Moving body

Abstract

To provide a system capable of saving labor with which a tourist having trash not only calls a collection moving body for collecting trash but also waits for arrival of the collection moving body, in a place such as a sightseeing area.SOLUTION: A trash collection system 1000 comprises: a movable trash box 100 that automatically travels using a sensor group comprising a camera 181, a sonar 182, a millimeter wave radar 183, and a rider 184; and a controller 200 for managing the movable trash box 100. The movable trash box 100 autonomously moves according to route information 201a indicating a route. The movable trash box 100 comprises a trash box 120 for receiving trash that those present on the way of a route have. The controller 200 comprises a route information producing unit 201 for producing the route information 201a to transmit the route information to the movable trash box 100.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present disclosure relates to a mobile trash can that autonomously moves, a trash collection system including the mobile trash can, and a control device that controls the mobile trash can.

Background Art

[0002] In the prior art, there is a disclosure of a trash collection management system including an acquisition unit that acquires request information regarding a trash collection request from a user, a determination unit that determines the presence or absence of a corresponding mobile body capable of corresponding to the request information, a generation unit that generates a dispatch command for dispatching the corresponding mobile body to a collection point based on the request information when there is a corresponding mobile body, and a guidance unit that guides the corresponding mobile body to the collection point based on the dispatch command and causes the corresponding mobile body to execute the collection of target trash that is the target of the collection request. Here, the corresponding mobile body is a trash collection vehicle and is an autonomous driving vehicle (for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

[0004] In the system of Patent Document 1, in response to request information from a user, a collection mobile body that is an autonomous driving vehicle is dispatched for trash collection. However, when wanting to discard trash such as an empty plastic bottle in a place such as a tourist destination or a theme park, it is troublesome to call a trash collection vehicle and the waiting time is also a nuisance, and also the eyes of people around are a concern. For this, when wanting to discard trash, a situation where a mobile trash can is patrolling and the trash can be discarded is preferable.

Summary of the Invention

Problems to be Solved by the Invention

[0005] An object of the present disclosure is to save the trouble of calling a collection mobile body for collecting trash and waiting for the arrival of the collection mobile body.

Means for Solving the Problem

[0006] The present disclosure is a mobile body for collecting garbage. The mobile body according to the present disclosure includes a control device having a movement control unit that autonomously moves the mobile body according to route information indicating a movement route, a human sensor that detects the movement of a person, and a garbage bin that accepts garbage possessed by a person existing on or along the movement route in the middle of the movement route, and is provided with When the human sensor detects a state where a person approaches the mobile body, the movement control unit reduces the speed of the mobile body, runs the mobile body at a speed at which it is easy to discard garbage, and then, when the human sensor detects a state where the person moves away from the mobile body, increases the speed of the mobile body.

Advantages of the Invention

[0007] According to the present disclosure, it is possible to call a collection mobile body for collecting garbage and save the trouble of waiting for the arrival of the collection mobile body.

Brief Description of the Drawings

[0008]

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Mode for Carrying Out the Invention

[0009] In the description of the embodiments and the drawings, the same elements and corresponding elements are denoted by the same reference numerals. The description of the elements denoted by the same reference numerals may be omitted or simplified as appropriate. In the following embodiments, "section" may be appropriately read as "circuit", "step", "procedure", "process" or "circuitry".

[0010] Embodiment 1. Referring to FIGS. 1 to 8, the garbage collection system 1000 according to Embodiment 1 will be described.

[0011] ***Description of Configuration*** FIG. 1 shows the system configuration of the garbage collection system 1000. FIG. 2 shows the appearance of the mobile garbage bin 100 included in the garbage collection system 1000. FIG. 3 shows the tourist destination 400 where the mobile garbage bin 100 is used.

[0012] <Garbage Collection System 1000> As shown in FIG. 1, the garbage collection system 1000 includes a plurality of mobile garbage bins 100 and a control device 200. Each mobile garbage bin 100 and the control device 200 communicate via a network 330. The mobile garbage bin 100 receives the route information 201a transmitted by the route information generation unit 201 of the control device 200 and autonomously moves according to the route information 201a. Note that the route information generation unit 201 transmits the route information 201a via a communication interface 960B described later. The mobile garbage bin 100 is called an AMR (autonomous mobile robot). The mobile garbage bin 100 is used in places such as tourist destinations and theme parks. In the following description, the case where the mobile garbage bin 100 is used in the tourist destination 400 will be described as an example. The mobile garbage bin 100 tours the tourist destination 400.

