Information processing device, information processing method and program

Abstract

To reduce the trouble of collecting wastes accumulated in a storage container.SOLUTION: An acquisition part 120 acquires accumulation information representing an accumulation state of wastes stored in each of a plurality of storage containers for accommodating wastes. A determination part 121 determines, based upon the accumulation information, whether an accumulation state of wastes contained in at least one of the plurality of storage containers meets storage conditions defining the collection from the storage containers. A direction part 122 transmits a signal to direct a self-propelled robot, which collects one or more storage containers including the storage container determined to meet the storage conditions and then install replacement storage containers in place of the collected storage containers, to perform the collecting and replacing operations.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to an information processing device, an information processing method, and a program. [Background technology]

[0002] Garbage containers (so-called garbage bins) are often installed in places where many people gather, such as service areas and parking areas on highways and theme parks. Staff regularly check whether these garbage bins are full and collect them as necessary. In recent years, there has been an increasing demand to reduce the workload of staff while keeping the areas where garbage bins are installed beautiful.

[0003] As a technique for collecting waste, Patent Document 1 discloses a system for wirelessly transmitting information on trash bins and accumulated trash. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2012-101865 A Summary of the Invention [Problem to be solved by the invention]

[0005] By using the above-mentioned technology, it is possible to eliminate the need for staff to go to the trash bins to check the trash accumulation information, but in order to collect the trash from the bins, staff still need to go to the bins.

[0006] The present invention has been made in consideration of these points, and has an object to provide a technique that reduces the effort required to collect waste accumulated in a storage container. [Means for solving the problem]

[0007] A first aspect of the present invention is an information processing device. The device includes: an acquisition unit that acquires, for each of a plurality of storage containers for storing waste, accumulation information that indicates an accumulation status of waste stored in each storage container; a determination unit that determines, based on the accumulation information, whether or not an accumulation status of waste stored in at least one of the plurality of storage containers satisfies an accumulation condition that specifies that the storage container should be collected; and an instruction unit that transmits a signal to a self-propelled robot that collects one or more storage containers including at least the storage container that is determined to satisfy the accumulation condition and installs a replacement storage container in place of the collected storage container, to instruct the robot to perform collection and replacement work.

[0008] The multiple storage containers may form a storage container group in which each storage container is replaced simultaneously as a whole, and the instruction unit may send a signal to the self-propelled robot instructing it to perform the task of replacing the storage container group that includes the storage container determined to satisfy the accumulation condition with a replacement storage container group for replacing the storage container group.

[0009] Each of the multiple storage containers that make up the storage container group may have a predetermined type of waste to store, and the judgment unit may judge whether or not the accumulation condition is satisfied based on the accumulation status of storage containers that are intended to store the same type of waste among the multiple storage containers that make up the storage container group.

[0010] The accumulation information may include measurement data indicating at least one of the volume and weight of the waste in the storage container, and the determination unit may determine that the accumulation condition is met when all of the measurement data for storage containers among the multiple storage containers that make up the storage container group that are intended to store the same type of waste exceed a first threshold value.

[0011] The accumulation information may include measurement data indicating at least one of the volume and weight of the waste in the storage container, and the determination unit may determine that the accumulation condition is satisfied when the average value of all measurement data for storage containers that are intended to store the same type of waste among the multiple storage containers that make up the storage container group exceeds a first threshold value.

[0012] The accumulation information may include measurement data indicating the weight of the waste in the storage container, and the determination unit may determine that the accumulation condition is satisfied when the sum of the measurement data for each of the multiple storage containers that make up the storage container group exceeds a second threshold value.

[0013] The multiple storage containers may form a group of storage containers that are each independently and individually replaced, and the information processing device may further include an identification unit that identifies a replacement storage container to be installed in place of a storage container determined to satisfy the accumulation condition.

[0014] If there are two or more storage containers determined to satisfy the accumulation condition, the determination unit may further determine whether or not the self-propelled robot satisfies a transportation condition, which is a condition regarding the storage containers that can be transported at one time, and the identification unit may identify replacement storage containers to be installed in place of all of the storage containers determined to satisfy the accumulation condition, on the condition that the transportation condition is determined to be satisfied.

[0015] The determination unit may determine a storage container that satisfies predetermined additional collection conditions among storage containers that do not satisfy the accumulation conditions, within the range that satisfies the transportation conditions, and the identification unit may identify a replacement storage container to be installed in place of the storage container that satisfies the additional collection conditions.

[0016] The accumulation information may include measurement data indicating at least one of the volume and weight of the waste in the storage container, and the determination unit may determine that the accumulation condition is satisfied when the measurement data regarding the storage container exceeds a first threshold, and may determine that the additional collection condition is satisfied when the measurement data regarding the storage container is lower than the first threshold and higher than a third threshold that is lower than the first threshold.

[0017] The determination unit may determine that, among storage containers that do not satisfy the accumulation condition, a storage container that is present within a predetermined range from a location of a storage container that satisfies the accumulation condition is a storage container that satisfies the additional collection condition.

[0018] Each of the multiple storage containers that make up the storage container group may have a specified type of waste to be stored, and the determination unit may determine that a storage container that does not satisfy the accumulation condition and that is capable of storing the same type of waste as a storage container that satisfies the accumulation condition is a storage container that satisfies the additional collection condition.

