The height of the dust is the wire when the bucket 17 reaches the dust (18) the number of times of stirring can be measured by the length of the crane (14) when the operation of separating the dust is performed, the operation is increased once with respect to the section in which the operation is performed. In other words, "agitation" in this embodiment is the same as that of the crane (14) of the crane 14 and the bucket of the crane 14 after being gripped and lifted (17) is opened to remove the dust into the dust storage part 11. the position at which the dust is to be grasped may be the same. Even when the refuse bag is separated at the same position, the garbage bag is broken, and the agitation degree of the dust is increased ​Further, the height of the dust is to analyze the image captured in the dust storage part 11, or by using a sensor or the like
[0035]
​An operation schedule (71) includes a schedule (operation pattern) for operating a crane (14) during a schedule period); and an optimization calculation unit (63) the generated gene is an operation schedule 71
[0036]
​The pit state information 72 is a state in the dust pit 1, in particular, a dust storage part (11) is information indicating the height of the garbage and the number of times of stirring, and is generated and updated by the pit state monitoring section 68 as described above
[0037]
​The pit state information 72 May be information as shown in FIG. 4, for example. FIG. 4 shows pit state information (72) of the present invention; and FIG. 4 is a diagram showing an example of the configuration of the power supply device according to the present invention. A pit state information (72) the inside of the garbage storage part 11 is divided into 80 sections of 5 × 16 × 16 in the vertical direction, and information indicating the height of dust in each compartment and the number of times of stirring. The numerical value of the upper stage described in each section indicates the height of the dust, and the lower numerical value indicates the number of times of stirring. The position of each section includes a coordinate value (x = 1, 2.. 16) of (x, y)), (y = 1, 2, 5)
[0038]
​By referring to the pit state information 72, the dust storage part (11) the height of the dust at each position and the number of times of stirring can be specified. For example, the division of the coordinate values (5, 3) has a height of 1400 (cm) and a stirring number of 4 times. It is to be noted that, in the present example, the vertical and horizontal sizes of one section are set to be equal to or smaller than that of the crane (14) to be equal to a range in which one can be grasped, the size of each section is not limited to this example, and for example, the size may be half the size of this example

WE CLAIM:
[
Claim 1
]
A calculation device that prepares an operation
schedule of
a crane for a predetermined period, the crane
trans
ferring waste in a waste pit
, said calculation device
5
comprising:
a first
-
generation gene generating section that generates
a gene group including
genes
each of which indicates an
operation pattern of the crane in the predetermined period, the
operation p
attern defining movement, opening, and closing of
10
the crane; and
an optimization calculation section that selects, based
on an evolutionary algorithm, a gene indicating an operation
pattern with which an initial state of the waste is
caused
to
become or b
ecome closer to
a
predetermined state
, the
15
evolutionary algorithm being an algorithm in which evaluation
of fitness of each of the
genes
included in the gene group and
update of
the
gene group based on the evaluation
are
repeatedly carried out.
20
[
Claim 2
]
The calculation device as set forth in claim 1,
wherein
:
a gene generated by the first
-
generation gene generating
section includes (i) location information indicative of a location
at which waste is grabbed during the predetermined period and
25
(ii) locatio
n information indicative of a location at which the
waste is released during the predetermined period; and
a sequence of pieces of the location information in the
gene represents a transition of
location
s
of the crane.
30
[
Claim 3
]
The calculation device as
set forth in claim 2,
further comprising
:
an input section that accepts a specification of the
predetermined period,
the first
-
generation gene generating section generating a
35
gene that includes the location information whose number of
pieces corresponds
to the predetermined period.
[
Claim 4
]
The calculation device as set forth in claim 2 or 3,
further comprising
:
40
an input section that accepts a specification of
an
u
nused area which is not used in
mixing
waste in the waste
52
pit,
the optimization calculation section selecting a gene that
does not include location information
indicating a location in
the unused area.
5
[
Claim 5
]
The calculation device as set forth in claim 4,
wherein:
in a case where at least part of the unused area
is an
acceptance area for accepting waste which is brought into th e
waste pit, the optimization calculation section selects a gene
10
that includes
location information indicating a location in
the
acceptance area when an operation schedule for a period
duri
ng which waste is not brought in
to the waste pit is
prepared.