[0013] <Garbage Bin 120> As shown in FIG. 2, the mobile trash can 100 is provided with a trash can 120. The mobile trash can 100 moves on four tires 101. In FIG. 2, the right rear tire 101 is not visible. In addition to the trash can 120, the mobile trash can 100 is equipped with various sensors for autonomous movement such as a GNSS antenna 605, a camera 181, a sonar 182, a millimeter-wave radar 183, and a lidar (LiDAR) 184. These sensors will be described later. The trash can 120 consists of a sorted trash can 121, a sorted trash can 122, and a sorted trash can 123. An opening is formed in the sorted trash can, and trash can be put in through the opening. On the side surface of the mobile trash can 100, the types of trash in the sorted trash cans are displayed, such as combustible trash 124a, plastic trash 124b, and beverage cup trash 124c. The display of combustible trash 124a corresponds to the sorted trash can 121, the display of plastic trash 124b corresponds to the sorted trash can 122, and the display of beverage cup trash 124c corresponds to the sorted trash can 123.

[0014] In FIG. 3, a plurality of tourists are walking in a tourist destination with a plurality of stores 320. The mobile trash can 100 travels through the tourist destination 400 at a speed of about 1 km / h to 2 km / h. The mobile trash can 100 circulates through the tourist destination 400 according to the route indicated by the route information 201a. Street cameras 310 are installed around the stores 320. The images captured by the street cameras 310 can be used for processes such as the generation of the pedestrian flow information 13 and the extraction of trash, which will be described later.

[0015] <Configuration of the garbage collection system 1000> Figure 4 shows the specific configuration of the garbage collection system 1000. The mobile garbage bin 100 is provided with a sensor group including a control device 110, a garbage bin 120, and a camera 181. The mobile garbage bin 100 receives a positioning signal from the GNSS satellite 40 to perform positioning, and performs self-position estimation using the positioning result and the measurement results of the sensor group. The control device 200 communicates with the mobile garbage bin 100 via the network 330. The control device 110 transmits garbage collection information 100b indicating the garbage collection status to the control device 200 via the network 330. The control device 200 transmits route information 201a to the mobile garbage bin 100. The route information generation unit 201 of the control device 200 acquires information on the flow of people, store information, dynamic map information, and facility information from outside the control device 200. The specific details of the mobile garbage bin 100 and the control device 200 will be described below.

[0016] <Devices installed in the mobile garbage bin 100> Figure 5 shows each device installed in the mobile garbage bin 100. The mobile garbage bin 100 is provided with a control device 110, an autonomous mobile device 170, and an integrated sensor unit 180.

[0017] <Integrated sensor unit 180> The integrated sensor unit 180 is provided with a GNSS antenna 605, a camera 181, a sonar 182, a millimeter-wave radar 183, a lidar 184, a GNSS positioning device 185, and a sensor fusion unit 186. The integrated sensor unit 180 is a unit that measures data for the mobile garbage bin 100 to perform autonomous movement. As shown in Figure 4, the camera 181 is installed on the front side and the rear side respectively. The camera 181 and the lidar 184 may be referred to as a sensor group. The GNSS antenna 605 is connected to the GNSS positioning device 185 to form a locator (position calibration device). The measurement data of the sensor group and the positioning result of the GNSS positioning device 185 are input to the sensor fusion unit 186. The sensor fusion unit 186 inputs integrated information 188 obtained by integrating the input data to the movement control unit 111.

[0018] <Control device 110> The control device 110 is a device that controls the autonomous movement of the mobile trash can 100 and supports the collection of garbage into the trash can 120. The control device 110 includes a movement control unit 111, a storage device 112, a garbage extraction unit 113, and a garbage amount control unit 114. The movement control unit 111 receives integrated information 188 from the integrated sensor unit 180. The movement control unit 111 generates autonomous movement control information 111a for the autonomous movement device 170 to autonomously move the mobile trash can 100 based on the integrated information 188, the route information 201a stored in the storage device 112, and the instructions from the control device 200. The garbage extraction unit 113 extracts garbage using a group of sensors. The garbage extraction will be described later. The garbage amount control unit 114 monitors the storage capacities of the sorting trash cans 121, 122, and 123. The storage device 112 stores the high-precision map received from the control device 200 and the point cloud data measured by the lidar 184, and stores them in the high-precision map and point cloud database (high-precision map / point cloud DB) 119. The storage device 112 also stores the learned model 113a and the route information 201a received from the control device 200. The storage device 112 is realized by an auxiliary storage device 930A.

[0019] <Autonomous movement device 170> The autonomous movement device 170 autonomously moves the mobile trash can 100 based on the autonomous movement control information 111a. Specifically, the autonomous movement device 170 controls a traveling mechanism such as a motor and a steering mechanism (not shown) provided in the mobile trash can 100 to autonomously move the mobile trash can 100. Note that the mobile trash can 100 uses a battery as a power source, and the mobile trash can 100 is a so-called electric vehicle.