[0019] Each of the multiple storage containers may have a predetermined type of waste to be stored, and the accumulation information may include measurement data indicating at least one of the volume and weight of the waste in the storage container, and the determination unit may determine that the accumulation condition is met when the measurement data regarding the storage container exceeds a threshold value set for each type of waste to be stored.

[0020] A second aspect of the present invention is an information processing method, in which a processor executes the steps of acquiring accumulation information for each of a plurality of storage containers for storing waste, which is information indicating an accumulation status of waste stored in each storage container, judging whether or not an accumulation status of waste stored in at least one of the plurality of storage containers satisfies an accumulation condition that specifies the collection of the storage container based on the accumulation information, and sending a signal to a self-propelled robot that collects one or more storage containers including at least the storage container determined to satisfy the accumulation condition and installs a replacement storage container in place of the collected storage container, instructing the robot to perform collection and replacement work.

[0021] A third aspect of the present invention is a program that causes a computer to perform the following functions: acquire, for each of a plurality of storage containers for storing waste, accumulation information indicating an accumulation status of waste stored in each storage container, determine, based on the accumulation information, whether or not an accumulation status of waste stored in at least one of the plurality of storage containers satisfies an accumulation condition that specifies the collection of the storage container, and collect one or more storage containers including at least the storage container determined to satisfy the accumulation condition, and transmit a signal to a self-propelled robot that installs a replacement storage container in place of the collected storage container, instructing the robot to perform collection and replacement work.

[0022] In order to provide this program or to update a part of the program, a computer-readable recording medium having this program recorded thereon may be provided, or this program may be transmitted over a communication line.

[0023] Any combination of the above components, and any transformation of the present invention into a method, device, system, computer program, data structure, recording medium, etc., are also effective as aspects of the present invention. Effect of the Invention

[0024] According to the present invention, it is possible to reduce the effort required to collect waste accumulated in a storage container. [Brief description of the drawings]

[0025] [Figure 1] FIG. 2 is a schematic diagram for explaining an overview of a process executed by an information processing device according to an embodiment. [Diagram 2] FIG. 2 is a diagram illustrating a functional configuration of an information processing device according to an embodiment. [Diagram 3] 4 is a diagram illustrating a data structure of a container database referenced by an information processing device according to an embodiment; FIG. [Figure 4] FIG. 2 is a diagram illustrating map information referred to by an information processing device according to an embodiment. [Diagram 5] 4 is a flowchart illustrating a flow of information processing executed by an information processing device according to an embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0026] <Outline of the embodiment> The information processing device according to the embodiment acquires the accumulation status of garbage containers installed at service areas on expressways, etc., and determines whether or not collection is necessary. If garbage collection is necessary, the information processing device transmits collection and replacement instructions to a self-propelled robot for collecting and replacing the garbage container.

[0027] 1 is a schematic diagram for explaining an overview of the processing executed by an information processing device 1 according to an embodiment. The information processing device 1 according to an embodiment constitutes a part of a storage container recovery system C. The storage container recovery system C includes the information processing device 1, a first storage container D1, a second storage container D2, a base station B, a self-propelled robot R, a third storage container D3, a fourth storage container D4, and a fifth storage container D5. The information processing device 1 is connected via a communication network N and the base station B in a manner that enables communication between a sensor S and the self-propelled robot R.

[0028] In the storage container recovery system C shown in FIG. 1, the first storage container D1 and the second storage container D2 are storage containers installed at a garbage collection station. The third storage container D3, the fourth storage container D4, and the fifth storage container D5 are replacement storage containers stored in a storage space. In FIG. 1, the second storage container D2 and the fifth storage container D5 constitute a storage container group in which a plurality of storage containers are replaced simultaneously as a unit, and the first storage container D1, the third storage container D3, and the fourth storage container D4 are storage containers that are replaced individually. Note that FIG. 1 shows an example in which there are two garbage collection stations, but there may be one garbage collection station or three or more. There may also be three or more replacement storage containers. Hereinafter, in this specification, when there is no need to distinguish between the storage containers from the first storage container D1 to the fifth storage container D5, they will simply be referred to as storage containers D.

[0029] Hereinafter, with reference to FIG. 1, an overview of the processes executed by the information processing device 1 according to the embodiment will be described in the order of (1) to (5), and these numbers correspond to (1) to (5) in FIG.

[0030] (1) The information processing device 1 acquires accumulation information, which is information indicating the accumulation status of waste for each of a plurality of storage containers D for storing waste. Specifically, the information processing device 1 according to the embodiment acquires the accumulation information for each storage container from a sensor S provided in each of the plurality of storage containers D. More specifically, the accumulation information measured by the sensor S includes measurement data indicating at least one of the volume and weight of the waste in the storage container D.

[0031] (2) The information processing device 1 determines, based on the accumulated information of each storage container D obtained from the sensor S, whether or not each storage container D needs to be collected. (3) When the information processing device 1 determines that a storage container D needs to be collected, it collects the storage container D and sends a signal to the self-propelled robot R to instruct it to perform the collection and replacement work and to install a replacement storage container D in place of the collected storage container D.

[0032] (4) The self-propelled robot R acquires a route to the storage container D to be collected, which is included in the instructions obtained from the information processing device 1, and moves along the route to the location where the storage container D to be collected is located. A replacement storage container D is also provided in the waiting location of the self-propelled robot R, and the self-propelled robot R moves to the location where the storage container D to be collected is located, towing a storage container D of the same type as the storage container D to be collected, which is included in the instructions obtained from the information processing device 1.

