Waste transportation system and waste collection method

Abstract

To provide a waste transportation system or the like for reducing a burden of waste processing in a waste incineration facility.SOLUTION: A waste transportation system includes: an automated guided vehicle 3 for moving between a first area 1 where general vehicles 11 enter and leave to dispose first waste and a second area 2 where waste collection vehicles 21 enter and leave to put the collected second waste into a pit; and a control device for outputting a movement instruction from the first area 1 to the second area 2 to the automated guided vehicle 3 loaded with the first waste carried by the general vehicles 11 in the case that a prescribed condition is satisfied.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a waste transport system and a waste recovery method. [Background technology]

[0002] Patent Document 1 discloses a waste entry management system that guides the vehicles of users and waste transporters to appropriate loading and unloading areas at a waste incineration facility depending on the type of waste brought in by the users and waste transporters. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 7221819 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the invention of Patent Document 1 has problems in that when guiding the vehicles of users and waste transporters to the loading and unloading area, traffic congestion occurs due to the vehicles and the personnel required for guiding the vehicles must be secured.

[0005] In one aspect, an object of the present invention is to provide a waste transport system etc. that reduces the burden of waste treatment in a waste incineration facility. [Means for solving the problem]

[0006] A waste transportation system according to one aspect includes an automated guided vehicle that moves between a first area where general vehicles enter and exit to dispose of first waste and a second area where waste collection vehicles enter and exit to deposit collected second waste into a pit, and a control device that outputs a movement command from the first area to the second area to the automated guided vehicle carrying the first waste brought in by the general vehicle when certain conditions are met. Effect of the Invention

[0007] In one aspect, the burden of waste treatment can be reduced at waste incineration facilities. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is an explanatory diagram showing an overview of a waste transportation system according to a first embodiment. [Diagram 2] 1 is a side view showing a configuration example of an automatic guided vehicle according to a first embodiment. [Diagram 3] FIG. 2 is a block diagram showing a configuration example of an automatic guided vehicle. [Figure 4] 2 is a block diagram showing an example of the configuration of a server according to the first embodiment. FIG. [Diagram 5] FIG. 4 is an explanatory diagram illustrating a user DB according to the first embodiment. [Figure 6] FIG. 13 is an explanatory diagram showing an example of a screen for confirming whether or not there are any items unsuitable for carrying in. [Figure 7] FIG. 4 is an explanatory diagram showing an example of a fee display screen according to the first embodiment. [Figure 8] 4 is a flowchart showing an example of a processing procedure in the waste transportation system according to the first embodiment. [Figure 9] 4 is a flowchart showing an example of a processing procedure in the waste transportation system according to the first embodiment. [Figure 10] 4 is a flowchart showing an example of a processing procedure in the waste transportation system according to the first embodiment. [Figure 11] FIG. 11 is a side view showing a configuration example of an automatic guided vehicle according to a second embodiment. [Figure 12] FIG. 11 is an explanatory diagram showing an example of a charge display screen according to the second embodiment. [Figure 13] 10 is a flowchart showing an example of a processing procedure in a waste transportation system according to a second embodiment. [Figure 14] FIG. 11 is a side view showing a configuration example of an articulated transport vehicle according to a third embodiment. [Figure 15] FIG. 1 is a block diagram showing a configuration example of a trash can with casters. [Figure 16] 11 is a flowchart showing an example of a processing procedure in a waste transportation system according to a third embodiment. [Figure 17] 11 is a flowchart showing an example of a processing procedure in a waste transportation system according to a third embodiment. [Figure 18] 11 is a flowchart showing an example of a processing procedure in a waste transportation system according to a third embodiment. [Figure 19] FIG. 11 is an explanatory diagram showing an overview of a waste transportation system according to a fourth embodiment. [Figure 20] FIG. 13 is a block diagram showing an example of the configuration of a server according to the fourth embodiment. [Figure 21] FIG. 13 is an explanatory diagram showing a user DB and an automatic guided vehicle DB according to the fourth embodiment. [Figure 22] 10 is a flowchart showing an example of a processing procedure in a waste transportation system according to a fourth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] (Embodiment 1) Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0010] Fig. 1 is an explanatory diagram showing an overview of a waste transport system according to embodiment 1. The waste transport system includes a first area 1, a second area 2, an automated guided vehicle 3, a control device 4, and a magnetic tape 5. The first area 1 is, for example, an area where a general vehicle 11 enters and exits to dispose of first waste. The general vehicle 11 is, for example, a vehicle driven by a user who brings in the first waste.

[0011] The second area 2 is, for example, an area where the waste collection vehicle 21 enters and exits to dump the collected second waste into the pit. The waste collection vehicle 21 is, for example, a garbage collection vehicle of a waste transporter or the like. The second area 2 includes a garbage pit 22, a first lane 23, and a second lane 24. The garbage pit 22 stores garbage collected by the waste collection vehicle 21 and the automated guided vehicle 3. The first lane 23 is an area where the second waste collected by the waste collection vehicle 21 is dumped into the garbage pit 22. The second lane 24 is an area where the first waste collected by the automated guided vehicle 3 is dumped into the garbage pit 22.

[0012] When the unmanned transport vehicle 3 receives an instruction from the control device 4, it transports the first waste collected in the first area 1 to the second area 2. The unmanned transport vehicle 3 can move freely between the first area 1 and the second area 2. The types of unmanned transport vehicles 3 include a trolley type, a towing type, and a low-floor type. The trolley type has a form similar to a hand trolley and moves with a load placed on the trolley. The towing type moves with a load placed on a basket trolley or a pallet trolley connected to the rear of the unmanned transport vehicle. The low-floor type moves by getting under a basket or a pallet base and lifting it up like a lift. In this embodiment, only an example in which the trolley type and the towing type are used depending on the type of waste and the amount of waste transported by the unmanned transport vehicle 3 will be described, but the present invention is not limited to this.

[0013] The travel method of the unmanned guided vehicle 3 includes a magnetic induction type, a landmark type, a SLAM (Simultaneous Localization and Mapping) type, and an autonomous movement type. The magnetic induction type is a method of determining the route along which the unmanned guided vehicle 3 travels by laying a magnetic tape or the like on the floor. The landmark type is a method of determining the route along which the unmanned guided vehicle 3 travels by reading white lines and two-dimensional markers arranged on the floor with a camera and receiving instructions from the read white lines and two-dimensional markers. The SLAM type is a method of determining the route along which the unmanned guided vehicle 3 travels by identifying the position information and surrounding information of the unmanned guided vehicle 3 by LiDAR (Light Detection and Ranging), a camera sensor, or a TOF (Time of Flight) sensor. The autonomous movement type is a method of determining the route along which the unmanned guided vehicle 3 travels by having the unmanned guided vehicle 3 store a travel route that has been passed once. In this embodiment, only an example using the magnetic induction type will be described, but the present invention is not limited to this.

[0014] The control device 4 outputs a movement command to the unmanned transport vehicle 3 to move from the first area 1 to the second area 2. Furthermore, the control device 4 processes, stores, and transmits / receives various information related to the waste transport system. The control device 4 is, for example, a server device, a personal computer, a general-purpose tablet PC (personal computer), or a smartphone. In this embodiment, the control device 4 will be described taking a server 4 as an example, but is not limited thereto.

[0015] The magnetic tape 5 is laid across the first area 1 and the second area 2. The magnetic tape 5 is used for the movement of the automated guided vehicle 3. The automated guided vehicle 3 moves between the first area 1 and the second area 2 based on the magnetism detected from the magnetic tape 5. Note that a magnetic bar may be used instead of the magnetic tape 5.

[0016] FIG. 2 is a side view showing a configuration example of the automatic guided vehicle according to the first embodiment. The automatic guided vehicle 3 includes a vehicle body 30, a control unit 31, a memory unit 32, a communication unit 33, a display device 34, a sensor 35, a driving device 36, a measuring device 37, a payment device 38, a card reader 39, a tire 51, a trash can 52, and an opening / closing mechanism 54. The vehicle body 30 is rectangular in plan view. The vehicle body 30 is a flat rectangular parallelepiped housing. The control unit 31, the memory unit 32, the communication unit 33, the sensor 35, the driving device 36, the measuring device 37, and the opening / closing mechanism 54 are housed inside the vehicle body 30. The measuring device 37 is housed below the trash can 52. A plurality of tires 51 are provided on the lower part of the vehicle body 30. The sensor 35 is disposed at a position at the lower part of the vehicle body 30 that does not overlap with the tire 51. The trash can 52 is shown in cross section in FIG. 2. The trash can 52 is detachably attached to the upper surface of the vehicle body 30. The trash can 52 is a box with an open upper surface. The trash can 52 has a lid 52a. The lid 52a is disposed on the upper surface of the trash can 52. The connecting member 53 is a columnar shape that rises vertically from the upper surface of the vehicle body 30. The display device 34 and the payment device 38 are disposed on the upper part of the connecting member 53, inclined diagonally forward. The card reader 39 is disposed on the surface of the connecting member 53 that corresponds to the traveling direction of the vehicle body 30. The display device 34 is disposed near the height of the face of a user who uses the automatic guided vehicle 3. The payment device 38 is disposed adjacent to the upper part of the display device 34. The card reader 39 is disposed below the display device 34. The trash can 52 may be provided with a damping mechanism. Depending on the embodiment, the automatic guided vehicle 3 may not be provided with the lid 52a and the opening / closing mechanism 54.