[0020] <Hardware configuration of the control device 110> FIG. 6 shows the hardware configuration of the control device 110. The control device 110 is a computer. The control device 110 includes a processor 910A. In addition to the processor 910A, the control device 110 includes other hardware such as a main memory device 920A, an auxiliary storage device 930A, an input interface 940A, an output interface 950A, and a communication interface 960A. The processor 910A is connected to other hardware via a signal line 970A and controls the other hardware.

[0021] The control device 110 includes, as functional elements, a movement control unit 111, a garbage extraction unit 113, and a garbage amount control unit 114. The functions of the movement control unit 111, the garbage extraction unit 113, and the garbage amount control unit 114 are realized by a control program 110a.

[0022] The processor 910A is a device that executes the control program 110a. The control program 110a is a program that realizes the functions of the movement control unit 111, the garbage extraction unit 113, and the garbage amount control unit 114. The processor 910A is an IC (Integrated Circuit) that performs arithmetic processing. Specific examples of the processor 910A are a CPU (Central Processing Unit), a DSP (Digital Signal Processor), and a GPU (Graphics Processing Unit).

[0023] Specific examples of the main memory device 920A are an SRAM (Static Random Access Memory) and a DRAM (Dynamic Random Access Memory). The main memory device 920A holds the arithmetic result of the processor 910A.

[0024] The auxiliary storage device 930A is a storage device that stores data non-volatilely. A specific example of the auxiliary storage device 930A is an HDD (Hard Disk Drive). Also, the auxiliary storage device 930A may be a portable recording medium such as an SD (Registered Trademark) (Secure Digital) memory card, NAND flash, flexible disk, optical disk, compact disk, Blu-ray (Registered Trademark) disk, or DVD (Digital Versatile Disk). The auxiliary storage device 930A stores the high-precision map and point cloud database 119, the learned model 113a, the route information 201a, and the control program 110a.

[0025] The input interface 940A is a port through which data is input from each device. The integrated sensor unit 180 is connected to the input interface 940A. The output interface 950A is a port to which various devices are connected and to which data is output to the various devices by the processor 910A. The autonomous mobile device 170 is connected to the output interface 950A. The communication interface 960A is a communication port for the processor to communicate with other devices. The communication device 190 is connected to the communication interface 960A. The control device 110 communicates with the control device 200 through the communication device 190. Specifically, the communication device 190 communicates with a communication device 210, which will be described later, provided in the control device 200, thereby establishing communication between the control device 110 and the control device 200.

[0026] The control device 110 may include a plurality of processors that replace the processor 910A. These plurality of processors share the execution of the control program 110a. Each processor is a device that executes the control program 110a in the same manner as the processor 910A. The data, information, signal values, and variable values used, processed, or output by the control program 110a are stored in the main storage device 920A, the auxiliary storage device 930A, or the registers or cache memory in the processor 910A.

[0027] The control program 110a is a program that causes a computer to execute each process, each procedure, or each step obtained by replacing the "units" of the movement control unit 111, the garbage extraction unit 113, and the garbage amount control unit 114 with "processes", "procedures", or "steps".

[0028] Also, the control method is a method performed by the control device 110, which is a computer, by executing the control program 110a. The control program 110a may be stored and provided in a computer-readable recording medium, or may be provided as a program product.

[0029] <Hardware Configuration of the Control Device 200> FIG. 7 shows the hardware configuration of the control device 200. The control device 200 is a computer having the same configuration as the control device 110. The control device 200 includes a processor 910B, etc. as hardware. Since the configuration of the control device 200 in FIG. 7 is the same as that of the control device 110 in FIG. 6, the reference numerals of the processor, etc. are denoted as B with respect to A in FIG. 6. Only the parts different from the control device 110 in FIG. 6 will be described.

[0030] The control device 200 includes a route information generation unit 201 and a moving body monitoring unit 202 as functional elements. The functions of the route information generation unit 201 and the moving body monitoring unit 202 are realized by the control program 200a. The control program 200a is executed by the processor 910B. The auxiliary storage device 930B stores the control program 200a. The control program 200a is a program that causes a computer to execute each process, each procedure, or each step obtained by replacing the "units" of the route information generation unit 201 and the moving body monitoring unit 202 with "processes", "procedures", or "steps". Also, the control method is a method performed by the control device 200, which is a computer, by executing the control program 200a. The control program 200a may be stored and provided in a computer-readable recording medium, or may be provided as a program product. A communication device 210 is connected to the communication interface 960B. The control device 200 communicates with the control device 110 through the communication device 210. The communication device 210 is also shown in FIG. 2.

[0031] ***Operation of the Mobile Dustbin 100*** The operation of the mobile dustbin 100 will be specifically described below.