[0033] (5) The self-propelled robot R places the towed replacement storage container D at the installation location of the storage container D to be replaced, and returns to the waiting location of the self-propelled robot R, towing the storage container D to be replaced. At this time, the self-propelled robot R places the waste accumulated in the storage container D to be collected in a temporary waste storage area, and returns the empty storage container D to the waiting location of the self-propelled robot R.

[0034] In this way, the information processing device 1 of the embodiment senses waste accumulation information in the storage container D and automates the collection and replacement of the storage container D using the self-propelled robot R, thereby reducing the effort required to collect garbage from the storage container D.

[0035] <Functional configuration of information processing device 1 according to the embodiment> FIG. 2 is a diagram showing a schematic functional configuration of an information processing device 1 according to an embodiment. The information processing device 1 includes a storage unit 10, a communication unit 11, and a control unit 12. In FIG. 2, arrows indicate main data flows, and there may be data flows not shown in FIG. 2. In FIG. 2, each functional block indicates a functional unit configuration, not a hardware (device) unit configuration. Therefore, the functional blocks shown in FIG. 2 may be implemented in a single device, or may be implemented separately in multiple devices. Data may be exchanged between functional blocks via any means, such as a data bus, a network, or a portable storage medium.

[0036] The memory unit 10 is a large-capacity storage device such as a ROM (Read Only Memory) that stores the BIOS (Basic Input Output System) of the computer that realizes the information processing device 1, a RAM (Random Access Memory) that serves as the working area of ​​the information processing device 1, an OS (Operating System), application programs, a container database 100 referenced when executing the application programs, various information such as various threshold values, etc., and is a hard disk drive (HDD) or solid state drive (SSD).

[0037] The communication unit 11 is a communication interface for the information processing device 1 to communicate with an external device such as a sensor S, and is realized by a known communication module such as a LAN (Local Area Network) module or a Wi-Fi (registered trademark) module. Hereinafter, in this specification, description of the communication unit 11 may be omitted on the assumption that communication between the information processing device 1 and an external device is performed via the communication unit 11.

[0038] The control unit 12 is a processor such as a CPU (Central Processing Unit) or GPU (Graphics Processing Unit) of the information processing device 1, and functions as an acquisition unit 120, a judgment unit 121, an instruction unit 122, and an identification unit 123 by executing programs stored in the memory unit 10.

[0039] 2 shows an example in which the information processing device 1 is configured as a single device. However, the information processing device 1 may be realized by a plurality of processors, memories, and other computing resources, for example, as in a cloud computing system. In this case, each unit constituting the control unit 12 of the information processing device 1 is realized by at least one of a plurality of different processors executing a program.

[0040] The acquisition unit 120 acquires accumulation information, which is information indicating an accumulation status of waste stored in each of a plurality of storage containers D for storing waste, for each of the plurality of storage containers D. The determination unit 121 determines, based on the accumulation information acquired by the acquisition unit 120, whether or not the accumulation status of waste stored in at least one storage container D among the plurality of storage containers D satisfies an accumulation condition that specifies that the storage container D should be collected.

[0041] The accumulation condition varies depending on the type of waste to be stored in the storage container D, whether the storage container D is to be replaced alone or whether multiple storage containers are connected together and form a group of storage containers to be replaced simultaneously as a whole, but basically, the determination unit 121 determines that the accumulation condition is met when the amount of waste stored in the storage container D exceeds a predetermined ratio of the maximum capacity of the storage container D. The predetermined ratio may be determined by experiment taking into consideration the frequency of waste disposal at the location where the storage container D is installed, the required level of aesthetics, the cost for the self-propelled robot R to collect and replace the storage container D, etc., but is, for example, 70%.

[0042] When there is at least one storage container D determined by determination unit 121 to satisfy the accumulation condition, instruction unit 122 transmits a signal to instruct self-propelled robot R to perform a task. Specifically, self-propelled robot R is a robot that collects one or more storage containers D including at least the storage container D determined to satisfy the accumulation condition, and installs a replacement storage container D in place of the collected storage container D. Instruction unit 122 transmits a signal to the self-propelled robot R to instruct it to perform a task of collecting the storage container D to be replaced and installing the replacement storage container D.

[0043] The self-propelled robot R is equipped with equipment for self-propelling, such as a battery, a motor, and wheels. The self-propelled robot R also has a camera for acquiring images of the surroundings including the direction of travel, and a learning model for automatically moving to a destination according to the surrounding conditions using a known machine learning method. Each of the containers D also has wheels for use when towed by the self-propelled robot R, and a mechanism for connecting to the self-propelled robot R, and the self-propelled robot R can tow a replacement container D and a collection container D. This allows the information processing device 1 to collect waste stored in the container D without human intervention.

[0044] Fig. 3 is a diagram showing a schematic data structure of the storage container database 100 referenced by the information processing device 1 according to the embodiment. The storage container database 100 is stored in the memory unit 10. In Fig. 3, the storage container database 100 associates a container identifier for identifying the storage container D, position coordinates indicating the location where the storage container D is installed, and the type of waste stored in the storage container.