[0017] 3 is a block diagram showing a configuration example of an automated guided vehicle. The automated guided vehicle 3 includes a control unit 31, a storage unit 32, a communication unit 33, a display device 34, a sensor 35, a driving device 36, a measuring device 37, a payment device 38, a card reader 39, and an opening / closing mechanism 54. The above-mentioned units are connected to each other via a bus. The control unit 31 is configured using one or more processors such as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), or a TPU (Tensor Processing Unit).

[0018] The memory unit 32 includes a static random access memory (SRAM), a dynamic random access memory (DRAM), a flash memory, or the like. The memory unit 32 temporarily stores information required during processing by the control unit 31. The memory unit 32 stores a fee schedule (not shown) for the first waste. The fee schedule for the first waste stores the type of first waste in association with the fee per weight. The communication unit 33 is an interface for communication between the automatic guided vehicle 3 and the network N.

[0019] The display device 34 includes an input unit and a display unit. The input unit accepts operation input by a user. The input unit sends a control signal corresponding to the accepted operation to the control unit 31. The input unit includes, for example, a keyboard and a mouse, and a microphone for voice input. The display unit is a liquid crystal display or an organic EL (Electro Luminescence) display. The display device 34 may be a touch panel in which the input unit and the display unit are integrated.

[0020] The sensor 35 is, for example, a magnetic sensor. The sensor 35 detects the magnetism generated by the magnetic tape 5. The automatic guided vehicle 3 moves between the first area 1 and the second area 2 based on the magnetism detected by the sensor 35.

[0021] The driving device 36 controls the driving of the tires 51 based on instructions from the control unit 31, and causes the automated guided vehicle 3 to travel and stop. The measuring device 37 measures the weight of the first waste collected in the trash can 52. The control unit 31 calculates the amount of money required to treat the waste based on the weight of the first waste.

[0022] The payment device 38 reads payment data including a credit card number and a barcode used for cashless payment. The control unit 31 transmits the payment data read by the payment device 38 and the amount required for waste disposal to an external payment server, and executes the payment process. The card reader 39 acquires the user's personal information contained in an IC chip such as a My Number card. The opening / closing mechanism 54 controls the opening and closing of the lid 52a. The user's personal information will be described later. In some embodiments, a code reader may be used instead of the card reader 39. In that case, the code reader reads the user's pre-registration information contained in a two-dimensional code such as a QR code (registered trademark). The two-dimensional code such as a QR code (registered trademark) is generated on the user's smartphone or the like when the user's pre-registration is completed, for example.

[0023] In this embodiment, the functions of the automated guided vehicle 3 may be implemented separately. In that case, the functions of the automated guided vehicle 3 are implemented by a plurality of devices such as the automated guided vehicle and the control device.

[0024] FIG. 4 is a block diagram showing a configuration example of a server according to the first embodiment. The server 4 includes a control unit 41, a storage unit 42, a communication unit 43, and a large-capacity storage unit 44. The above-mentioned units are connected to each other via a bus. The control unit 41 is configured using one or more processors such as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), or a TPU (Tensor Processing Unit). The storage unit 42 includes an SRAM, a DRAM, or a flash memory. The storage unit 42 temporarily stores information required during processing by the control unit 41 and a program being executed by the control unit 41. The communication unit 43 is an interface that communicates between the server 4 and the network N. The large-capacity storage unit 44 includes an SRAM, a DRAM, a flash memory, a hard disk, or a magnetic tape. The large-capacity storage unit 44 stores a user DB 441, which will be described later.

[0025] In this embodiment, the storage unit 42 and the large-capacity storage unit 44 may be configured as an integrated storage device. The large-capacity storage unit 44 may be configured with a plurality of storage devices. The large-capacity storage unit 44 may be an external storage device connected to the server 4.

[0026] In this embodiment, the server 4 may be a cloud server connected for communication via a network such as the Internet. The server 4 may be configured with a plurality of servers. The automated guided vehicle 3 may perform the function of the server 4.

[0027] FIG. 5 is an explanatory diagram showing a user DB according to the first embodiment. The user DB 441 stores pre-registration information of a user who uses the waste transport system. The pre-registration information may be registered on the same day. The pre-registration information of the user is, for example, the number of the general vehicle 11, the user's personal information, and a date and time. The user's personal information includes the user's name, address, My Number, and the like. In this embodiment, the user's personal information is described as being the user's name. The date and time are, for example, the date and time when the waste transport system is used. The user's pre-registration information is transmitted from the user's smartphone or the like. The user DB 441 includes a user ID string, a vehicle number string, a personal information string, and a date and time information string. The user ID string stores a user ID for identifying the user's pre-registration information. The vehicle number string stores the number of the general vehicle 11. The personal information string stores the user's personal information. The date and time information string stores the date and time when the waste transport system is used.

[0028] The procedure for the waste transportation system of this embodiment to output a movement command from the first area 1 to the second area 2 to the automated guided vehicle 3 carrying the first waste brought in by a general vehicle 11 when certain conditions are met will be described.

[0029] A user who uses the waste transport system transmits the user's pre-registration information to the server 4 via a smartphone or the like. When the control unit 41 of the server 4 receives the user's pre-registration information, the control unit 41 stores the user's pre-registration information in the user DB 441 of the mass storage unit 44, and executes the following process.

[0030] The control unit 31 of the automated guided vehicle 3 acquires the user's name stored in an IC chip such as a My Number card through the card reader 39 in the first area 1. The control unit 31 transmits to the server 4 the acquired user's name and the date and time when the user's name was acquired.

[0031] The control unit 31 may use a code reader instead of the card reader 39. In that case, the control unit 31 can obtain pre-registered information such as the user's name contained in a two-dimensional code such as a QR code (registered trademark) via the code reader and perform the subsequent processes.

[0032] The control unit 31 may transmit the number of the user's general vehicle 11 to the server 4 instead of the user's name. In this case, the control unit 31 acquires the number of the user's general vehicle 11 via the display device 34. The waste transport system can carry out subsequent processes using the number of the user's general vehicle 11 instead of the user's name.

[0033] The control unit 31 may obtain the license plate number of the user's general vehicle 11 via a camera arranged in the first area. In this case, the control unit 31 receives the license plate number of the user's general vehicle 11 transmitted from the camera arranged in the first area. The waste transport system can carry out subsequent processes using the license plate number of the user's general vehicle 11 instead of the user's name.

[0034] The control unit 41 of the server 4 receives the user name transmitted from the automated guided vehicle 3 and the date and time when the user name was acquired. The control unit 41 judges whether the received user name is stored in the pre-registration information. Specifically, the control unit 31 judges whether the received user name is stored in the user DB 441. When the control unit 41 judges that the received user name is stored in the pre-registration information, the control unit 41 judges whether the date and time when the user name was acquired matches the pre-registration information. Specifically, the control unit 41 judges whether the date and time when the received user name was acquired matches the date and time stored in the date and time information string of the user DB 441. When the control unit 41 judges that the date and time when the user name was acquired matches the pre-registration information, the control unit 41 transmits a notification to the automated guided vehicle 3 that authentication of the user who uses the waste transport system has been completed (hereinafter, authentication completion notification).

[0035] In addition, if the control unit 41 determines that pre-registration information corresponding to the received user name does not exist in the user DB 441, it sends a notification to the unmanned guided vehicle 3 to re-acquire the user name (hereinafter referred to as a re-acquisition notification).

[0036] In addition, if the control unit 41 determines that the date and time when the user's name was acquired does not match the pre-registration information, it sends a notification to the unmanned guided vehicle 3 that the waste transportation system cannot be used (hereinafter referred to as a non-availability notification).

