JP7836710B2 - Control device, control method, and computer program - Google Patents

Description

This invention relates to a control device, a control method, and a computer program.

The automated control systems for waste incineration facilities are becoming increasingly sophisticated. For example, the technology described in Patent Document 1 allows for the automatic agitation and mixing of waste into the incinerator using a crane device, with the aim of supplying waste with a sufficiently low non-combustible content.

Japanese Patent Publication No. 2018-169142

Even in these circumstances, the entire process of lifting waste from the waste pit and loading it into the waste hopper is often performed by personnel relying on visual confirmation. These operations are carried out in a control room adjacent to the waste pit where the waste is stored. Therefore, labor-saving measures in waste incineration facilities have not progressed sufficiently.

This invention aims to provide a technology that will further promote labor-saving in waste incineration facilities.

One aspect of the present invention is a control device comprising: a communication unit that communicates with other devices via a network; a crane control unit that communicates with a user terminal via the network, receives operation information input to the user terminal, and controls a crane installed in the waste pit of a waste treatment plant according to the received operation information; a data acquisition unit that acquires image data captured by a camera installed in the waste pit; and an image generation unit that generates a display image using the image data acquired by the data acquisition unit and transmits the display image to the user terminal via the network.

One aspect of the present invention is the control device described above, wherein the image generation unit changes the displayed image according to the position of the crane.

One aspect of the present invention is the control device described above, wherein the image generation unit changes the displayed image according to the distance between the position of the crane and the position of the surface of the waste stored in the waste pit.

One aspect of the present invention is the control device described above, wherein the image generation unit generates the display image to include an enlarged image of the surface of the waste near the crane when the distance between the position of the crane and the position of the waste surface stored in the waste pit is shorter than a predetermined threshold.

One aspect of the present invention is a control method performed by a control device equipped with a communication unit that communicates with other devices via a network, comprising: a crane control step of receiving operation information input to a user terminal by communicating with the user terminal via the network and controlling a crane installed in the waste pit of a waste treatment plant according to the received operation information; a data acquisition step of acquiring image data captured by a camera installed in the waste pit; and an image generation step of generating a display image using the image data acquired in the data acquisition step and transmitting the display image to the user terminal via the network.

One aspect of the present invention is a computer program that causes a computer equipped with a communication unit for communicating with other devices via a network to execute the following steps: a crane control step, which communicates with a user terminal via the network to receive operation information input to the user terminal and controls a crane installed in the waste pit of a waste treatment plant according to the received operation information; a data acquisition step, which acquires image data captured by a camera installed in the waste pit; and an image generation step, which generates a display image using the image data acquired in the data acquisition step and transmits the display image to the user terminal via the network.

According to this invention, it is possible to further promote labor-saving in waste incineration facilities.

This is a schematic diagram of the main parts of a waste treatment plant according to this embodiment. This figure shows a specific example of a display image generated in normal mode. This figure shows a specific example of a display image generated in zoom mode. This figure shows a specific example of a display image generated in cross-sectional mode. This figure shows a specific example of a display image generated in height display mode. This figure shows another example of a display image generated in height display mode. This diagram shows the details of the camera 6 and distance measuring sensor 7 attached to the bucket 31a. This flowchart shows a specific example of the process flow for moving bucket 31a. This is a flowchart illustrating a modified version of the process for moving bucket 31a.

<Implementation>
Hereinafter, a waste identification system according to one embodiment of the present disclosure will be described with reference to the figures. Figure 1 is a schematic diagram of the main parts of a waste treatment plant according to the embodiment. As shown in Figure 1, the waste treatment plant system 100 includes a waste pit 1, a hopper 2, a crane system 3, a waste pit control device 10, a crane control device 20, a control device 40, and a user terminal 50.