[0045] In the example shown in Fig. 3, storage container D with container identifier DID00001 is installed at the location indicated by coordinates (X1, Y1) and is a container for collecting plastics. The collection type of this storage container D is "individual type", which means that it is a type of container that is collected individually. In addition, storage container D with container identifier DID00001 is equipped with sensor S with sensor identifier SID00001.

[0046] The three storage containers D with container identifiers DID0002 to DID0004 are installed at the locations indicated by the coordinates (X2, Y2), (X3, Y3), and (X4, Y4), respectively, and all of the collection types are individual types. The storage container D with container identifier DID0002 is a container for collecting PET bottles, while the storage containers D with container identifiers DID0003 and DID0004 are both containers for collecting paper. The three storage containers D with container identifiers DID0002 to DID0004 are each equipped with three sensors S with sensor identifiers SID00002 to SID0004.

[0047] The instruction unit 122 can acquire the coordinates of the location where the storage container D to be collected is located by referring to the storage container database 100. The signal that the instruction unit 122 transmits to the self-propelled robot R includes the coordinates of the location where the storage container D to be collected is located.

[0048] 3, some storage containers D constitute a storage container group in which a plurality of storage containers are replaced simultaneously as a unit, such as storage container D with container identifier DID00005. In such a case, the instruction unit 122 transmits a signal to the self-propelled robot R instructing it to execute an operation to replace the storage container group including the storage container D determined to satisfy the accumulation condition with a replacement storage container group for replacing the storage container group. This allows the self-propelled robot R to know the collection type of the storage container D in advance without having to go to the location where the storage container group to be replaced is installed, and therefore it can tow an appropriate replacement storage container group (for example, storage containers D constituting the storage container group each having the same type of waste).

[0049] As shown in FIG. 3, the storage container D with the container identifier DID00005 is a storage container group, and each of the storage containers D has a predefined type of waste to be stored. The determination unit 121 determines whether the accumulation condition is met based on the accumulation status of the storage containers D that are to store the same type of waste among the storage containers D that are to store the same type of waste among the storage containers D that make up the storage container group. For example, the amount of waste disposed in the storage container D tends to differ depending on the type of waste to be stored. In the example of the storage container D with the container identifier DID00005 shown in FIG. 3, there is a tendency for a lot of paper waste to be disposed, so there are two storage containers D that are to store paper waste. Furthermore, the location of the storage container D with the container identifier DID00006 in FIG. 3 is "WA", which means that this storage container D is located in the waiting area (Waiting Area) of the self-propelled robot R.

[0050] Therefore, the determination unit 121 may determine that the accumulation condition is satisfied when all of the measurement data related to the storage container D (e.g., a storage container D for paper) that is the target of storing waste of the same type among the multiple storage containers D that constitute the storage container group exceeds the first threshold. Here, the "first threshold" is an accumulation condition that the determination unit 121 refers to when there is a storage container D that is the target of storing waste of the same type among the multiple storage containers D that constitute the storage container group. The specific value of the first threshold may be determined by experiment taking into consideration the number of storage containers D that are the target of storing waste of the same type, and the larger the number of storage containers D that are the target of storing waste of the same type, the larger the value may be. For example, when the number of storage containers D that are the target of storing waste of the same type is one, the first threshold may be 70% of the maximum capacity of the storage container D described above, 75% when there are two, and 80% when there are three. This is because if there are a large number of storage containers D, there is an empty space even if the storage container D stores a large amount of waste.

[0051] The determination unit 121 may also determine that the accumulation condition is satisfied when the average value of all measurement data on the storage containers D that are to store the same type of waste among the multiple storage containers D that make up the storage container group exceeds the first threshold. For example, when there are two storage containers D that are to store the same type of waste, even if the measurement data on one of the storage containers D is below the first threshold, the average value of the measurement data on the two storage containers D may exceed the first threshold. In this case, the measurement data on one storage container D is relatively close to the first threshold, and the measurement data on the other storage container D exceeds the first threshold. In such a situation, it is considered that the free space of the two storage containers D is tight. In this way, the determination unit 121 determines that the accumulation condition is satisfied when the average value of all measurement data on the storage containers D that are to store the same type of waste among the multiple storage containers D that make up the storage container group exceeds the first threshold, thereby allowing the self-propelled robot R to collect the waste early before the storage container D becomes full.

[0052] As described above, the self-propelled robot R tows the storage container group in order to recover and replace the storage container group. Compared to towing a single storage container D, when towing a group of multiple storage containers collectively, the weight may exceed the towing capacity of the self-propelled robot R. Therefore, the determination unit 121 determines that the accumulation condition is met when measurement data related to the weight of the waste in the storage container D included in the accumulation information measured by the sensor S, more specifically, the sum of the measurement data related to each of the multiple storage containers D that make up the storage container group, exceeds the second threshold value.

[0053] Here, the "second threshold" is an accumulation condition referenced by the determination unit 121 to prevent the self-propelled robot R from towing the group of storage containers in excess of its towing capacity. The specific value of the second threshold may be determined by experimentation taking into consideration the towing capacity of the self-propelled robot R and the gradient of the path from the waiting location of the self-propelled robot R to the group of storage containers to be replaced, for example, and is 80% of the maximum towing weight of the self-propelled robot R. This allows the information processing device 1 to prevent the self-propelled robot R from towing a group of storage containers in excess of its towing capacity.