[0032] <Circuit by the Mobile Dustbin 100> The mobile dustbin 100 shown in FIG. 2 is a moving body for collecting garbage. The movement control unit 111 provided in the control device 110 autonomously moves the mobile dustbin 100 according to the route information 201a indicating the route. Normally, the mobile dustbin 100 autonomously travels at a speed of 6 km / h or less. For example, the mobile dustbin 100 travels between 1 km / h and 2 km / h. However, the speed of autonomous travel is merely an example. The speed of the mobile dustbin 100 by autonomous travel is not limited. The dustbin 120 is a dustbin that accepts the garbage of people existing on or along the route in the middle of the route. The mobile dustbin 100 travels at a low speed between 1 km / h and 2 km / h and collects garbage in the middle of the travel route. Therefore, the tourist destination 400 can be beautified without disturbing the tourists 410. FIG. 8 shows the route of the tourist destination 400 where the mobile dustbin 100 circulates. There are a plurality of stores 320 in the tourist destination 400. In FIG. 8, the plurality of stores 320 are distinguished into 5 stores from store 320a to store 320e. Normally, the mobile dustbin 100 circulates along the route 401 specified by points P1, P2, P3, P4, P1 in the traveling direction 100a according to the route information 201a. As will be described later, due to the garbage storage capacity, etc., the mobile dustbin 100 circulates along the route 402 specified by points P6, P2, P3, P6, P6. In this case, the mobile dustbin 100 has the route information 201b corresponding to the route 402, and can circulate along the route 402 by switching the route information 201a to the route information 201b.

[0033] <Operation When a Person Approaches> The mobile trash can 100 has a human sensor that detects the movement of people. The sensor group of the integrated sensor unit 180 can be used as the human sensor. When the human sensor detects a state where a person approaches the mobile trash can 100, the movement control unit 111 reduces the speed of the mobile trash can 100. That is, as shown in FIG. 3, when the sensor group of the integrated sensor unit 180 detects a tourist 410a approaching the mobile trash can 100, the movement control unit 111 transmits autonomous movement control information 111a including a speed reduction command to the autonomous movement device 170. The speed control unit 171 slows down the speed of the mobile trash can 100 according to the speed reduction command. For example, when the mobile trash can 100 is traveling at a speed of 1 to 2 km / h during normal times, it decelerates the mobile trash can 100 to travel at a speed of 0 to 1 km / h during normal times. The speed reduction command may be a stop instruction. In the case of a stop instruction, the speed control unit 171 stops the movement of the mobile trash can 100. Also, when the sensor group, which is a human sensor, detects a state where a person moves away from the mobile trash can 100, the movement control unit 111 increases the speed of the mobile trash can 100. In this case, the movement control unit 111 transmits autonomous movement control information 111a including a speed increase command to the autonomous movement device 170. The speed control unit 171 speeds up the speed of the mobile trash can 100 according to the speed increase command. For example, when the mobile trash can 100 is traveling at a speed of 0 to 1 km / h during normal times, it decelerates the mobile trash can 100 to travel at a speed of 1 to 2 km / h during normal times. Since the mobile trash can 100 changes its speed according to the approach and departure of people, there is an effect that it is easy for tourists 410 to discard trash.

[0034] <Route change based on trash storage capacity> The control device 110 stores a plurality of pieces of route information in the storage device 112. In FIG. 6, the auxiliary storage device 930A, which is the storage device 112, stores two pieces of route information, route information 201a and route information 201b. The movement control unit 111 selects route information from the plurality of pieces of route information according to the storage capacity of the waste accumulated in the trash can 120. The storage capacity of the waste can be detected by a storage volume sensor arranged in the trash can 120. Note that the storage volume sensor can be replaced by a weight sensor, which will be described later. A storage volume sensor is arranged in each of the trash sorting bins 121, 122, and 123. For example, if the amount of trash that the trash sorting bin 121 that collects burnable trash exceeds the threshold amount of trash that can be stored, the movement control unit 111 selects route information 201b and travels along route 402 (FIG. 8) in accordance with route information 201b. In this case, attribute information indicating that the amount of burnable trash discharged is low is associated with route information 201b. The threshold for burnable trash is determined with an allowance for trash storage, so that even if burnable trash is discharged along route 402, a certain amount of it can be collected. The process when the burnable trash is full will be described later. In this way, the movable trash bin 100 changes its route depending on the trash storage capacity, allowing for effective use of the trash bin 120.