Garbage transported to the waste treatment plant system 100 is fed into and stored in the garbage pit 1. The garbage pit 1 includes a storage layer 1a where the garbage is stored, and a space 1b above it. A crane system 3 is installed in space 1b. One or more cameras 4 are installed in the garbage pit 1. In the example in Figure 1, at least cameras 4a and 4b are installed on the wall surface of the garbage pit 1. The installation location of cameras 4a and 4b is not limited to the wall surface of the garbage pit 1. For example, cameras 4a and 4b may be installed on a part of the crane system 3 (e.g., the lower part of the running rail or the girder). Part of the cameras 4, for example, photographs the upper part of the storage layer 1a from approximately above. Part of the cameras 4, for example, photographs the approximately horizontal direction from the top of the garbage pit 1. Part of the cameras 4, for example, photographs the upward direction from the top of the garbage pit 1. By installing the cameras 4 in this way, it is possible to generate images from various viewpoints in various directions within the garbage pit 1. Therefore, for example, it becomes possible to display VR (Virtual Reality) images on the user terminal 50.

In addition to the camera 4, a light source may be provided on the wall of the waste pit 1. The camera 4 may be a still image capture device or a moving image capture device. The camera 4 transmits the image data obtained through the capture to the control device 40. Such image data transmission may be performed via the waste pit control device 10.

The waste pit 1 is equipped with one or more distance measuring sensors 5 that measure the upper part of the storage layer 1a from approximately above. The distance measuring sensors 5 measure, for example, the distance from their own device to each point on another object. It is desirable that the distance measuring sensors 5 be installed so as to be able to measure distance across the entire surface of the storage layer 1a (the surface of the waste). The distance measuring sensors 5 may, for example, output a distance image as the measurement result. In the example shown in Figure 1, at least distance measuring sensors 5a and 5b are installed on the wall surface of the waste pit 1. The distance measuring sensors 5 transmit data indicating the distance obtained by the measurement to the control device 40. Such transmission of distance data may be performed via the waste pit control device 10.

Hopper 2 is a facility that connects the area where the next waste treatment process takes place to the waste pit 1. Hopper 2 has an opening. Waste transported by the crane system 3 is fed into the opening of hopper 2. The fed waste is then transported via hopper 2 to the area where the next waste treatment process takes place.

The crane system 3 moves within the waste pit 1, grasps the waste stored in the waste pit 1, and loads the waste into the opening of the hopper 2. It is preferable that the crane system 3 is located in the upper part of the waste pit 1. The crane system 3 comprises, for example, a wire 31, a bucket 31a, a travel rail 32, a travel girder 33, and a crab trolley 34. The crane system 3 has the bucket 31a at its bottom. The crab trolley 34 can freely change the height (vertical position) of the bucket 31a within a predetermined range via the wire 31. For example, when grasping waste located below with the bucket 31a, the crab trolley 34 lowers the bucket 31a to the height of the waste to be grasped. The crab trolley 34 is movable in the left-right direction (referred to as traversing) along the travel girder 33 in Figure 1. The crab trolley 34 is also movable in the depth direction (referred to as traveling) along the travel rail 32 in Figure 1. The Club Trolley 34 can move along the running rail 32 and the running device girder 33 in this manner, thereby moving to a horizontal position within a predetermined area of the waste pit 1.

The bucket 31a is equipped with one or more cameras. In the example shown in Figure 1, the bucket 31a is equipped with a camera 6 and a distance measuring sensor 7. The installation location of the camera 6 and distance measuring sensor 7 is not limited to the bucket 31a. For example, the camera 6 and distance measuring sensor 7 may be installed on the traveling device girder 33. The camera 6 may be a still image capture device or a moving image capture device. The distance measuring sensor 7 measures the distance from the device to other objects. The camera 6 and distance measuring sensor 7 are each positioned facing downwards. Therefore, the camera 6 photographs the approximate surface of the reservoir 1a located below the bucket 31a. The distance measuring sensor 7 measures the distance between the approximate surface of the reservoir 1a located below the bucket 31a and the device. The camera 6 transmits the image data obtained by the photography to the control device 40. The distance measuring sensor 7 transmits data indicating the obtained distance to the control device 40. Such data transmission may be performed via the crane control device 20.

The waste pit control device 10 is configured using an information processing device. The waste pit control device 10 may be configured using a device such as a PLC (Programmable Logic Controller). The waste pit control device 10 controls, for example, the operation of the camera 4. The waste pit control device 10 may, for example, acquire image data captured by the camera 4 and output it to the control device 40. The waste pit control device 10 also controls, for example, the operation of the distance measuring sensor 5. The waste pit control device 10 may, for example, acquire distance image data measured by the distance measuring sensor 5 and output it to the control device 40.