[0054] The above mainly describes the case where a storage container group is formed in which the multiple storage containers D are replaced simultaneously as a unit. Next, a description will be given of the case where a storage container group is formed in which the multiple storage containers D are replaced independently and individually.

[0055] Generally, the type of waste to be stored in each storage container D is determined. Therefore, when multiple storage containers D are replaced independently, the information processing device 1 needs to match the type of waste in the storage container D to be replaced with the type of waste in the replacement storage container D.

[0056] In order to achieve this, the information processing device 1 includes an identification unit 123 that identifies a replacement storage container D to be installed in place of the storage container D determined to satisfy the storage condition. The storage information acquired by the acquisition unit 120 from each sensor S also includes a sensor identifier for identifying the sensor S. The identification unit 123 identifies the type of waste to be collected by the storage container D equipped with the sensor S, by referring to the storage container database 100 based on the sensor identifier of the sensor S that transmitted the storage information that satisfies the storage condition. As described above, a replacement storage container D is also provided at the waiting location of the self-propelled robot R. The identification unit 123 identifies a replacement storage container D for storing the same type of waste as the identified type of waste, by referring to the storage container database 100. In this way, the identification unit 123 can match the type of waste in the storage container D to be replaced with the type of waste in the replacement storage container D.

[0057] The instruction unit 122 transmits the container identifier of the replacement storage container D identified by the identification unit 123 to the self-propelled robot R. This allows the self-propelled robot R to autonomously select and tow the replacement storage container D. Furthermore, if an operator is waiting at the location where the replacement storage container D is placed, the instruction unit 122 may transmit the container identifier of the replacement storage container D identified by the identification unit 123 to the operator's terminal. In this case, the operator can select the replacement storage container D and have the self-propelled robot R tow it.

[0058] When a group of storage containers D is formed in which each of the multiple storage containers D is replaced independently and individually, it is also important to consider how many storage containers D are to be towed at one time by the self-propelled robot R. This is because, compared to a group of storage containers D in which each of the multiple storage containers D is replaced simultaneously as a unit, multiple storage containers D behave like articulated vehicles when towed by the self-propelled robot R. When the number of storage containers D to be towed increases, towing may become difficult if the route the self-propelled robot R travels is narrow or there are many people. For this reason, when there are two or more storage containers determined to satisfy the accumulation condition, the determination unit 121 further determines whether or not the self-propelled robot R satisfies a transport condition, which is a condition regarding storage containers that can be transported at one time.

[0059] FIG. 4 is a diagram showing a schematic diagram of map information referred to by the information processing device 1 according to the embodiment. This map information is stored in the storage unit 10. The map information shown in FIG. 4 shows an example in which the storage container D is installed in a service area on a highway. In FIG. 4, a cross with a leader line shown by a dashed line and a container identifier indicates a location where a storage container group is installed. For example, a location with container identifiers DID00001 to DID00004 along with a leader line indicates a location where a storage container group in which each of a plurality of storage containers D is replaced independently and individually. Similarly, a location with a container identifier DID00005 along with a leader line indicates a location where a storage container group in which each of a plurality of storage containers D is replaced simultaneously as a whole. The map information shown in FIG. 4 also includes the locations of toilets, convenience stores, restaurants, and gas stations.

[0060] In addition, in FIG. 4, the self-propelled robot R waits at a waiting location located in the upper left of the map. The dashed line starting from the waiting location of the self-propelled robot R and ending at the installation location of each storage container group indicates the route along which the self-propelled robot R moves. This route may be determined in advance and recorded together with the map information, or may be derived autonomously by the self-propelled robot R using a known route identification algorithm based on the map information. When the self-propelled robot R autonomously derives the route, the self-propelled robot R transmits the derived route to an administrator's terminal (not shown). The administrator visually checks the route received from the self-propelled robot R, and edits and confirms it if necessary. The self-propelled robot R receives an instruction to confirm the route together with the route from the administrator's terminal, and travels along the route.

[0061] In FIG. 4, the route from the waiting location to the locations with container identifiers DID00001 to DID00004 for the self-propelled robot R narrows in front of the toilet. For this reason, the determination unit 121 determines whether or not the number of storage containers D at one time is two or less as a transportation condition. In addition, the route from the waiting location to the storage container D with the container identifier DID00006 for the self-propelled robot R is relatively wide and has few people behind the toilet, convenience store, or restaurant. In such a case, the determination unit 121 determines as a transportation condition that the number of storage containers to be towed by the self-propelled robot R at one time does not exceed the towing capacity of the self-propelled robot R. The identification unit 123 identifies replacement storage containers D to be installed in place of all storage containers D determined to satisfy the accumulation condition, on the condition that the determination unit 121 determines that the transportation condition is satisfied.

[0062] In this way, by the judgment unit 121 in the embodiment judging the transportation conditions, it is possible to reduce risks when the self-propelled robot R autonomously transports the storage container D without human intervention (for example, the risk that the storage container D will get caught on a structure or step while being towed and will no longer be able to be towed).

[0063] Here, when the self-propelled robot R independently goes to collect and replace the storage containers that are to be replaced individually, it is efficient to collect and replace other storage containers D within the range of transportation conditions. On the other hand, it is not efficient to replace a storage container D that has almost no accumulated waste.