[0037] The control unit 31 of the automated guided vehicle 3 receives the authentication completion notification sent from the server 4. The control unit 31 displays a screen for confirming the presence or absence of unsuitable items on the display device 34. Examples of unsuitable items include large metal objects such as lighters, matches, spray cans, and agricultural tools. The control unit 31 may also output sound when displaying the screen for confirming the presence or absence of unsuitable items on the display device 34.

[0038] Fig. 6 is an explanatory diagram showing an example of a screen for confirming the presence or absence of items unsuitable for transport. The screen shown in Fig. 6 has a message for confirming the presence or absence of items unsuitable for transport and an OK button B1. The OK button B1 is, for example, a button for instructing the output of a screen for measuring the weight of the first waste.

[0039] The control unit 31 judges whether or not the operation of the acknowledgement button B1 has been accepted. When the control unit 31 judges that the operation of the acknowledgement button B1 has not been accepted, the control unit 31 displays a screen shown in FIG. 6 on the display unit 34. When the control unit 31 judges that the operation of the acknowledgement button B1 has been accepted, the control unit 31 opens and closes the lid 52a provided on the upper surface of the trash can 52 using the opening and closing mechanism 54. Through the above-mentioned process, the user can carry the first waste into the trash can 52. The control unit 31 measures the weight of the first waste carried into the trash can 52 via the measuring device 37. The control unit 31 calculates a fee according to the weight of the first waste based on the fee table for the first waste. Specifically, the control unit 31 multiplies the weight of the first waste measured by the measuring device 37 by the amount per weight of the first waste stored in the fee table for the first waste, and calculates a fee according to the weight of the first waste. The control unit 31 displays a screen displaying a fee according to the weight of the first waste on the display unit 34.

[0040] FIG. 7 is an explanatory diagram showing an example of a fee display screen according to the first embodiment. The screen shown in FIG. 7 has a message, a waste weight column R1, a total amount column R2, and a payment button B2. The waste weight column R1 is an area that displays the weight according to the type of first waste. In the screen shown in FIG. 7, the weight of combustible waste is displayed. The total amount column R2 is an area that displays the fee according to the weight of the first waste. The payment button B2 is, for example, a button that instructs the execution of a payment process for the fee according to the weight of the first waste.

[0041] The control unit 31 judges whether or not the operation of the payment button B2 has been accepted. When the control unit 31 judges that the operation of the payment button B2 has not been accepted, the control unit 31 calculates a fee according to the weight of the first waste based on a fee table for the first waste. When the control unit 31 judges that the operation of the payment button B2 has been accepted, the control unit 31 uses the opening and closing mechanism 54 to open and close the lid 52a provided on the upper surface of the waste bin 52. By the above-mentioned process, the user cannot carry the first waste into the waste bin 52. The control unit 31 displays a screen (not shown) for accepting the selection of a payment method on the display device 34. The screen for accepting the selection of the payment method displays available payment methods such as credit card and barcode payment. The control unit 31 accepts the selection of the payment method via the display device 34. The control unit 31 acquires payment data such as the card number of the credit card selected by the user or a barcode used for cashless payment via the payment device 38. The control unit 31 executes the payment process by transmitting the fee according to the weight of the first waste and the payment data to an external payment server. The control unit 31 transmits to the server 4 a notice that the payment process has been completed (hereinafter, referred to as a payment completion notice).

[0042] The control unit 41 of the server 4 receives the payment completion notification transmitted from the automatic guided vehicle 3. The control unit 41 transmits a movement command from the first area 1 to the second area 2 to the automatic guided vehicle 3.

[0043] The control unit 31 of the automated guided vehicle 3 receives a movement command from the first area 1 to the second area 2 transmitted from the server 4. The control unit 31 moves the automated guided vehicle 3 from the first area 1 to the second area 2 based on the received movement command and the magnetism detected from the magnetic tape 5. The control unit 31 moves the automated guided vehicle 3 to the second lane 24 of the second area 2 based on the magnetism detected from the magnetic tape 5 in the second area. The control unit 31 displays a screen including a completion button (not shown) on the display device 34 in the second lane 24 of the second area 2. The completion button is, for example, a button that instructs the transmission of a notification that the first waste has been input into the garbage pit 22 (hereinafter, referred to as a "input completion notification"). The control unit 31 determines whether or not the operation of the completion button has been accepted. When the control unit 31 determines that the operation of the completion button has not been accepted, the control unit 31 displays a screen including the completion button on the display device 34. When the control unit 31 determines that the operation of the completion button has been accepted, the control unit 31 transmits the input completion notification to the server 4.

[0044] The control unit 41 of the server 4 receives the insertion completion notification transmitted from the automatic guided vehicle 3. The control unit 41 transmits a movement command from the second area 2 to the first area 1 to the automatic guided vehicle 3.

[0045] The control unit 31 of the automated guided vehicle 3 receives the movement command from the second area 2 to the first area 1 transmitted from the server 4. The control unit 31 moves the automated guided vehicle 3 from the second area 2 to the first area 1 based on the received movement command and the magnetism detected from the magnetic tape 5.

[0046] In this embodiment, the server 4 transmits a command to move from the first area 1 to the second area 2 to the automated guided vehicle 3 when all of the following conditions are satisfied: authentication of the user's name, etc., and pre-registered information, confirmation of items unsuitable for carrying in, and completion of payment processing; but this is not limited to this. The server 4 may transmit a command to move from the first area 1 to the second area 2 to the automated guided vehicle 3 when at least any of the following conditions is satisfied: authentication of the user's name, etc., and pre-registered information, confirmation of items unsuitable for carrying in, and completion of payment processing.

[0047] 8 to 10 are flow charts showing an example of a processing procedure in the waste transport system according to the embodiment 1. In the first area 1, the control unit 31 of the automatic guided vehicle 3 acquires the name of the user stored in an IC chip such as a My Number card through the card reader 39 (step S301). The control unit 31 transmits the acquired user name and the date and time when the user name was acquired to the server 4 (step S302).

[0048] The control unit 41 of the server 4 receives the user's name and the date and time when the user's name was acquired, transmitted from the automated guided vehicle 3 (step S401). The control unit 41 determines whether the received user's name is stored in the pre-registration information (step S402). When the control unit 41 determines that the pre-registration information corresponding to the received user's My Number is not stored in the user DB 441 (step S402: NO), the control unit 41 transmits a re-acquisition notification to the automated guided vehicle 3 (step S403).

[0049] The control unit 31 of the automatic guided vehicle 3 receives the reacquisition notification transmitted from the server 4 (step S303). The control unit 31 returns the process to step S301.

[0050] When the control unit 41 of the server 4 determines that the received user name is stored in the pre-registration information (step S402: YES), it determines whether the date and time when the user name was acquired matches the pre-registration information (step S404).When the control unit 41 determines that the date and time when the user name was acquired does not match the pre-registration information (step S404: NO), it transmits a non-transmission notification to the automatic guided vehicle 3 (step S405).

[0051] The control unit 31 of the automatic guided vehicle 3 receives the notification of impossibility transmitted from the server 4 (step S304). The control unit 31 returns the process to step S301.

[0052] When the control unit 41 of the server 4 determines that the date and time when the user's name was acquired matches the pre-registration information (step S404: YES), the control unit 41 transmits an authentication completion notification to the automatic guided vehicle 3 (step S406).

[0053] The control unit 31 of the automated guided vehicle 3 receives the authentication completion notification transmitted from the server 4 (step S305). The control unit 31 displays a screen for confirming the presence or absence of unsuitable items on the display device 34 (step S306). The control unit 31 judges whether or not the operation of the acknowledgement button B1 shown in FIG. 6 has been accepted (step S307). When the control unit 31 judges that the operation of the acknowledgement button B1 has not been accepted (step S307: NO), the control unit 31 returns the process to step S306. When the control unit 31 judges that the operation of the acknowledgement button B1 has been accepted (step S307: YES), the control unit 31 uses the opening / closing mechanism 54 to open and close the lid 52a provided on the upper surface of the waste bin 52 (step S308). Through the above-mentioned process, the user can carry the first waste into the waste bin 52. The control unit 31 measures the weight of the first waste carried into the waste bin 52 via the measuring device 37 (step S309). The control unit 31 calculates a fee according to the weight of the first waste based on a fee table for the first waste (step S310).