The crane control device 20 is configured using an information processing device. The waste crane control device 20 may be configured using, for example, a PLC. The crane control device 20 controls, for example, the operation of the crane system 3, the camera 6, and the distance measuring sensor 7. The crane control device 20 may output, for example, information output from the crane system 3, image data captured by the camera 6, and distance data measured by the distance measuring sensor 7 to the control device 40. The information output from the crane system 3 may, for example, be information indicating the position and height of the traveling girder 33 and the bucket 31a.

The control device 40 is configured using an information processing device such as a personal computer, server, or dedicated device. The control device 40 communicates with the user terminal 50 via the network 90. The control device 40 generates a display image showing the state inside the waste pit 1 and transmits the display image to the user terminal 50. Upon receiving operation information from the user terminal 50, the control device 40 controls the operation of the equipment inside the waste pit 1 and the control device 40 based on the received operation information. For example, if the operation information concerns the control of the crane system 3, the control device 40 controls the operation of the crane system 3 based on the operation information. More specifically, the control device 40 controls the position of the traveling girder 33, the height of the bucket 31a, and the closing or opening of the bucket 31a. Furthermore, the control device 40 may also control the mode of the display image shown on the user terminal 50.

The user terminal 50 is configured using an information processing device such as a personal computer, smartphone, or VR equipment. The user terminal 50 includes a communication unit 51, an input unit 52, an output unit 53, a storage unit 54, and a control unit 55. The communication unit 51 communicates data with the control device 40 via the network 90. The input unit 52 receives user input. The input unit 52 may be configured using, for example, buttons, a keyboard, or a pointing device, or it may be configured using a device that is attached to the user and inputs information about the user's movements, such as a gyroscope or an accelerometer. The output unit 53 is configured using a display device and displays an image. The output unit 53 may include devices such as a vibrator or a speaker. The storage unit 54 is configured using a storage device such as a magnetic hard disk drive or a semiconductor storage device. The control unit 55 is configured using a processor and performs information processing. The output unit 53 of the user terminal 50 displays the display image received from the control device 40. The input unit 52 of the user terminal 50 inputs signals corresponding to the user's movements and operations to the control unit 55, which then acquires virtual viewpoint position, virtual line of sight direction, and operation information for the crane system 3. The control unit 55 transmits this information to the control device 40 via the communication unit 51.

Next, the details of the control device 40 will be described. The control device 40 comprises a communication unit 41, a storage unit 42, and a control unit 43.

The communication unit 41 is a communication device. The communication unit 41 may be configured, for example, as a network interface. The communication unit 41 communicates data with, for example, the waste pit control device 10 and the crane control device 20. Such communication may be performed using, for example, a LAN (Local Area Network) or a wireless LAN. The communication unit 41 communicates data with other devices via the network 90. The communication unit 41 communicates data with, for example, the user terminal 50 via the network 90. The communication unit 41 may be a wireless communication device or a wired communication device.

The storage unit 42 is configured using a storage device such as a magnetic hard disk drive or a semiconductor storage device. The storage unit 42 stores programs and data used when the control unit 43 operates.

The control unit 43 is configured using a processor such as a CPU (Central Processing Unit) and memory. The control unit 43 functions as a data acquisition unit 431, a height determination unit 432, an image generation unit 433, and a crane control unit 434, through the execution of a program by the processor. Note that all or part of the functions of the control unit 43 may be implemented using hardware such as an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), or an FPGA (Field Programmable Gate Array). The above program may be recorded on a computer-readable recording medium. Computer-readable recording media include, for example, portable media such as flexible disks, magneto-optical disks, ROMs, CD-ROMs, and semiconductor memory devices (e.g., SSDs: Solid State Drives), as well as storage devices such as hard disks and semiconductor memory devices built into computer systems. The above program may be transmitted via a telecommunications line.