[0064] Therefore, the determination unit 121 determines storage containers D that satisfy a predetermined additional collection condition among storage containers D that do not satisfy the accumulation condition within a range that satisfies the transportation condition. Specifically, the determination unit 121 determines that the accumulation condition is satisfied when the measurement data regarding the storage container D exceeds a first threshold, and determines that the additional collection condition is satisfied when the measurement data regarding the storage container D is lower than the first threshold and higher than a third threshold that is lower than the first threshold. In other words, the additional collection condition is a looser condition than the accumulation condition, and if the first threshold is 70% of the maximum capacity of the storage container D, the third threshold is, for example, 50%.

[0065] Furthermore, the determination unit 121 may determine that, among the storage containers D not satisfying the accumulation condition, a storage container D that exists within a predetermined range from the location of a storage container D that satisfies the accumulation condition is a storage container D that satisfies the additional collection condition. Here, the "predetermined range" is a range in which the self-propelled robot R is not hindered from collecting the storage container D that is the original collection target. The specific value of the predetermined range may be determined taking into consideration the speed of the self-propelled robot R, etc., and is, for example, within a range of 20 meters. Furthermore, the determination unit 121 may determine, among the storage containers D not satisfying the accumulation condition, a storage container D that is a target for storing the same type of waste as the storage container D that satisfies the accumulation condition is a storage container D that satisfies the additional collection condition.

[0066] The above-mentioned additional collection conditions are only examples, and the determination unit 121 may operate these additional collection conditions in combination. For example, the determination unit 121 may first search for a storage container D for additional collection using the above-mentioned third threshold, and if not found, search for a storage container D that exists within a predetermined range from the location of the storage container D that satisfies the accumulation condition, and if not found, search for a storage container D that is capable of storing the same type of waste as the storage container D that satisfies the accumulation condition. In addition, the combination of additional collection conditions may be arbitrary, and further additional collection conditions may be added.

[0067] For example, when additional collection of the storage container D is to be performed, a priority order may be set according to the type of waste, and the determination unit 121 may determine whether the storage container D satisfies the additional collection conditions according to the priority order for additional collection. For example, if a priority policy is set such that paper has the highest priority as a type of waste, followed by PET bottles, plastics, and bottles and cans in that order, the determination unit 121 may determine the additional collection conditions according to the priority order set in the priority policy.

[0068] The identification unit 123 identifies a replacement storage container D to be installed in place of the storage container D that satisfies the additional collection condition. This allows the information processing device 1 to collect the storage container D early to the extent that the towing capacity of the self-propelled robot R has margin, thereby making it possible to collect waste more efficiently.

[0069] Furthermore, a threshold value may be set for each type of waste to be stored in order to make it easier to satisfy the accumulation condition in the order of priority set in the priority policy. For example, if the priority policy is set so that paper has the highest priority as a type of waste, followed by PET bottles, plastic, and bottles and cans, the above-mentioned first threshold value is set to be larger in the order of paper, PET bottles, plastic, and bottles and cans. The determination unit 121 determines that the accumulation condition is satisfied when the measurement data related to the storage container D exceeds the first threshold value set for each type of waste to be stored. This allows the determination unit 121 to make it easier for a storage container D that stores a type of waste with a higher priority to satisfy the accumulation condition.

[0070] <Processing flow of the information processing method executed by the information processing device 1> 5 is a flowchart for explaining the flow of information processing executed by the information processing device 1 according to the embodiment. The processing in this flowchart starts, for example, when the information processing device 1 is started.

[0071] The acquisition unit 120 acquires accumulation information indicating the accumulation status of waste contained in each of a plurality of storage containers D for storing waste (S2). The determination unit 121 determines whether the accumulation status of waste contained in at least one of the plurality of storage containers D satisfies an accumulation condition that specifies the collection of the storage container D, based on the accumulation information acquired by the acquisition unit 120 (S4).

[0072] If the accumulation condition is met (Yes in S6), the instruction unit 122 collects one or more storage containers D including at least the storage container D determined by the judgment unit 121 to satisfy the accumulation condition, and transmits a signal to the self-propelled robot R to instruct it to perform the collection and replacement work and to install a replacement storage container D in place of the collected storage container D (S8).

[0073] If the instruction unit 122 transmits a signal to the self-propelled robot R, or if the accumulation condition is not satisfied (No in S6), the process in this flowchart ends.

[0074] <Advantages of the Information Processing Device 1 According to the Embodiment> As described above, according to the information processing device 1 according to the embodiment, the effort required for collecting waste accumulated in the container D can be reduced.

[0075] Furthermore, this invention will make it possible to contribute to Goal 9 of the United Nations' Sustainable Development Goals (SDGs), which is to "build resilient infrastructure, promote industry, innovation and infrastructure."

[0076] Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes are possible within the scope of the gist of the present invention. For example, all or part of the device can be configured by distributing or integrating functionally or physically in any unit. In addition, new embodiments resulting from any combination of multiple embodiments are also included in the embodiments of the present invention. The effect of the new embodiment resulting from the combination also has the effect of the original embodiment.

[0077] <Modification> In the above, a case has been described in which the determination unit 121 determines whether or not the accumulation status of waste stored in at least one of the multiple storage containers D satisfies an accumulation condition that stipulates the collection of the storage container D. For example, a case has been described in which the determination unit 121 satisfies the accumulation condition when measurement data related to the storage container D exceeds a threshold. Here, the threshold may be variably set based on the congestion status of the area in which the storage container D is installed and meteorological information such as the weather and temperature.