15
[
Claim 6
]
The calculation device as set forth in any one of
claims 1 through 5, wherein:
an evaluation function used in the evaluation of fitness
is a
function with which (i) evaluated fitness
increases
as
a
variance of a degree of
mixing
waste among a plurality of
20
sections defined in the waste pit becomes smaller,
(ii)
evaluated fitness increases
as a variance of a height of waste
in the waste pit becomes smaller, and
(iii) evaluated fitness
i
ncreases
as a total moving distance of the crane during the
predetermined period becomes shorter.
25
[
Claim 7
]
The calculation device as set forth in claim 6,
wherein the evaluation function is a
function with which
evaluated fitness increases
in a case wher
e the crane is
operated in an operation pattern indicated by the gene and a
30
height of
waste in an acceptance area for waste is not
highe r
than a predetermined level a predetermined time period prior
to a time at which waste i
s brought into the waste pit.
[
Claim 8
]
The calculation device as set forth in claim 6 or 7,
35
wherein the plurality of sections are obtained by three
-
dimensionally dividing waste in the waste pit in a horizontal
direct
ion and a vertical direction.
[
Claim 9
]
The calculation device as se
t forth in any one of
40
claims 1 through 8, further comprising:
a pit state predicting section that generates pit state
53
prediction information which indicates a state of waste in the
waste pit at a time point during the predetermined period,
the
state of
waste indicated by the pit state prediction information
reflecting at least any of bringing of waste into the waste pit
and taking waste out of the waste pit which are carried out by
5
the time point,
the optimization calculation section selecting a gene th
at
indicates an operation pattern with which a state of waste
indicated by the pit state prediction information is
caused
to
become or become closer to
the predetermined state in a period
10
subsequent to the time point.
[
Claim 10
]
The calculation device as
set forth in any one of
claims 1 through 9, wherein the optimization calculation
section selects a gene with use of different evaluation
15
functions defining different predetermined states for respective
time zones
in the predetermined period.
[
Claim 11
]
Th
e calculation device as set forth in any one of
claims 1 through 10, further comprising:
20
a pit model generating section that generates a pit model
image, the pit model image three
-
dimensionally indicating a
state of waste in the waste pit which state is o
btained after the
crane is operated in accordance with an operation pattern
indicated by a gene that has been generated by the
25
optimization calc
ulation section.
[
Claim 12
]
The calculation device as set forth in any one of
claims 1 through 11, further comp
rising: a crane control section that controls the crane to operate
30
in accordance with an operation pattern indicated by a gene that has been generated by the opti
mization calculation section.
[Claim 13]The calculation device as set forth in claim 1, 35 wherein:a gene that is generated by the first-generation gene generating section is constituted by area setting information
that indicates a waste grabbing area and a waste releasing
area, the waste grabbing area being constituted by sections
40
which are loca
tions at which the crane grabs waste among a
plurality of sections defined in the waste pit, and the waste
releasing area being constituted by sections which are not the
sections included in the waste grabbing area among the
plurality of sections and are l
ocations at which the waste
grabbed in the waste grabbing area is released; and
a sequence of pieces of the area setting information in
5
the gene represents a transition of the waste grabbing area in
the predetermined period and a transition of the waste
r
eleasing area
in the predetermined period.
[
Claim 14
]
A method for controlling a calculation device that
10
prepares an operation schedule of
a crane for a predetermined
period, the crane transferring waste in a waste pit
, said
method comprising the steps of
:
generating a gene group including
genes
each of which
indicates an operation pattern of the crane in the
15
predetermined period, the operation pattern defining
movement, opening, and closing of the crane; and
selecting, based on an evolutionary algorithm, a gene
indicating an operation pattern with which an initial state of
the waste is
caused
to become or become closer to
a
20
predetermined state
, the evolutionary algorithm being an
algorithm in which evaluation
of fitness of each of the
genes
included in the gene group and update of
the
gene group based
on the evaluation
are repeatedly carried out.
25
[Claim 15]A control program for causing a computer to serve
as a calculation device recited in claim 1, said control program causing the computer to serve as the first- generation gene generating section and the optimization calculation section.
30
[
Claim 16] A computer-readable recording medium that stores a control program recited in claim 15.