The data acquisition unit 431 acquires data obtained by devices installed in the waste pit 1. For example, the data acquisition unit 431 acquires image data captured by the camera 4. Such acquisition may be performed, for example, by communicating with the camera 4 via the communication unit 41, or by communicating with the waste pit control device 10 via the communication unit 41. For example, the data acquisition unit 431 acquires distance image data measured by the distance measuring sensor 5. Such acquisition may be performed, for example, by communicating with the distance measuring sensor 5 via the communication unit 41, or by communicating with the waste pit control device 10 via the communication unit 41. For example, the data acquisition unit 431 acquires image data captured by the camera 6. Such acquisition may be performed, for example, by communicating with the camera 6 via the communication unit 41, or by communicating with the crane control device 20 via the communication unit 41. For example, the data acquisition unit 431 acquires distance data measured by the distance measuring sensor 7. Such acquisition may be performed, for example, by communicating with the distance measuring sensor 7 via the communication unit 41, or by communicating with the crane control device 20 via the communication unit 41. For example, the data acquisition unit 431 acquires information indicating the position of the traveling girder 33 and the bucket 31a. Such acquisition may be performed, for example, by communicating with the crane system 3 via the communication unit 41, or by communicating with the crane control device 20 via the communication unit 41.

The height determination unit 432 acquires information indicating the surface height of the storage layer 1a (hereinafter referred to as "surface height information"). The height determination unit 432 determines, for example, the surface height of the storage layer 1a within the waste pit 1. At this time, the height determination unit 432 may use data acquired from, for example, the distance measuring sensor 5 for the determination. For example, the height determination unit 432 may determine the height at multiple points (sampling points) on the surface of the storage layer 1a.

The height determination unit 432 may determine the distance (relative height) between the bucket 31a and the surface of the reservoir 1a. In this case, the height determination unit 432 may determine the distance using data acquired from, for example, the distance measuring sensor 7, or it may determine the distance based on the height of the surface of the reservoir 1a and the height of the bucket 31a. The distance between the bucket 31a and the surface of the reservoir 1a may be determined as, for example, the distance to the lowest end of the bucket 31a, the distance to a predetermined reference point in the bucket 31a (for example, the center of gravity of the space within the bucket 31a formed when the bucket is closed), or the distance to other parts of the bucket 31a.

The image generation unit 433 generates an image (hereinafter referred to as "display image") to be displayed on the image display device of the user terminal 50 and transmits it to the user terminal 50 via the communication unit 41. Several examples of display images generated by the image generation unit 433 are described below.

Figure 2 shows a specific example of a display image generated in normal mode. When normal mode is selected on the user terminal 50, the image generation unit 433 generates a display image using images captured by the camera 4. At this time, if VR mode is selected on the user terminal 50, the image generation unit 433 acquires information on the user's virtual viewpoint and virtual line of sight from the user terminal 50 and generates the image seen when viewing from the virtual viewpoint in the virtual line of sight as the display image. The image generation unit 433 generates the display image by, for example, combining images captured by multiple cameras 4 in a magnified mode. In the example in Figure 2, the accumulation of waste at the bottom of the waste pit 1 is visible.

Figure 3 shows a specific example of a display image generated in magnified mode. When magnified mode is selected on the user terminal 50, the image generation unit 433 changes the display image depending on whether the proximity condition is met. The proximity condition is a condition corresponding to the state of the crane system 3. For example, the proximity condition may be set as the start of vertical movement of the bucket 31a in the crane system 3. For example, the proximity condition may be set as the distance between the bucket 31a and the reservoir 1a directly below it becoming closer than a predetermined threshold in the crane system 3.

If the proximity condition is not met, the image generation unit 433 generates a display image similar to that in normal mode. On the other hand, if the proximity condition is met, the image generation unit 433 generates a display image that includes an enlarged image of the surface of the reservoir 1a near the bucket 31a. For example, as shown in Figure 3, a magnified display frame 84 area may be provided in a portion of the display image generated in normal mode, and the display image may be generated so that the magnified image is superimposed within the area of the magnified display frame 84. The magnified image displayed in the magnified display frame 84 may be generated using an image captured by the camera 4, or it may be generated using an image captured by the camera 6 provided on the bucket 31a.