[0035] <Using trained model 113a> The control device 110 includes a mobile trash can 100, which is a moving object, and a camera 181, which is an imaging device that captures images of the surrounding area. The auxiliary storage device 930A of the control device 110 stores a trained model 113a. The trained model 113a is a model that extracts dust from an image that contains dust. The dust extraction unit 113 of the control device 110 uses the trained model 113a to extract dust from the image captured by the camera 181, and outputs a dust extraction signal when dust is extracted. The garbage extraction unit 113 transmits an extraction notification, which notifies the extraction of garbage, as a garbage extraction signal to the control device 200 that manages the mobile garbage bin 100. Specifically, the garbage extraction unit 113 transmits the extraction notification to the control device 200 via the communication interface 960A. The extraction notification includes the garbage extraction time and the garbage extraction location. A control station (not shown) having the control device 200 can notify the administrator of the tourist destination 400 that the garbage has been extracted. Alternatively, as shown in FIG. 8, the mobile garbage bin 100 may include an arm mechanism 150 that grabs the garbage and stores it in the garbage bin 120. When the garbage extraction unit 113 outputs a garbage extraction signal, the garbage captured as an image may be stored in the garbage bin 120 using the arm mechanism 150. As described above, since the control device 110 extracts garbage using the learned model 113a, the garbage can be collected efficiently. Note that the learned model 113a is generated by the route information generation unit 201 of the control device 200. The route information generation unit 201 learns an image of garbage by, for example, supervised learning and generates the learned model 113a. The generated learned model 113a is stored in the auxiliary storage device 930A of the control device 110.

[0036] <Identification of the person with garbage> Also, the learned model 113a may be able to extract a person with garbage, such as the tourist 410b shown in FIG. 3, from the image. The garbage extraction unit 113 uses the learned model 113a to extract a person with garbage from an image captured by the camera 181, which is a photographing device around the recorded route indicated by the route information. When a person with garbage is extracted by the garbage extraction unit 113 from the image, the movement control unit 111 causes the mobile garbage bin 100 to leave the route and approach the person with garbage. Specifically, the movement control unit 111 generates autonomous movement control information 111a such that the mobile garbage bin 100 approaches the person with garbage and outputs it to the autonomous movement device 170. When the movement control unit 111 confirms that a person carrying garbage has collected the garbage by the sensor group, it returns the mobile garbage bin 100 to the original route. Specifically, when the movement control unit 111 confirms that a person carrying garbage has collected the garbage by the sensor group, it generates autonomous movement control information 111a instructing to return to the original route and outputs it to the autonomous movement device 170. In this way, since the mobile garbage bin 100 approaches the person carrying the garbage, it becomes easier for the person carrying the garbage to discard the garbage, and the beautification of the tourist destination 400 is improved.

[0037] <Garbage falling treatment> The mobile garbage bin 100 is provided with a garbage bin monitoring device for monitoring the garbage bin 120. The garbage bin monitoring device can be realized by a sensor group such as a camera 181, a sonar 182, a millimeter wave radar 183, and a lidar 184. For example, as shown in FIG. 2, as a garbage bin monitoring device, a garbage falling detection sensor 187 is arranged above the central opening of the garbage bin 120. The sensor 187 is composed of, for example, a camera, an infrared sensor, a sonar, or a light sensor. This garbage falling detection sensor 187 is also arranged at the same position on the right side. The garbage extraction unit 113 uses the monitoring result of the garbage bin monitoring device to determine whether there is garbage whose position has changed from inside the garbage bin 120 to outside the garbage bin 120. When the garbage extraction unit 113 determines that there is garbage whose position has changed from inside the garbage bin 120 to outside the garbage bin 120, it sends a warning notice to the control device 200 that manages the mobile garbage bin 100. The warning notice includes the time and location when the garbage falling was detected. At the control station where the control device 200 is located, the content of the warning notice is notified to the administrator of the tourist destination 400. Thereby, the beautification of the tourist destination 400 is improved. Alternatively, as shown in FIG. 8, the mobile garbage bin 100 may be provided with an arm mechanism 150 that grabs the garbage and stores it in the garbage bin 120. In this case, when the garbage extraction unit 113 determines that there is garbage whose position has changed from inside the garbage bin 120 to outside the garbage bin 120, it identifies the garbage whose position has changed by the learned model 113a, and uses the arm mechanism 150 to collect the garbage whose position has changed into the garbage bin 120. Thereby, the beautification of the tourist destination 400 is improved. Note that the determination of garbage falling can be implemented as follows. The garbage extraction unit 113 can detect the fall of garbage from a weight sensor installed in the garbage bin 120. In FIG. 4, weight sensors 131, 132, and 133 arranged in the respective sorting garbage bins 121, 122, and 123 are shown. When referring to the weight sensors 131, 132, and 133 collectively, they are denoted as the weight sensor 130. The garbage extraction unit 113 can detect garbage by comparing a high-precision map, which is a three-dimensional map, with real-time point cloud information (point cloud database) acquired by the lidar 184. This process can be applied to all garbage lying on the road. The garbage extraction unit 113 may further use the learned model 113a to determine whether the point cloud data is garbage when there is an image corresponding to the difference in the point cloud.