[0054] The control unit 31 displays a screen on the display device 34 that displays the fee according to the weight of the first waste (step S311). The control unit 31 judges whether or not the operation of the payment button B2 shown in FIG. 7 has been accepted (step S312). When the control unit 31 judges that the operation of the payment button B2 has not been accepted (step S312: NO), the control unit 31 returns the process to step S310. When the control unit 31 judges that the operation of the payment button B2 has been accepted (step S312: YES), the control unit 31 uses the opening / closing mechanism 54 to open and close the lid 52a provided on the upper surface of the waste bin 52 (step S313). By the above-mentioned process, the user cannot carry the first waste into the waste bin 52. The control unit 31 displays a screen (not shown) that accepts the selection of a payment method on the display device 34 (step S314). The control unit 31 accepts the selection of a payment method via the display device 34 (step S315). The control unit 31 acquires payment data including the card number of the credit card selected by the user or a barcode used for cashless payment via the payment device 38 (step S316). The control unit 31 executes the payment process by transmitting the fee according to the weight of the first waste and the payment data to an external payment server (step S317). The control unit 31 transmits a notice that the payment process is complete (hereinafter referred to as a payment completion notice) to the server 4 (step S318).

[0055] The control unit 41 of the server 4 receives the payment completion notification transmitted from the automatic guided vehicle 3 (step S407). The control unit 41 transmits a movement command from the first area 1 to the second area 2 to the automatic guided vehicle 3 (step S408).

[0056] The control unit 31 of the automated guided vehicle 3 receives a movement command from the first area 1 to the second area 2 transmitted from the server 4 (step S319). The control unit 31 moves the automated guided vehicle 3 from the first area 1 to the second area 2 based on the received movement command and the magnetism detected from the magnetic tape 5 (step S320). The control unit 31 moves the automated guided vehicle 3 to the second lane 24 of the second area 2 based on the magnetism detected from the magnetic tape 5 in the second area (step S321). The control unit 31 displays a screen (not shown) including a completion button on the display device 34 in the second lane 24 of the second area 2 (step S322). The completion button is, for example, a button for instructing the transmission of a loading completion notification. The control unit 31 determines whether or not an operation of the completion button has been accepted (step S323). When the control unit 31 determines that an operation of the completion button has not been accepted (step S323: NO), the control unit 31 returns the process to step S322. When it is determined that the operation of the completion button has been accepted (step S323: YES), the control unit 31 transmits a posting completion notification to the server 4 (step S324).

[0057] The control unit 41 of the server 4 receives the input completion notification transmitted from the automatic guided vehicle 3 (step S409). The control unit 41 transmits a movement command from the second area 2 to the first area 1 to the automatic guided vehicle 3 (step S410).

[0058] The control unit 31 of the automated guided vehicle 3 receives the movement command from the second area 2 to the first area 1 transmitted from the server 4 (step S325). The control unit 31 moves the automated guided vehicle 3 from the second area 2 to the first area 1 based on the received movement command and the magnetism detected from the magnetic tape 5 (step S326).

[0059] According to the first embodiment, the waste transportation system can output a movement command from the first area 1 to the second area 2 to the automated guided vehicle 3 carrying the first waste brought in by the general vehicle 11 when a predetermined condition is satisfied.

[0060] (Embodiment 2) A description will be given of an embodiment in which the automated guided vehicle 3 is provided with a plurality of waste bins corresponding to the types of first waste. Explanations of parts that overlap with the first embodiment will be omitted. The types of first waste are, for example, combustible waste, non-burnable waste, recyclable waste, and bulky waste. In this embodiment, an example will be described in which combustible waste, non-burnable waste, and recyclable waste are used as the types of first waste, but the present invention is not limited thereto.

[0061] FIG. 11 is a side view showing a configuration example of an automated guided vehicle according to the second embodiment. The automated guided vehicle 3 includes a trash can 521, a trash can 522, and a trash can 523. The trash can 521, the trash can 522, and the trash can 523 are shown in cross section in FIG. 11. The trash can 521, the trash can 522, and the trash can 523 are detachably attached to the upper surface of the vehicle body 30. The trash can 521, the trash can 522, and the trash can 523 include a lid 52a. The measuring device 37 is disposed below the trash can 521, the trash can 522, and the trash can 523, respectively. The trash can 521 is a trash can for burnable trash. The trash can 522 is a trash can for non-burnable trash. The trash can 523 is a trash can for recyclable trash. On the sides of trash can 521, trash can 522, and trash can 523, characters indicating burnable waste, non-burnable waste, and recyclable waste are written, respectively.

[0062] An example will be described in which an automated guided vehicle 3 equipped with a plurality of waste bins corresponding to the type of first waste is used in a waste transport system. When the control unit 31 of the automated guided vehicle 3 determines that the operation of the acknowledgement button B1 shown in FIG. 6 has been accepted, the control unit 31 opens and closes the lids 52a provided on the upper surfaces of the waste bins 521, 522, and 523 using the opening and closing mechanism 54. Through the above-mentioned process, the user can carry burnable waste, non-burnable waste, and recyclable waste into the waste bins 521, 522, and 523, respectively. The control unit 31 measures the weights of the burnable waste, non-burnable waste, and recyclable waste carried into the waste bins 521, 522, and 523, respectively, via the measuring device 37. The control unit 31 calculates the fees according to the weights of the burnable waste, non-burnable waste, and recyclable waste, respectively, based on the fee table for the first waste. Specifically, the control unit 31 calculates the fees according to the weights of combustible waste, non-burnable waste, and recyclable waste by multiplying the weights of combustible waste, non-burnable waste, and recyclable waste measured by the measuring device 37 by the amounts per weight of combustible waste, non-burnable waste, and recyclable waste stored in the fee table for the first waste. The control unit 31 calculates the fee according to the weight of the first waste by adding up the fees according to the weights of combustible waste, non-burnable waste, and recyclable waste. The control unit 31 displays a screen on the display device 34 that displays the fee according to the weight of the first waste.

[0063] FIG. 12 is an explanatory diagram showing an example of a fee display screen according to the second embodiment. Explanations of parts that overlap with the first embodiment will be omitted. The screen shown in FIG. 12 has a garbage weight column R1 and a total amount column R2. The garbage weight column R1 is an area that displays the weight according to the type of first waste. In the screen shown in FIG. 12, the garbage weight column R1 displays the weights of burnable waste, non-burnable waste, and recyclable waste. The total amount column R2 is an area that displays the fee according to the weight of the first waste. In the screen shown in FIG. 12, the total amount column R2 displays the total of the fees according to the weights of burnable waste, non-burnable waste, and recyclable waste. The subsequent processing is similar to that of the first embodiment, so explanations will be omitted.

[0064] FIG. 13 is a flow chart showing an example of a processing procedure in the waste transport system according to the second embodiment. In the processing shown in FIG. 13, steps S308 to S311 are replaced with steps S501 to S505 in the processing shown in FIG. 8 to FIG. 10. Explanation of steps similar to those in FIG. 8 to FIG. 10 will be omitted. When it is determined that the operation of the acknowledgement button B1 shown in FIG. 6 is accepted (step S307: YES), the control unit 31 of the automatic guided vehicle 3 opens and closes the lids 52a provided on the upper surfaces of the waste bins 521, 522, and 523, respectively, using the opening and closing mechanism 54 (step S501). Through the above-mentioned processing, the user can carry in burnable waste, non-burnable waste, and recyclable waste into the waste bins 521, 522, and 523, respectively. The control unit 31 measures the weight of the burnable waste, non-burnable waste, and recyclable waste carried into the trash cans 521, 522, and 523 through the measuring device 37 (step S502). The control unit 31 calculates the fees according to the weight of the burnable waste, non-burnable waste, and recyclable waste, respectively, based on the fee table for the first waste (step S503). The control unit 31 calculates the fee according to the weight of the first waste by adding up the fees according to the weight of the burnable waste, non-burnable waste, and recyclable waste (step S504). The control unit 31 displays a screen on the display device 34 that displays the fee according to the weight of the first waste (step S505). The control unit 31 proceeds to step S312.

[0065] From the second embodiment, the waste transport system can use the automated guided vehicle 3 equipped with a plurality of waste bins corresponding to the first waste type.

[0066] (Embodiment 3) In the third embodiment, a trash can with casters that is connected to the automated guided vehicle according to the type and amount of the first waste will be described. Explanations of parts that overlap with the first and second embodiments will be omitted.