The enlarged image may be recorded in the storage unit 42. In this case, the enlarged image may be recorded in association with identification information indicating the location being displayed in the enlargement. For example, the identification information indicating the location may be represented using location information (so-called address) defined by dividing the area within the waste pit into predetermined sizes. Since the size of the bucket 31a is fixed at each facility, address divisions (X-Z) corresponding to the size of the bucket 31a may be made. When recorded in this manner, the latest enlarged image at that location may be transmitted to and displayed on the user terminal 50 in response to the user terminal 50 specifying the identification information indicating the location. This configuration allows the user to examine in detail the work to be performed at the enlarged location. For example, the operator (user) can examine in detail the candidates for automatically sending the crane system 3 to that location to grab the waste.

Figure 4 shows a specific example of a display image generated in cross-sectional mode. When cross-sectional mode is selected on the user terminal 50, the image generation unit 433 generates a display image using the height information determined by the height determination unit 432. In this case, if VR mode is selected on the user terminal 50, the image generation unit 433 obtains information on the user's virtual viewpoint and virtual line of sight direction from the user terminal 50, and generates a display image of a cross-section perpendicular to the virtual line of sight direction, including the position of the coordinates on the horizontal plane among the coordinates of the virtual viewpoint. In this case, the display image may be generated so that the cross-section appears as if viewed from a position a predetermined distance below the virtual viewpoint coordinates in the opposite direction to the virtual line of sight direction.

Furthermore, if VR mode is not selected on the user terminal 50, the image generation unit 433 may operate as follows. The image generation unit 433 obtains the position of the bucket 31a from the data acquisition unit 431, and generates a display image of a cross-section of the position directly below the bucket 31a. At this time, the orientation of the cross-section may be predetermined, or it may be set to be changeable by the user. In this case, the display image may be generated so that it appears as if the cross-section were viewed from a position a predetermined distance below the position directly below the bucket 31a. With this configuration, when the bucket 31a descends while the horizontal position of the traveling device girder 33 remains at its current position, it becomes possible to operate the bucket 31a using the user terminal 50 while viewing the cross-section of the part that will be grasped and lifted by the bucket 31a. Also, if VR mode is selected, the distance from the bucket 31a to the surface of the waste may be displayed.

Figure 5 shows a specific example of a display image generated in height display mode. When the height display mode is selected on the user terminal 50, the image generation unit 433 generates a display image using the height information determined by the height determination unit 432. Specifically, a display image including visual information indicating height is generated. For example, as shown in Figure 5, a display image including information showing contour lines corresponding to the height at each part of the surface of the reservoir 1a may be generated. Furthermore, display images may be generated with different display modes (e.g., color, pattern, line type, etc.) for each height range indicated by the contour lines. Regarding the surface of the reservoir 1a, only such visual information indicating height, such as contour lines, may be displayed, or an image may be displayed in which visual information indicating height, such as contour lines, is superimposed on the image captured by the camera 4, as is displayed in normal mode. In height display mode, the image of the crane system 3 may be displayed as visual information indicating height, or as an image captured by the camera 4. The boundaries of each region corresponding to the location identification information (e.g., number value) described above may be displayed superimposed in a grid pattern.

Figure 6 shows another specific example of a display image generated in height display mode. When the height display mode is selected on the user terminal 50, the image generation unit 433 may change the display image depending on whether the proximity condition is met. If the proximity condition is not met, the image generation unit 433 generates a display image containing visual information indicating height as described above. On the other hand, if the proximity condition is met, the image generation unit 433 changes the display pattern of the visual information indicating height on the surface of the reservoir 1a directly below the bucket 31a. That is, for a certain region, the display pattern when the bucket 31a is approaching differs from the display pattern when the bucket 31a is not approaching.

Furthermore, in height display mode, as in the magnification mode described above, the display image may be generated so that a magnified image is displayed in the magnified display frame 84 for the area where the proximity conditions are met. In this case, visual information indicating height may be superimposed on the magnified image, or it may not be superimposed. If visual information indicating height is not superimposed on the magnified image, the user can see the magnified portion more clearly, allowing for a more detailed examination of the area to which the bucket 31a is approaching.