[0078] Specifically, when the area where the storage container D is installed is crowded, the threshold value is set lower than when the area is empty. Alternatively, when the temperature of the area where the storage container D is installed is high, the threshold value is set lower than when the temperature is low. This allows the self-propelled robot R to collect waste early when the area where the storage container D is installed is crowded, that is, when the amount of waste to be disposed of is large. Furthermore, the self-propelled robot R can collect waste early before food, etc. disposed of in the storage container D spoils. The threshold value can be changed, for example, by an administrator of the information processing device 1 setting the threshold value in the information processing device 1 via the administrator's terminal, or the information processing device 1 may automatically set the threshold value. In the latter case, for example, the information processing device 1 may refer to a threshold value history database (not shown) that stores previously set threshold values ​​linked to the temperature, time zone, season, etc. at that time, and similarly read and set the threshold values ​​for the temperature, time zone, season, etc.

[0079] In the above, a case has been described in which the determination unit 121 determines whether or not the accumulation state of the waste contained in at least one of the multiple storage containers D satisfies the accumulation condition that stipulates the collection of the storage container D. This means that unless the accumulation state of the waste contained in the storage container D satisfies the accumulation condition, the waste will not be collected.

[0080] Therefore, the determination unit 121 may determine that the accumulation condition is satisfied in a pseudo manner for each storage container D when a predetermined period (e.g., 24 hours) has passed since the previous collection and replacement of the storage container D. This makes it possible to avoid a situation in which a small amount of waste disposed in the storage container D is not collected for a long time. At this time, the instruction unit 122 may instruct the self-propelled robot R to collect and replace the storage containers D in order according to a predetermined order. The predetermined order may be, for example, for each area in which the storage containers D are installed, or for each type of waste.

[0081] The predetermined period may be variably set based on the congestion status of the area where the storage container D is installed and meteorological information such as weather and temperature. Specifically, if the area where the storage container D is installed is crowded, the predetermined period may be set shorter than when the area is empty. Alternatively, if the temperature of the area where the storage container D is installed is high, the predetermined period may be set shorter than when the temperature is low.

[0082] Furthermore, when the determination unit 121 determines that multiple storage containers D satisfy the accumulation condition, the instruction unit 122 may instruct the self-propelled robot R to collect and replace the storage containers D in descending order of the amount of waste discarded. Alternatively, the instruction unit 122 may instruct the self-propelled robot R to collect and replace the storage containers D based on a storage container D that is frequently used on a regular basis or a predetermined order based on past data.

[0083] In the above, it has been described that when a plurality of storage containers among the storage containers D constitute a storage container group that are to be replaced simultaneously as a whole, the instruction unit 122 transmits a signal to the self-propelled robot R instructing it to perform an operation of replacing the storage container group including the storage container D determined to satisfy the accumulation condition with a replacement storage container group for replacing the storage container group. Here, it has been assumed that the type of waste in the storage containers D that constitute the replacement storage container group is the same as the type of waste in the storage containers D that constitute the storage container group to be replaced.

[0084] Alternatively, the instruction unit 122 may rearrange the types of waste in the storage containers D that make up the replacement storage container group based on the accumulation status of each type of waste. For example, an accumulation status analysis unit (not shown) analyzes the accumulation status of waste in each storage container D acquired by the acquisition unit 120, and determines the rearrangement of the types of waste in the storage containers D that make up the replacement storage container group. For example, when the accumulation amount of a specific type of waste exceeds a predetermined threshold for determining whether to add waste and the accumulation amount of another type of waste is below a predetermined threshold for determining whether to replace the storage container D for the other type of waste, the accumulation status analysis unit adds a storage container D for the specific type of waste in place of the storage container D for the other type of waste. This allows the information processing device 1 to add a storage container D for waste that is used frequently by users.

[0085] When a worker is waiting at the location where the replacement storage container group is placed, the accumulation status analysis unit may notify the worker's terminal of information on the specific type of waste and information on other types of waste, allowing the worker to rearrange the types of waste in the storage containers D that make up the replacement storage container group.

[0086] In the above, a case has been described in which the information processing device 1 determines whether or not it is necessary to collect waste from the storage container D, and issues an instruction to the self-propelled robot R. Alternatively, the self-propelled robot R may also have the functions of the information processing device 1, and may autonomously determine whether or not collection is necessary based on the accumulation status acquired from the sensor S.

[0087] In the above, a case has been described in which the self-propelled robot R tows a storage container D of the same type as the storage container D to be collected and moves to a location where the storage container D to be collected is installed. Instead of this, or in addition to this, the self-propelled robot R may load the storage container D onto a dolly dedicated to transportation and tow the dolly. Alternatively, the self-propelled robot R may be shaped like a dolly, and the self-propelled robot R may load and transport the storage container D. [Explanation of symbols]

[0088] 1. Information processing device 10 Storage section 11 Communications Department 12 Control section 120 Acquisition Department 121 Judgment section 122 Instruction section 123 Specific part B base station C Containment Container Recovery System D. Containment Container S Sensor R Self-propelled robot

Claims

1. an acquisition unit that acquires accumulation information, which is information indicating an accumulation status of waste contained in each of a plurality of storage containers for storing waste; a determination unit that determines whether an accumulation state of the waste stored in at least one of the plurality of storage containers satisfies an accumulation condition that determines whether the storage container is to be collected, based on the accumulation information; an instruction unit that transmits a signal to a self-propelled robot that retrieves one or more storage containers including at least the storage container determined to satisfy the accumulation condition and installs a replacement storage container in place of the retrieved storage container, the signal instructing the self-propelled robot to perform the retrieval and replacement work; An information processing device comprising:

2. The plurality of containers constitute a group of containers that are replaced simultaneously as a whole, the instruction unit transmits to the self-propelled robot a signal instructing the self-propelled robot to execute an operation of replacing a storage container group including a storage container determined to satisfy the accumulation condition with a replacement storage container group for replacing the storage container group; The information processing device according to claim 1 .