[0067] FIG. 14 is a side view showing a configuration example of the linked transport vehicle according to the third embodiment. The linked transport vehicle 300 includes an automated guided vehicle 3, a trash can with casters 6, and a coupling device 7. The automated guided vehicle 3 includes a trash can 52 and a coupling shaft 55. On the side of the trash can 52, characters indicating the type of first waste that the trash can 52 can accept are written. The coupling shaft 55 is disposed on a surface opposite to the traveling direction of the vehicle body 30 included in the automated guided vehicle 3. The trash can with casters 6 includes a vehicle body 60, a control unit 61, a memory unit 62, a communication unit 63, a coupling shaft 64, a measuring device 371, tires 511, a trash can 521, and an opening / closing mechanism 541. The vehicle body 60 is rectangular in plan view. The vehicle body 60 is a flat rectangular parallelepiped housing. The control unit 61, the memory unit 62, the communication unit 63, the measuring device 371, and the opening / closing mechanism 541 are housed inside the vehicle body 60. The connecting shaft 64 is disposed on a surface facing the traveling direction of the vehicle body 60. The measuring device 371 is accommodated under the trash can 521. A plurality of tires 511 are provided on the lower part of the vehicle body 60. The trash can 521 is shown in cross section in FIG. 14. The trash can 521 is detachably attached to the upper surface of the vehicle body 60. The trash can 521 is a box body with an open upper surface. On the side of the trash can 521, characters indicating the type of first waste that the trash can 521 can accept are written. The trash can 521 has a lid 521a. The lid 521a is disposed on the upper surface of the trash can 521. The connecting device 7 connects the connecting shaft 55 disposed on the vehicle body 30 of the automatic guided vehicle 3 and the connecting shaft 64 disposed on the vehicle body 60 of the trash can with casters 6 so as to be rotatable in a horizontal plane.

[0068] FIG. 15 is a block diagram showing a configuration example of the trash can with casters. The trash can with casters 6 includes a control unit 61, a storage unit 62, a communication unit 63, a measuring device 371, and an opening / closing mechanism 541. The above-mentioned units are connected to each other via a bus. The control unit 61 is configured using one or more processors such as a CPU, a GPU, or a TPU. The storage unit 62 includes an SRAM, a DRAM, or a flash memory. The storage unit 62 temporarily stores information required during processing by the control unit 61 and a program being executed by the control unit 61. The communication unit 63 is an interface that communicates between the trash can with casters 6 and the automatic guided vehicle 3 by wired communication, wireless communication, or the like. The measuring device 371 measures the weight of the first waste collected in the trash can 521. The opening / closing mechanism 541 controls the opening and closing of the lid 521a.

[0069] In this embodiment, only one wheeled trash can 6 is connected to the automated guided vehicle 3, but this is not limited to this. A plurality of wheeled trash cans 6 may be connected to the automated guided vehicle 3.

[0070] A form in which a wheeled trash bin connected to the automated guided vehicle is further provided according to the type and amount of the first waste will be described separately for each case. First, a form in which a wheeled trash bin connected to the automated guided vehicle is further provided according to the type of the first waste will be described. In this embodiment, only an example in which burnable waste and recyclable waste are used as the types of the first waste will be described, but this is not limited thereto. In this embodiment, characters indicating burnable waste are written on the side of the trash bin 52. In this embodiment, characters indicating recyclable waste are written on the side of the trash bin 521. In this embodiment, the first waste carried into the trash bin 52 of the automated guided vehicle 3 will be described as burnable waste, and the first waste carried into the trash bin 521 of the wheeled trash bin 6 will be described as recyclable waste, but this is not limited thereto.

[0071] When the control unit 31 of the automatic guided vehicle 3 accepts the operation of the acknowledgement button B1 shown in FIG. 6, the control unit 31 opens and closes the lid 52a arranged on the upper surface of the trash can 52 using the opening and closing mechanism 54. Through the above-mentioned process, the user can carry combustible waste into the trash can 52. The control unit 31 measures the weight of the combustible waste carried into the trash can 52 via the measuring device 37. The control unit 31 displays a screen (not shown) on the display device 34 for confirming whether or not the carrying-in of the combustible waste has been completed. The screen for confirming whether or not the carrying-in of the combustible waste has been completed includes a message for confirming whether or not the carrying-in of the combustible waste has been completed and a confirmation button. The confirmation button is, for example, a button for instructing the opening and closing of the lid 52a. The control unit 31 determines whether or not the operation of the confirmation button has been accepted. When the control unit 31 determines that the operation of the confirmation button has not been accepted, the control unit 31 measures the weight of the combustible waste carried into the trash can 52 via the measuring device 37. When the control unit 31 determines that the operation of the confirmation button has been accepted, it opens and closes the lid 52a provided on the top surface of the trash can 52 using the opening and closing mechanism 54. By the above-mentioned process, the user is prevented from carrying combustible trash into the trash can 52. The control unit 31 transmits an instruction to the trash can 6 with casters to open and close the lid 521a.

[0072] The control unit 61 of the trash can 6 with casters receives an instruction to open and close the lid 521a transmitted from the automated guided vehicle 3. The control unit 61 opens and closes the lid 521a provided on the top surface of the trash can 521 using the opening and closing mechanism 541. Through the above-mentioned process, the user can carry recyclable waste into the trash can 521. The control unit 61 measures the weight of the recyclable waste carried into the trash can 521 via the measuring device 371. The control unit 61 transmits an instruction to the automated guided vehicle 3 to confirm whether carrying in of the recyclable waste has been completed.

[0073] The control unit 31 of the automated guided vehicle 3 receives an instruction to confirm whether or not the carrying-in of recyclable waste has been completed, transmitted from the trash can with casters 6. The control unit 31 displays a screen (not shown) for confirming whether or not the carrying-in of recyclable waste has been completed on the display device 34. The screen for confirming whether or not the carrying-in of recyclable waste has been completed includes a message for confirming whether or not the carrying-in of recyclable waste has been completed and a confirmation button. The confirmation button is, for example, a button for instructing the opening and closing of the lid 521a. The control unit 31 determines whether or not the operation of the confirmation button has been accepted. If the control unit 31 determines that the operation of the confirmation button has not been accepted, the control unit 31 transmits an instruction to measure the weight of the recyclable waste to the trash can with casters 6. If the control unit 31 determines that the operation of the confirmation button has been accepted, the control unit 31 transmits an instruction to open and close the lid 521a to the trash can with casters 6.

[0074] The control unit 61 of the trash can 6 with casters receives an instruction to open and close the lid 521a transmitted from the automated guided vehicle 3. The control unit 61 uses the opening and closing mechanism 541 to open and close the lid 521a provided on the top surface of the trash can 521. As a result of the above-mentioned process, the user is prevented from carrying recyclable waste into the trash can 52 for recyclable waste. The control unit 31 transmits the measured weight of the recyclable waste to the automated guided vehicle 3.

[0075] The control unit 31 of the automated guided vehicle 3 receives the weight of the recyclable waste transmitted from the wheeled waste bin 6. The control unit 31 calculates the fees according to the weight of the burnable waste and the recyclable waste, respectively, based on the fee table for the first waste. Specifically, the control unit 31 multiplies the measured weights of the burnable waste and the recyclable waste by the amounts per weight of the burnable waste and the recyclable waste stored in the fee table for the first waste, respectively, to calculate the fees according to the weight of the burnable waste and the recyclable waste, respectively. The control unit 31 calculates the fee according to the weight of the first waste by adding up the fees according to the weight of the burnable waste and the recyclable waste. The subsequent processing is similar to that of the first and second embodiments, and therefore a description thereof will be omitted.

[0076] Next, a description will be given of an embodiment in which a wheeled trash can connected to the automated guided vehicle is further provided depending on the amount of the first waste. In this embodiment, only an example in which burnable waste is used among the first waste will be described, but this is not limited thereto. In this embodiment, characters indicating burnable waste are written on the sides of the trash can 52 and the trash can 521. In this embodiment, the first waste carried into the trash can 52 of the automated guided vehicle 3 and the trash can 521 of the wheeled trash can 6 will be described as burnable waste, but this is not limited thereto.

[0077] When the control unit 31 of the automated guided vehicle 3 receives an operation of the OK button B1 shown in Fig. 6, it uses the opening / closing mechanism 54 to open and close the lid 52a arranged on the upper surface of the trash can 52. Through the above-mentioned process, the user can carry combustible trash into the trash can 52. The control unit 31 transmits an instruction to the trash can 6 with casters to open and close the lid 521a.

[0078] The control unit 61 of the trash can 6 with casters receives an instruction to open and close the lid 521a transmitted from the automated guided vehicle 3. The control unit 61 uses the opening and closing mechanism 541 to open and close the lid 521a provided on the top surface of the trash can 521. Through the above-mentioned process, the user can carry in burnable waste into the trash can 521. The control unit 61 transmits an instruction to the automated guided vehicle 3 to confirm whether or not carrying in of the burnable waste has been completed.