[0038] <Volume change mechanism of the garbage bin 120> As a trash can monitoring device, a weight sensor 130 for detecting the weight of garbage may be arranged inside the moving trash can 100 for each sorting trash can. Further, an infrared sensor or the like for detecting the height of the garbage in the sorted trash can or the position of the garbage located at the top may be arranged on the back surface of the ceiling portion of the moving trash can 100 for each sorting trash can. If only some of the sorted garbage has increased in amount based on the detection results of the weight sensor 130, the infrared sensor, etc., after detecting the capacity of other sorted trash cans, increase the capacity of the sorted trash can with more garbage. Specifically, it is as follows. As shown in FIG. 2, the trash can 120 is divided into a sorting trash can 121, a sorting trash can 122, and a sorting trash can 123 for each type of garbage. The sorting trash can 121, the sorting trash can 122, and the sorting trash can 123 can change the storage capacity of the garbage by control. Specifically, it is as follows. A partition plate driving device 129 is arranged in the trash can 120. The partition plate driving device 129 can independently move the partition plates 125, 126, 127, and 128 in the front-rear direction of the moving trash can 100 by receiving control. Thereby, the capacity of the sorting trash can 121 to the sorting trash can 123 can be changed. The garbage amount control unit 114 of the control device 110 controls the storage capacity of the garbage that can be stored in each sorting trash can through the control of the partition plate driving device 129. As described above, the usage efficiency of the trash can 120 is improved.

[0039] ***Operation of the garbage collection system 1000*** The operation of the garbage collection system 1000 will be described below with attention paid to the control device 200.

[0040] <Generation of route information> The moving trash can 100 shown in FIG. 4 autonomously moves at a speed of 6 km / h or less according to route information indicating a route. The moving trash can 100 includes a trash can 120 that accepts the garbage of a person existing on or along the route during the route. The control device 200 has a route information generation unit 201 that generates route information and transmits it to the moving body. The route information generation unit 201 generates route information based on the flow of people in areas such as the tourist destination 400 where the mobile trash can 100 is scheduled to move. The people flow information 13 indicating the flow of people can be obtained from the street camera 310 shown in FIG. 3. Alternatively, it can be obtained from an institution such as a company that collects the people flow information 13. By generating route information that tours places with a large flow of people, the route information generation unit 201 can efficiently collect trash from the tourists 410 at the tourist destination 400. Note that the route information may include the people flow information 13 indicating the flow of people. The route information generation unit 201 may generate route information based on facilities including the store 320 arranged in the area where the mobile trash can 100 is scheduled to move. Specifically, in FIG. 8, if the stores 320d and 320e are popular stores where people gather, the route information generation unit 201 generates a route including the points P5, P6, P2, and P3. Since many people gather at popular stores, by including the locations of popular stores in the route, the trash of the tourists 410 can be efficiently collected. The route information can be obtained from a device outside the control device 200. The auxiliary storage device 930B stores trash discharge information indicating the trash discharge status at multiple points in the area where the mobile trash can 100 is scheduled to move. The route information generation unit 201 may generate route information based on the trash discharge information stored in the auxiliary storage device 930B. By the route information generation unit 201 referring to the trash discharge information and generating route information including points with a large amount of trash discharge, trash can be efficiently collected. The trash discharge information has, for example, the trash discharge amount for each point recorded with respect to time. The route information generation unit 201 can obtain the trash discharge information from a device outside the control device 200. The trash discharge information includes time information indicating the time when the trash is discharged as described above. Thus, route information effective for trash collection can be generated. Note that a pre-trained model for generating route information may be used for generating the route information. Specifically, it is as follows. The route information generation unit 201 uses, as teacher data, at least any one of information such as the image of the street camera 310 shown in FIG. 3, the information on the flow of people shown in FIG. 4, or the garbage information in which the time, place, and storage capacity of the discharged garbage are associated at the tourist destination 400 obtained from outside the control device 200, and learns the places and times where a large amount of garbage is discharged to generate a pre-trained model for route information generation. The route information generation unit 201 uses this pre-trained model to generate route information including the places and times where the mobile garbage bins 100 should focus on patrolling.

[0041] <Coverage of the tourist destination 400 by a plurality of mobile garbage bins 100> As shown in FIG. 1, the garbage collection system 1000 includes a plurality of mobile garbage bins 100. The route information generation unit 201 generates different route information for each mobile garbage bin 100 to cover the garbage collection in the tourist destination 400, which is a planned area for arranging the plurality of mobile garbage bins 100. Thereby, the garbage in the tourist destination 400 can be collected without omission.

[0042] <Arrangement of alternative mobile garbage bins 100> When the storage capacity of the garbage in the mobile garbage bin 100 and the garbage bin 120 exceeds the threshold, an excess signal is transmitted to the control device 200. When the route information generation unit 201 receives the excess signal, it transmits a movement destination instruction for instructing the movement destination to the transmitting mobile body, which is the mobile garbage bin 100 that transmitted the excess signal, to move the transmitting mobile body to the movement destination. For example, the movement destination is the storage warehouse 340 shown in FIG. 8. The route information generation unit 201 transmits the same route information as the route information transmitted to the transmitting mobile body to another mobile garbage bin 100 in order to replace the transmitting mobile body with another mobile garbage bin 100. Thereby, the transmitting movement with full garbage can be changed to another mobile garbage bin 100.