Figure 7 shows details of the camera 6 and distance sensor 7 attached to the bucket 31a. The camera 6 may be equipped with a movable cover 61. The movable cover 61 transitions between a state that covers the lens portion of the camera 6 and a state that does not cover the lens portion of the camera 6. When it is in the covering state, it is possible to prevent the camera 6 from becoming contaminated by waste or other materials coming into contact with the lens portion of the camera 6. The movable cover 61 may, for example, be in the state that covers the lens portion of the camera 6 when the contact condition is met, and in the state that does not cover the lens portion of the camera 6 when the contact condition is not met. The contact condition is a condition corresponding to the state of the crane system 3. For example, the contact condition may be set as when the distance between the bucket 31a and the surface of the storage layer 1a becomes closer than a predetermined threshold after the vertical movement of the bucket 31a has started in the crane system 3. The threshold value in the contact condition is defined to be smaller than the threshold value in the proximity condition. Therefore, the proximity condition is met first, and then the contact condition is met. That is, there is a state in which the proximity condition is met even if the contact condition is not met. In this state, the movable cover 61 may not cover the lens of the camera 6, and the magnified image may still be displayed. In this case, it is possible to display the image captured by the camera 6 as the magnified image. The camera 6 and the distance sensor 7 may be built into the bucket hydraulic system 35. In this case, it is preferable that the camera 6 and the distance sensor 7 be protected with reinforced glass (acrylic) or the like.

Figure 8 is a flowchart illustrating a specific example of the process for moving the bucket 31a. First, the user operates the user terminal 50 to specify the destination of the bucket 31a (step S101). The user terminal 50 transmits position information indicating the destination of the bucket 31a to the control device 40. Upon receiving the destination position information from the user terminal 50, the crane control unit 434 of the control device 40 begins the automatic movement of the traveling girder 33 (step S102). At this time, the crane control unit 434 instructs the crane control device 20 to transmit the destination position information and to execute the automatic movement.

When the crane control device 20 receives an instruction for automatic movement, it moves the bucket 31a toward the instructed destination position. At this time, the crane control device 20 controls the movement of the bucket 31a to minimize problems with the bucket 31a. For example, it controls the movement of the bucket 31a so that its swing does not exceed a predetermined threshold. The crane control device 20 determines whether the distance from the bucket 31a's current position to the destination position is below a predetermined threshold (step S103). The predetermined threshold may be zero or a value greater than zero. If the predetermined threshold is zero, automatic movement continues to the position specified by the user. If the predetermined threshold is greater than zero, automatic movement ends before the position specified by the user. After that, the user needs to move the bucket to the specified position.

If the distance from the bucket 31a's position to the destination position is greater than a predetermined threshold (step S103-NO), the crane control device 20 continues to control the automatic movement and moves the bucket 31a toward the destination position. If the distance from the bucket 31a's position to the destination position becomes less than or equal to the predetermined threshold (step S103-YES), the crane control device 20 terminates the automatic movement control (step S104) and moves the bucket 31a according to the instructions received from the user terminal 50 (step S105).

This configuration allows for safer movement of the bucket 31a to the user-specified position. For example, if the user directly controls the movement of the bucket 31a, there is a risk that the bucket 31a, suspended by a wire, may swing like a pendulum. This problem can be prevented by using automatic movement control. Note that the automatic movement control may be performed by the crane control unit 434 instead of the crane control device 20. Also, the judgment process in step S103 may be performed by the crane control unit 434 instead of the crane control device 20. Furthermore, the entire operation process of the crane system 3 may be performed manually by the user. In that case, since adjustment of the bucket 31a's swing is also necessary, the display image may be a VR or similar image showing the entire pit or the bucket 31a from a certain distance until it reaches the predetermined address.

Furthermore, this configuration offers the following advantages: Users located outside the target facility can easily and safely observe and respond to the homogenization of waste through agitation, a crucial aspect of incineration facilities. For example, even if automatic control for uniformizing waste quality (e.g., automatic control implemented using machine learning) were possible, such control could not perfectly replicate the agitation previously performed manually. Some still believe that the best approach is for a crane operator (user) to directly observe the waste surface and judge its quality. The above configuration of the present invention makes this approach possible even for users located outside the target facility.