3. Each of the plurality of storage containers constituting the storage container group is assigned a specific type of waste to be stored therein, the determination unit determines whether the accumulation condition is satisfied based on an accumulation status of a storage container that is a target for storing the same type of waste among the multiple storage containers that constitute the storage container group. The information processing device according to claim 2 .

4. The accumulated information includes measurement data indicating at least one of the volume and weight of the waste in the storage container; the determination unit determines that the accumulation condition is satisfied when all of the measurement data relating to storage containers that are targets for storing the same type of waste among the multiple storage containers that make up the storage container group exceed a first threshold value. The information processing device according to claim 3 .

5. The accumulated information includes measurement data indicating at least one of the volume and weight of the waste in the storage container; the determination unit determines that the accumulation condition is satisfied when an average value of all measurement data relating to a storage container that is a target for storing the same type of waste among the multiple storage containers that make up the storage container group exceeds a first threshold value; The information processing device according to claim 3 .

6. the accumulated information includes measurement data indicating the weight of the waste in the container; the determination unit determines that the accumulation condition is satisfied when a sum of the measurement data for each of the plurality of storage containers constituting the storage container group exceeds a second threshold value. The information processing device according to claim 3 .

7. The plurality of containers constitute a group of containers that are each independently replaceable, The information processing device further includes an identification unit that identifies a replacement container to be installed in place of the container determined to satisfy the accumulation condition. The information processing device according to claim 1 .

8. When there are two or more storage containers determined to satisfy the accumulation condition, the determination unit further determines whether or not the self-propelled robot satisfies a transportation condition, which is a condition regarding a storage container that can be transported at one time; The identification unit, on the condition that the transportation condition is determined to be satisfied, identifies replacement storage containers to be installed in place of all storage containers determined to satisfy the accumulation condition. The information processing device according to claim 7.

9. The determination unit determines a storage container that satisfies a predetermined additional collection condition among storage containers that do not satisfy the accumulation condition within a range in which the transportation condition is satisfied, The identification unit identifies a replacement storage container to be installed in place of the storage container that satisfies the additional collection condition. The information processing device according to claim 8.

10. The accumulated information includes measurement data indicating at least one of the volume and weight of the waste in the storage container; the determination unit determines that the accumulation condition is satisfied when the measurement data regarding the storage container exceeds a first threshold, and determines that the additional collection condition is satisfied when the measurement data regarding the storage container is lower than the first threshold and higher than a third threshold that is lower than the first threshold. The information processing device according to claim 9.

11. the determination unit determines, among the storage containers not satisfying the accumulation condition, a storage container that is present within a predetermined range from a location of a storage container that satisfies the accumulation condition as a storage container that satisfies the additional collection condition. The information processing device according to claim 9.

12. Each of the plurality of storage containers constituting the storage container group is assigned a specific type of waste to be stored therein, the determination unit determines, among the storage containers not satisfying the accumulation condition, a storage container that is a storage target for storing the same type of waste as the storage container that satisfies the accumulation condition, as a storage container that satisfies the additional collection condition; The information processing device according to claim 9.

13. The plurality of storage containers each have a predetermined type of waste to be stored therein, The accumulated information includes measurement data indicating at least one of the volume and weight of the waste in the storage container; the determination unit determines that the accumulation condition is satisfied when the measurement data relating to the storage container exceeds a threshold value defined for each type of waste to be stored. The information processing device according to claim 1 .

14. The processor: A step of acquiring accumulation information for each of a plurality of storage containers for storing waste, the accumulation information being information indicating an accumulation status of waste stored in each storage container; A step of determining whether an accumulation condition of the waste stored in at least one of the plurality of storage containers satisfies an accumulation condition that specifies that the storage container should be collected based on the accumulation information; a step of collecting one or more storage containers including at least the storage container determined to satisfy the accumulation condition and transmitting a signal to a self-propelled robot for installing a replacement storage container in place of the collected storage container, the signal instructing the robot to perform the collection and replacement work; An information processing method for performing the above.

15. On the computer, A function of acquiring accumulation information, which is information indicating an accumulation status of waste contained in each of a plurality of waste containers for containing waste; A function of determining whether an accumulation condition of the waste stored in at least one of the plurality of storage containers satisfies an accumulation condition that specifies that the storage container should be collected based on the accumulation information; a function of collecting one or more storage containers including at least the storage container determined to satisfy the accumulation condition and transmitting a signal to a self-propelled robot for installing a replacement storage container in place of the collected storage container, the signal instructing the robot to perform the collection and replacement work; A program to achieve this.

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