[0043] The control device 200 has a moving body monitoring unit 202 that monitors the moving state of the mobile trash can 100 and controls the moving state of the mobile trash can 100 based on the monitoring results. The position information serving as the basis for monitoring is transmitted from the mobile trash can 100. The position information has the presence time and the presence position associated with each other. From the position information and the mobile trash can 100 shown in the video of the street camera 310, the moving body monitoring unit 202 can control the moving state of the mobile trash can 100. By remotely controlling the mobile trash can 100 in this way, the scenic spot 400 can be beautified efficiently.

[0044] ***Effect of Embodiment 1*** According to the trash collection system 1000 of Embodiment 1, by running the mobile trash can 100, which is an autonomous vehicle carrying the trash can itself, along the moving route of the tourists 410, the tourists 410 can be saved the trouble of searching for the trash can, and the beautification of the scenic spot 400 can be improved.

[0045] Embodiment 2. The trash collection system 1000 of Embodiment 2 will be described with reference to FIGS. 9 to 14. Since the trash collection system 1000 of Embodiment 2 is the same as that in FIG. 1, the description thereof will be omitted. In Embodiment 2, the trash collection system 1000 includes a crowd flow information generation unit 203. The function of the crowd flow information generation unit 203 may be arranged in the control device 200, or may be arranged in another device outside the control device 200, which is separate from the control device 200, but the crowd flow information generation unit 203 is arranged inside the trash collection system 1000. Hereinafter, a configuration in which the control device 200 includes the crowd flow information generation unit 203 will be described as an example. FIG. 9 shows a configuration in which the control device 200 includes the crowd flow information generation unit 203. FIG. 10 shows the hardware configuration of the control device 200.

[0046] <Crowd flow information generation unit 203> FIG. 11 shows Types A to E as the generation types of the crowd flow information 13 by the crowd flow information generation unit 203.

[0047] <Type A> The crowd flow information generation unit 203 generates crowd flow information 13 based on information such as external input information or sensing information of sensor X. Sensor X will be described later.

[0048] <Type B> The crowd flow information generation unit 203 can generate the crowd flow information 13 from the acquired image information, human position information, and human speed information of the sensor X mounted on the mobile trash can 100 or the sensor X provided outside the mobile trash can 100. The "sensor X provided outside the mobile trash can 100" means a sensor X not mounted on the mobile trash can 100.

[0049] <Sensor X> Sensor X will be described. Sensor X is composed of one or more of the following (1) to (6). (1) Street camera 310, (2) Camera 181 mounted on the mobile trash can 100, (3) Camera mounted on the Personal Mobility Vehicle (PMV), (4) Camera mounted on Mobility as a Service (MaaS), (5) One or more sensors among the speed sensor, acceleration sensor, and position sensor mounted on a mobile terminal (hereinafter referred to as the mobile terminal) typified by a smartphone or mobile device possessed by a tourist, (6) User information of MaaS, hotel, or store. Note that the mobile terminal is a terminal device.

[0050] <Street camera 310> The street camera 310 may be arranged in the following places (1) to (4) outside the vicinity of the store 320. (1) The planned passage route of the mobile trash can 100, (2) The planned passage route of the PMV, (3) Facilities such as "hotels, exhibition facilities, entertainment facilities, hot spring facilities, public halls" where people who can discharge garbage enter and exit, (4) Places where people pass through and where garbage cannot be left unattended, such as "tourist routes, parks, forest roads, fields", or the areas around these places.

[0051] <Type C> As shown in FIG. 11, the crowd flow information generation unit 203 recognizes and tracks people from these images based on the first image information acquired by the street camera 310, the second image information acquired by the camera 181 of the mobile garbage bin 100, and the third image information acquired by the camera mounted on the PMV. Then, the crowd flow information generation unit 203 measures items such as the position, speed, or position change of the tracked people, or the number of people. By measuring these items, the crowd flow information generation unit 203 can generate the crowd flow information 13 indicating the evaluation index of the crowd flow from, for example, the "human presence density, average human movement speed, human movement direction, human movement flux" per unit space, such as per cubic meter. As the evaluation index of the crowd flow, that is, as the crowd flow information 13, values for numerically evaluating the "level of sparseness or congestion, density of the movement flux" can be used.

[0052] <Type D> In addition, the crowd flow information generation unit 203 can generate the crowd flow information 13 based on the position information and speed information acquired by the mobile terminals held by tourists.

[0053] <Type E> In addition, the crowd flow information generation unit 203 can count the number of users (tourists) of the theme park per unit time in the theme park using at least one of the following (1), (2), and (3), and obtain the crowd flow information 13 from the number of people for each moving body and base. (1) The position information of "mobility such as MaaS or automobiles", (2) The number of passengers getting on and off in a moving body such as a vehicle or a railway, (3) "User information of users of facilities such as hotels or stores".