[0079] The control unit 31 of the automated guided vehicle 3 receives an instruction to confirm whether or not the introduction of the burnable waste has been completed, transmitted from the trash can 6 with casters. The control unit 31 displays a screen (not shown) for confirming whether or not the introduction of the burnable waste has been completed on the display device 34. The screen for confirming whether or not the introduction of the burnable waste has been completed includes a message for confirming whether or not the introduction of the burnable waste has been completed and a confirmation button. The confirmation button is, for example, a button for instructing the opening and closing of the lid 52a. The control unit 31 judges whether or not the operation of the confirmation button has been accepted. When the control unit 31 judges that the operation of the confirmation button has not been accepted, the control unit 31 displays a screen for confirming whether or not the introduction of the burnable waste has been completed on the display device 34. When the control unit 31 judges that the operation of the confirmation button has been accepted, the control unit 31 uses the opening and closing mechanism 54 to open and close the lid 52a provided on the upper surface of the trash can 52. Through the above-mentioned process, the user is prevented from bringing in burnable waste into the trash can 52 for burnable waste. The control unit 31 measures the weight of the burnable waste carried into the waste bin 52 via the measuring device 37. The control unit 31 transmits to the waste bin 6 with caster wheels an instruction to open and close the lid 521a.

[0080] The control unit 61 of the trash can 6 with casters receives an instruction to open and close the lid 521a transmitted from the automated guided vehicle 3. The control unit 61 opens and closes the lid 521a provided on the top surface of the trash can 521 using the opening and closing mechanism 541. By the above-mentioned process, the user is prevented from bringing in burnable waste into the trash can 521. The control unit 61 measures the weight of the burnable waste brought into the trash can 521 via the measuring device 371. The control unit 31 transmits the measured weight of the burnable waste to the automated guided vehicle 3.

[0081] The control unit 31 of the automated guided vehicle 3 receives the weight of the combustible waste transmitted from the trash can with casters 6. The control unit 31 adds up the weight of the combustible waste measured by the automated guided vehicle 3 and the weight of the combustible waste measured by the trash can with casters 6. The control unit 31 calculates a fee according to the weight of the first waste based on the fee table for the first waste. Specifically, the control unit 31 multiplies the added weight of the combustible waste by the amount per weight of combustible waste stored in the fee table for the first waste to calculate the fee according to the weight of the first waste. The subsequent processing is similar to that of the first and second embodiments, and therefore description thereof will be omitted.

[0082] Figures 16 and 17 are flow charts showing an example of a processing procedure in the waste transport system according to the third embodiment. Figures 16 and 17 are flow charts showing a case where an automated guided vehicle further equipped with a waste bin with casters is used according to the type of first waste. In the processing shown in Figures 16 and 17, steps S308 to S310 in the processing shown in Figures 8 to 10 are replaced with steps S601 to S614 and steps S701 to S708. Explanations of steps similar to those in Figures 8 to 10 will be omitted.

[0083] When the control unit 31 of the automatic guided vehicle 3 accepts the operation of the acknowledgement button B1 shown in FIG. 6 (step S307: YES), the control unit 31 opens and closes the lid 52a arranged on the upper surface of the trash can 52 using the opening and closing mechanism 54 (step S601). Through the above-mentioned process, the user can carry combustible waste into the trash can 52. The control unit 31 measures the weight of the combustible waste carried into the trash can 52 via the measuring device 37 (step S602). The control unit 31 displays a screen (not shown) for confirming whether or not the carrying-in of the combustible waste has been completed on the display device 34 (step S603). The screen for confirming whether or not the carrying-in of the combustible waste has been completed includes a message for confirming whether or not the carrying-in of the combustible waste has been completed and a confirmation button. The confirmation button is, for example, a button for instructing the opening and closing of the lid 52a. The control unit 31 determines whether or not the operation of the confirmation button has been accepted (step S604). When the control unit 31 determines that the operation of the confirmation button has not been accepted (step S604: NO), the control unit 31 returns the process to step S602. When the control unit 31 determines that the operation of the confirmation button has been accepted (step S604: YES), the control unit 31 uses the opening / closing mechanism 54 to open and close the lid 52a provided on the upper surface of the trash can 52 (step S605). By the above-mentioned process, the user is prevented from carrying combustible trash into the trash can 52. The control unit 31 transmits an instruction to the trash can with casters 6 to open and close the lid 521a (step S606).

[0084] The control unit 61 of the wheeled trash can 6 receives an instruction to open and close the lid 521a transmitted from the automated guided vehicle 3 (step S701). The control unit 61 uses the opening and closing mechanism 541 to open and close the lid 521a provided on the top surface of the trash can 521 (step S702). Through the above-mentioned process, the user can carry recyclable waste into the trash can 521. The control unit 61 measures the weight of the recyclable waste carried into the trash can 521 via the measuring device 371 (step S703). The control unit 61 transmits an instruction to the automated guided vehicle 3 to confirm whether carrying in of the recyclable waste has been completed (step S704).

[0085] The control unit 31 of the automated guided vehicle 3 receives an instruction to confirm whether or not the carrying-in of recyclable waste has been completed, transmitted from the trash can with casters 6 (step S607). The control unit 31 displays a screen (not shown) for confirming whether or not the carrying-in of recyclable waste has been completed on the display device 34 (step S608). The screen for confirming whether or not the carrying-in of recyclable waste has been completed includes a message for confirming whether or not the carrying-in of recyclable waste has been completed and a confirmation button. The confirmation button is, for example, a button for instructing the opening and closing of the lid 521a. The control unit 31 determines whether or not the operation of the confirmation button has been accepted (step S609). If the control unit 31 determines that the operation of the confirmation button has not been accepted (step S609: NO), it transmits an instruction to measure the weight of the recyclable waste to the trash can with casters 6 (step S610).

[0086] The control unit 61 of the wheeled waste bin 6 receives the instruction to measure the weight of the recyclable waste transmitted from the automatic guided vehicle 3 (step S705). The control unit 61 returns the process to step S703.

[0087] When it is determined that the operation of the confirmation button has been accepted (step S609: YES), the control unit 31 transmits an instruction to open or close the lid 521a to the wheeled trash can 6 (step S611).

[0088] The control unit 61 of the trash can 6 with casters receives the instruction to open and close the lid 521a transmitted from the automated guided vehicle 3 (step S706). The control unit 61 uses the opening and closing mechanism 541 to open and close the lid 521a provided on the top surface of the trash can 521 (step S707). As a result of the above-mentioned process, the user is no longer able to bring in recyclable waste into the trash can 521. The control unit 31 transmits the measured weight of the recyclable waste to the automated guided vehicle 3 (step S708).

[0089] The control unit 31 of the automated guided vehicle 3 receives the weight of the recyclable waste transmitted from the wheeled waste bin 6 (step S612). The control unit 31 calculates the fees according to the weight of the burnable waste and the recyclable waste, respectively, based on the fee table for the first waste (step S613). The control unit 31 calculates the fee according to the weight of the first waste by adding up the fees according to the weight of the burnable waste and the recyclable waste (step S614). The control unit 31 proceeds to the process of step S311.

[0090] Fig. 18 is a flowchart showing an example of a processing procedure in the waste transport system according to the third embodiment. Fig. 18 is a flowchart in the case where an automated guided vehicle further equipped with a waste bin with casters is used depending on the amount of the first waste. In the processing shown in Fig. 18, steps S308 to S310 in the processing shown in Figs. 8 to 10 are replaced with steps S615 to S625 and steps S709 to S715. Descriptions of steps similar to those in Figs. 8 to 10 will be omitted.

[0091] When the control unit 31 of the automated guided vehicle 3 accepts the operation of the OK button B1 shown in Fig. 6 (step S307: YES), it uses the opening / closing mechanism 54 to open and close the lid 52a arranged on the upper surface of the trash can 52 (step S615). Through the above-mentioned process, the user can carry combustible trash into the trash can 52. The control unit 31 transmits an instruction to the trash can with casters 6 to open and close the lid 521a (step S616).

[0092] The control unit 61 of the trash can 6 with casters receives the instruction to open and close the lid 521a transmitted from the automated guided vehicle 3 (step S709). The control unit 61 uses the opening and closing mechanism 541 to open and close the lid 521a provided on the top surface of the trash can 521 (step S710). Through the above-mentioned process, the user can carry combustible waste into the trash can 521. The control unit 61 transmits an instruction to the automated guided vehicle 3 to confirm whether or not carrying in of the combustible waste has been completed (step S711).