Figure 9 is a flowchart illustrating a modified version of the process for moving the bucket 31a. In Figure 9, processes identical to those in Figure 8 are denoted by the same reference numerals and their explanations are omitted. In the modified version of Figure 9, the crane control device 20 blocks the acceptance of user input for the movement of the bucket 31a before automatic movement begins (step S201). Furthermore, in the modified version of Figure 9, the crane control device 20 resumes accepting user input for the movement of the bucket 31a after the automatic movement is completed (step S202). This configuration makes the safe movement of the bucket 31a through automatic movement control more reliable.

(Variant)
The VR image does not necessarily have to be displayed on the user terminal 50. In that case, the camera 4 installed in the waste pit 1 may be only a camera that photographs the upper part of the storage layer 1a from approximately above. In this case, the user terminal 50 does not need to transmit the user's virtual viewpoint and virtual line of sight direction to the control device 40. Furthermore, the image generation unit 433 of the control device 40 may generate images regardless of the user's virtual viewpoint and virtual line of sight direction.

The embodiments of this invention have been described in detail above with reference to the drawings. However, the specific configuration is not limited to these embodiments, and includes designs and other elements that do not depart from the spirit of this invention.

100…Waste Treatment Plant System, 1…Waste Pit, 1a…Storage Layer, 1b…Space, 2…Hopper, 3…Crane System, 10…Waste Pit Control Device, 20…Crane Control Device, 31…Wire, 31a…Bucket, 32…Travel Rail, 33…Girder for Travel Device, 34…Crab Trolley, 35…Bucket Hydraulic Device, 4…Camera, 5…Distance Sensor, 6…Camera, 7…Distance Sensor, 40…Control Device, 41…Communication Unit, 42…Storage Unit, 43…Control Unit, 431…Data Acquisition Unit, 432…Height Determination Unit, 433…Image Generation Unit, 434…Crane Control Unit, 50…User Terminal, 51…Communication Unit, 52…Input Unit, 53…Output Unit, 54…Storage Unit, 55…Control Unit, 90…Network

Claims (4)

A communication unit that communicates with other devices via a network,
A crane control unit that communicates with a user terminal via the aforementioned network to receive operation information input to the user terminal and controls a crane installed in the waste pit of a waste treatment plant according to the received operation information,
A data acquisition unit that acquires image data captured by a camera installed in the aforementioned waste pit,
An image generation unit generates a display image using the image data acquired by the data acquisition unit and transmits the display image to the user terminal via the network.
Equipped with ,
The image generation unit changes the displayed image according to the distance between the position of the crane and the position of the surface of the waste stored in the waste pit.
The image generation unit is a control device that generates the display image to include an enlarged image of the surface of the waste near the crane when the distance between the position of the crane and the position of the surface of the waste stored in the waste pit is shorter than a predetermined threshold . The control device according to claim 1, wherein the image generation unit changes the displayed image according to the position of the crane. A control method performed by a control device equipped with a communication unit that communicates with other devices via a network,
A crane control step that communicates with a user terminal via the aforementioned network to receive operation information input to the user terminal and controls a crane installed in the waste pit of a waste treatment plant according to the received operation information,
A data acquisition step involves acquiring image data captured by a camera installed in the aforementioned waste pit,
An image generation step which generates a display image using the image data acquired in the data acquisition step and transmits the display image to the user terminal via the network,
It has,
In the image generation step, the display image is changed according to the distance between the position of the crane and the position of the surface of the waste stored in the waste pit.
A control method that, in the image generation step, generates the display image to include an enlarged image of the surface of the waste near the crane when the distance between the position of the crane and the position of the waste stored in the waste pit is shorter than a predetermined threshold . For a computer equipped with a communication unit that communicates with other devices via a network,
A crane control step that communicates with a user terminal via the aforementioned network to receive operation information input to the user terminal and controls a crane installed in the waste pit of a waste treatment plant according to the received operation information,
A data acquisition step involves acquiring image data captured by a camera installed in the aforementioned waste pit,
An image generation step which generates a display image using the image data acquired in the data acquisition step and transmits the display image to the user terminal via the network,
Make it run ,
In the image generation step, the display image is changed according to the distance between the position of the crane and the position of the surface of the waste stored in the waste pit.
The image generation step includes a computer program for generating a display image that includes an enlarged image of the surface of the waste near the crane when the distance between the position of the crane and the position of the surface of the waste stored in the waste pit is shorter than a predetermined threshold .