[0093] The control unit 31 of the automated guided vehicle 3 receives an instruction to confirm whether or not the introduction of the burnable waste has been completed, transmitted from the trash can with casters 6 (step S617). The control unit 31 displays a screen (not shown) for confirming whether or not the introduction of the burnable waste has been completed on the display device 34 (step S618). The screen for confirming whether or not the introduction of the burnable waste has been completed includes a message for confirming whether or not the introduction of the burnable waste has been completed and a confirmation button. The confirmation button is, for example, a button for instructing the opening and closing of the lid 52a. The control unit 31 determines whether or not the operation of the confirmation button has been accepted (step S619). If the control unit 31 determines that the operation of the confirmation button has not been accepted (step S619: NO), the control unit 31 returns the process to step S618. If the control unit 31 determines that the operation of the confirmation button has been accepted (step S619: YES), the control unit 31 uses the opening and closing mechanism 54 to open and close the lid 52a provided on the upper surface of the trash can 52 (step S620). By the above-mentioned process, the user cannot bring in burnable waste into the trash can 52. The control unit 31 measures the weight of the burnable waste brought into the trash can 52 via the measuring device 37 (step S621). The control unit 31 transmits an instruction to the trash can with caster wheels 6 to open or close the lid 521a (step S622).

[0094] The control unit 61 of the trash can 6 with casters receives the instruction to open or close the lid 521a transmitted from the automated guided vehicle 3 (step S712). The control unit 61 uses the opening and closing mechanism 541 to open and close the lid 521a provided on the top surface of the trash can 521 (step S713). By the above-mentioned process, the user is prevented from bringing in combustible waste into the trash can 521. The control unit 61 measures the weight of the combustible waste brought into the trash can 521 via the measuring device 371 (step S714). The control unit 31 transmits the measured weight of the combustible waste to the automated guided vehicle 3 (step S715).

[0095] The control unit 31 of the automated guided vehicle 3 receives the weight of the burnable waste transmitted from the wheeled trash bin 6 (step S623). The control unit 31 adds up the weight of the burnable waste measured by the automated guided vehicle 3 and the weight of the burnable waste measured by the wheeled trash bin 6 (step S624). The control unit 31 calculates a fee according to the weight of the first waste based on the fee table for the first waste (step S625). The control unit 31 advances the process to step S311.

[0096] From the third embodiment, the waste transport system can use an automated guided vehicle 3 further equipped with a waste bin with casters according to the type and amount of the first waste.

[0097] (Embodiment 4) In the fourth embodiment, a plurality of automated guided vehicles are provided, and each automated guided vehicle is provided with a dedicated trash can corresponding to the type of the first waste. Explanations of parts that overlap with the first, second, and third embodiments will be omitted.

[0098] FIG. 19 is an explanatory diagram showing an outline of a waste transport system according to a fourth embodiment. The waste transport system includes a plurality of automated guided vehicles 3 and magnetic tapes 5. The plurality of automated guided vehicles 3 are provided in a first area 1. Each automated guided vehicle is provided with a dedicated trash bin corresponding to the type of first waste. On the side of the dedicated trash bin, characters indicating the type of first waste that the trash bin can accept are written. The plurality of magnetic tapes 5 are laid in parallel between the first area 1 and the second area 2. The plurality of magnetic tapes 5 are laid corresponding to the plurality of automated guided vehicles 3 equipped with the dedicated trash bin. For example, when the automated guided vehicles 3 capable of accepting burnable waste and non-burnable waste are provided in the first area, two types of magnetic tapes 5 corresponding to the automated guided vehicles 3 are laid in parallel between the first area 1 and the second area 2. The plurality of automated guided vehicles 3 move between the first area 1 and the second area 2 based on magnetism detected from the magnetic tape 5 corresponding to the automated guided vehicles 3. Signs (not shown) are placed near each of the multiple automated guided vehicles 3. The signs state the type of first waste that each automated guided vehicle 3 can accept. By using the signs and characters written on the side of the dedicated trash can, a user can arbitrarily select an automated guided vehicle 3 equipped with a dedicated trash can that corresponds to the type of first waste.

[0099] FIG. 20 is a block diagram showing a configuration example of a server according to the fourth embodiment. Explanation of parts overlapping with the first embodiment will be omitted. A user DB 441 and an unmanned guided vehicle DB 442 are stored in the large-capacity storage unit 44. The user DB 441 stores pre-registration information of users who use the waste transport system. The pre-registration information of the user is, for example, the number of the general vehicle 11, the user's personal information, the date and time, and the type of first waste to be discarded by the user. The type of first waste to be discarded by the user is, for example, burnable waste, non-burnable waste, recyclable waste, and bulky waste. The unmanned guided vehicle DB 442 stores a plurality of unmanned guided vehicles 3 equipped with dedicated waste bins in association with an unmanned guided vehicle ID that identifies the unmanned guided vehicle 3.

[0100] FIG. 21 is an explanatory diagram showing a user DB and an automatic guided vehicle DB according to the fourth embodiment. FIG. 21A is an explanatory diagram showing a user DB according to the fourth embodiment. Explanations of parts that overlap with the first embodiment will be omitted. The user DB 441 includes a type column. The type column stores the type of first waste to be disposed of by the user. In the example of FIG. 20A, the user corresponding to the user ID G001 has registered the disposal of combustible waste.

[0101] FIG. 21B is an explanatory diagram showing an automated guided vehicle DB according to the fourth embodiment. The automated guided vehicle DB442 includes an automated guided vehicle ID column and a corresponding type column. The automated guided vehicle ID column stores automated guided vehicle IDs for identifying multiple automated guided vehicles 3 equipped with dedicated trash bins. The corresponding type column stores the type of first waste corresponding to the dedicated trash bin. In the example of FIG. 20B, the automated guided vehicle 3 corresponding to the automated guided vehicle ID M001 is equipped with a dedicated trash bin for burnable waste. In addition, the automated guided vehicle 3 stores its own automated guided vehicle ID corresponding to the automated guided vehicle DB442 in the storage unit 32.

[0102] In the example of FIG. 21B, automated guided vehicles 3 capable of accepting burnable waste, non-burnable waste, and recyclable waste are each registered in the automated guided vehicle DB 442. In this case, in FIG. 19, three types of magnetic tapes 5 are laid in parallel between the first area 1 and the second area 2. The three types of magnetic tapes 5 are respectively used for the movement of automated guided vehicles 3 capable of accepting burnable waste, non-burnable waste, and recyclable waste. The automated guided vehicles 3 capable of accepting burnable waste, non-burnable waste, and recyclable waste move between the first area 1 and the second area 2 based on the magnetism detected from the magnetic tape 5 corresponding to the automated guided vehicles 3.

[0103] A case where an automated guided vehicle 3 equipped with a dedicated trash bin is used will be described. In the first area 1, the control unit 31 of the automated guided vehicle 3 acquires the user's name stored in an IC chip such as a My Number card via the card reader 39. The control unit 31 transmits the acquired user's name, the date and time when the user's name was acquired, and the automated guided vehicle ID to the server 4.

[0104] The control unit 41 of the server 4 receives the user's name, the date and time when the user's name was acquired, and the automatic guided vehicle ID transmitted from the automatic guided vehicle 3. The control unit 41 judges whether the received user's name is stored in the pre-registration information. When the control unit 41 judges that the received user's name is stored in the pre-registration information, it judges whether the date and time when the user's name was acquired matches the pre-registration information. When the control unit 41 judges that the date and time when the user's name was acquired matches the pre-registration information, it judges whether the dedicated trash can provided in the automatic guided vehicle corresponds to the type of first waste to be discarded by the user. Specifically, the control unit 41 uses the received automatic guided vehicle ID to identify the type of first waste corresponding to the dedicated trash can provided in the automatic guided vehicle 3, and judges whether the identified type of first waste matches the type of first waste corresponding to the user's name stored in the user DB 441. The control unit 41 transmits an authentication completion notification to the automatic guided vehicle 3 when it determines that the dedicated waste bin provided in the automatic guided vehicle corresponds to the type of the first waste to be discarded by the user.

[0105] The control unit 31 of the automatic guided vehicle 3 receives the authentication completion notification transmitted from the server 4. The subsequent processing is similar to that in the first embodiment, and therefore a description thereof will be omitted.

[0106] If the control unit 41 determines that pre-registration information corresponding to the received user name does not exist in the user DB 441, it transmits a re-acquisition notification to the automated guided vehicle 3. If the control unit 41 determines that the date and time when the user name was acquired does not match the pre-registration information, it transmits a non-acquisition notification to the automated guided vehicle 3.

[0107] In addition, when the control unit 41 determines that the dedicated waste bin provided in the automated guided vehicle does not correspond to the type of the first waste to be discarded by the user, it refers to the user DB 441 and identifies the type of the first waste corresponding to the user's name. The control unit 41 transmits to the automated guided vehicle 3 the identified type of the first waste and a notice to change the automated guided vehicle 3 to be used (hereinafter, referred to as a change notice). In this case, after receiving the type of the first waste corresponding to the user's name and the change notice, the control unit 31 of the automated guided vehicle 3 displays a screen (not shown) that prompts the user to change the automated guided vehicle 3 to be used on the display device 34. The screen that prompts the user to change the automated guided vehicle 3 displays a message that prompts the user to change the automated guided vehicle 3 to be used and a message that indicates an appropriate automated guided vehicle 3. For example, when a user who wants to discard combustible waste is using an automated guided vehicle 3 that can accept non-combustible waste, the control unit 31 of the automated guided vehicle 3 displays a screen including a message that reads, "You cannot use this automated guided vehicle. Please use an automated guided vehicle that can accept combustible waste" on the display device 34.

[0108] Fig. 22 is a flow chart showing an example of a processing procedure in the waste transport system according to embodiment 4. In the processing shown in Fig. 22, steps S301 to S305 are replaced with steps S801 to S807 and steps S401 to S406 are replaced with steps S901 to S909 in the processing shown in Fig. 8 to Fig. 10. Explanations of steps similar to those in Fig. 8 to Fig. 10 will be omitted.

[0109] The control unit 31 of the automated guided vehicle 3 acquires the user's name stored in an IC chip such as a My Number card through the card reader 39 in the first area 1 (step S801). The control unit 31 transmits the acquired user's name, the date and time when the user's name was acquired, and the automated guided vehicle ID to the server 4 (step S802).

[0110] The control unit 41 of the server 4 receives the user's name, the date and time when the user's name was acquired, and the automatic guided vehicle ID transmitted from the automatic guided vehicle 3 (step S901). The control unit 41 determines whether the received user's name is stored in the pre-registration information (step S902). When the control unit 41 determines that the pre-registration information corresponding to the received user's name does not exist in the user DB 441 (step S902: NO), it transmits a re-acquisition notification to the automatic guided vehicle 3 (step S903).

[0111] The control unit 31 of the automatic guided vehicle 3 receives the reacquisition notification transmitted from the server 4 (step S803). The control unit returns the process to step S801.

[0112] When the control unit 41 of the server 4 determines that the received user name is stored in the pre-registration information (step S902: YES), it determines whether the date and time when the user name was acquired matches the pre-registration information (step S904).When the control unit 41 determines that the date and time when the user name was acquired does not match the pre-registration information (step S904: NO), it transmits a non-transmission notification to the automatic guided vehicle 3 (step S905).

[0113] The control unit 31 of the automatic guided vehicle 3 receives the unavailability notification transmitted from the server 4 (step S804). The control unit 31 returns the process to step S801.

[0114] When the control unit 41 of the server 4 determines that the date and time when the user's name was acquired matches the pre-registration information (step S904: YES), it determines whether the dedicated waste bin provided in the automated guided vehicle corresponds to the type of first waste to be discarded by the user (step S906). When the control unit 41 determines that the dedicated waste bin provided in the automated guided vehicle does not correspond to the type of first waste to be discarded by the user (step S906: NO), it refers to the user DB 441 and identifies the type of first waste that corresponds to the user's name (step S907). The control unit 41 transmits the identified type of first waste and a change notification to the automated guided vehicle 3 (step S908).

[0115] The control unit 31 of the automated guided vehicle 3 receives the type of the first waste and the change notification sent from the server 4 (step S805). The control unit 31 displays a screen (not shown) prompting the user to change the automated guided vehicle 3 on the display device 34 (step S806). The screen prompting the user to change the automated guided vehicle 3 displays a message prompting the user to change the automated guided vehicle 3 to be used, a message indicating an appropriate automated guided vehicle 3, and the like.

[0116] If the control unit 41 of the server 4 determines that the dedicated trash can provided in the automated guided vehicle corresponds to the type of first waste to be discarded by the user (step S906: YES), it sends an authentication completion notification to the automated guided vehicle 3 (step S909).

[0117] The control unit 31 of the automatic guided vehicle 3 receives the authentication completion notification transmitted from the server 4 (step S807). The control unit 31 returns the process to step S306.

[0118] From the fourth embodiment, the waste transport system can include a plurality of automated guided vehicles each equipped with a dedicated waste bin corresponding to the type of first waste.

[0119] The matters described in each of the above embodiments can be combined with each other. In addition, the independent claims and dependent claims described in the claims can be combined with each other in any and all combinations regardless of the citation format. Furthermore, the claims use a format in which a claim cites two or more other claims (multiple claim format), but this is not limited to this. A multiple claim (multi-multi claim) that cites at least one multiple claim may also be used.

[0120] The embodiments disclosed herein are illustrative in all respects and should not be considered as limiting. The scope of the present invention is defined by the claims, not by the above meaning, and is intended to include all modifications within the scope and meaning equivalent to the claims. [Explanation of symbols]

[0121] 1. Area 1 11 General vehicles 2. Area 2 21 Waste collection vehicle 22 Garbage Pit 23 Lane 1 24 Lane 2 3. Automated Guided Vehicles 30 Body 31 Control Unit 32 Storage section 33 Communications Department 34 Display device 35 Sensors 36 Drive unit 37 Measuring Equipment 371 Measuring Equipment 38 Payment Device 39 Card Reader 4. Control device (server) 41 Control section 42 Storage section 43 Communications Department 44 Mass storage 441 User DB 442 Automated Guided Vehicle DB 5. Magnetic Tape 51 Tires 52 Trash Can 521 Trash Can 522 Trash Can 523 Trash Can 52a Lid 521a Lid 53 Connecting members 54 Opening and closing mechanism 541 Opening and closing mechanism 55 Connecting shaft 6 Wheeled trash can 60 Body 61 Control section 62 Memory section 63 Communications Department 64 Connecting shaft 7 Coupling device N Network

Claims

1. an automated guided vehicle that moves between a first area where general vehicles enter and exit to dispose of the first waste and a second area where waste collection vehicles enter and exit to dump the collected second waste into a pit; a control device that outputs a movement command from the first area to the second area to the automated guided vehicle carrying the first waste brought in by the general vehicle when a predetermined condition is satisfied; A waste transport system comprising:

2. The control device includes a control unit, The control unit is Acquire the license plate number of the general vehicle or personal information of the user of the general vehicle; Refer to a storage unit that stores pre-registered information related to the disposal of the first waste material in association with the number or the personal information, and determine whether or not the pre-registered information corresponding to the acquired number or the personal information exists; If it is determined that it exists, a move command is issued.

2. The waste transport system according to claim 1.

3. The automated guided vehicle includes a measuring device that measures the weight of the first waste; a display device that displays a fee according to the weight of the first waste; The waste transport system according to claim 1 or 2, further comprising:

4. The control device includes a control unit, The control unit outputs a movement command to the unmanned guided vehicle from the first area to the second area when a fee corresponding to a weight of the first waste loaded on the unmanned guided vehicle has been paid.

3. A waste transport system according to claim 1 or 2.

5. The display device displays an image for confirming whether or not there is any item unsuitable for transport in the first waste.

4. A waste transport system according to claim 3.

6. The automated guided vehicle is provided with a plurality of waste bins corresponding to the type of the first waste.

3. A waste transport system according to claim 1 or 2.

7. The waste disposal system further includes a waste bin with casters that is connected to the automated guided vehicle in accordance with the type and amount of the first waste.

7. A waste transport system according to claim 6.

8. The automated guided vehicle is provided in plurality, Each automated guided vehicle is provided with a dedicated trash bin corresponding to the type of the first waste.

3. A waste transport system according to claim 1 or 2.

9. measuring the weight of the first waste in a first area where general vehicles enter and exit to dispose of the first waste; A fee according to the weight of the measured first waste is displayed, When the payment of the fee is completed, a command is output to an unmanned transport vehicle carrying the first waste to move to a second area where a waste collection vehicle enters and leaves the first area and collects the second waste, and the second waste is dumped into a pit. Waste collection methods.

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