[0054] The operation of the route information generation unit 201 of Embodiment 2 that cooperates with the crowd flow information generation unit 203 will be described below. FIG. 12 shows a number line indicating the value V of the pedestrian flow information 13. The content of the number line in FIG. 12 is set in the route information generation unit 201. A route where the value V is less than or equal to the threshold value V1 is a sparse route with little pedestrian flow. A route where the value V is greater than or equal to the threshold value V2 is a dense route with a large pedestrian flow. The area between the threshold value V1 and the threshold value V2 is an intermediate density route. The intermediate density route may be one section represented by one value between V1 and V2 of the value V, or multiple sections represented by multiple values between V1 and V2 of the value V. The upper intermediate density route in FIG. 12 shows one section represented by one value of V31 of the value V. The lower intermediate density route in FIG. 12 shows two sections represented by two values of V31 and V31 of the value V. The route information generation unit 201 schedules the priority of route passage and the passage order according to the sparse route passing through the area where the value V is less than or equal to the threshold value V1, the dense route passing through the area where the value V is greater than or equal to the threshold value V2, and the intermediate density route passing through one section which is the area of one representative value or multiple sections which are the areas of multiple representative values of the value V. In the example of FIG. 12, when the larger the numerical value of the priority, the higher the priority, the route information generation unit 201 sets the priority of 4 for the dense route, the priority of 3 for the intermediate density route of V32, the priority of 2 for the intermediate density route of V32, and the priority of 1 for the sparse route. For example, the route information generation unit 201 refers to the set priority so that the number of times the mobile trash can 100 passes through the dense route per unit time or per usage time of the facilities used by tourists increases, or the number of times the mobile trash can 100 passes through the sparse route per unit time or per usage time decreases, and sets the route information which is the passing route of the mobile trash can 100.

[0055] FIG. 13 shows an example in which the route information generation unit 201 creates route information consisting of, from the left, a sparse route, an intermediate density route with value V31, an intermediate density route with value V32, a dense route, and an intermediate density route with value V32. The order of passage is set in this route information. S1 to S17 indicate the order of passage. S1 is the start and S17 is the end. According to the route information in FIG. 13, the mobile trash can 100 passes through the dense route 6 times, the intermediate density route with value V32 4 times, the intermediate density route with value V31 2 times, and the sparse route 1 time. Thereby, the mobile trash can 100 can efficiently collect trash according to the density.

[0056] ***Effects of Embodiment 2*** In the trash collection system 1000 of Embodiment 2, the traffic flow information generation unit 203 that generates traffic flow information 13 is provided in the control device 200. And the route information generation unit 201 generates route information using the traffic flow information 13 generated by the traffic flow information generation unit 203. Therefore, traffic flow information is generated inside the trash collection system 1000, and route information is generated from the traffic flow information generated inside the trash collection system 1000. Therefore, traffic flow information that is necessary and accurate for the trash collection system 1000 can be quickly obtained. Also, since route information is generated from accurate traffic flow information for the trash collection system 1000, efficient trash collection becomes possible. Also, the satisfaction of tourists on the trash discharge side is improved.

[0057] Embodiment 3. The trash collection system 1000 of Embodiment 3 will be described with reference to FIGS. 14 to 16. The system configuration of the trash collection system 1000 of Embodiment 3 is the same as that in FIG. 1. FIG. 14 shows the configuration of the control device 200. FIG. 15 shows the hardware configuration of the control device 110. Figure 16 shows the hardware configuration of the control device 200. In Embodiment 3, the mobile trash can 100 and the control device 200 generate an alarm according to the weight or volume of the trash in the mobile trash can 100. The mobile trash can 100 is provided with a mobile-side alarm unit 115 that generates an alarm. The control device 200 is provided with a control-side alarm unit 204 that generates an alarm. As shown in FIG. 14, weight sensors 151, 152, and 153 are arranged in each of the sorting trash cans 121, 122, and 123. In addition, accommodation volume sensors 141, 142, and 143 are arranged in each of the sorting trash cans 121, 122, and 123. The weight sensor is denoted as the weight sensor 150 when there is no need for distinction. The accommodation volume sensor is denoted as the accommodation volume sensor 140 when there is no need for distinction.

[0058] <Mobile-side alarm unit 115> The mobile-side alarm unit 115 issues an alarm based on the detection result of a sensor that detects at least one of the weight and the accommodation capacity of the trash accumulated in the trash can. The mobile-side alarm unit 115 acquires the detection information of the weight of the trash measured by the weight sensor 150 or the accommodation volume of the trash measured by the accommodation volume sensor 140 from the weight sensor 150 and the accommodation volume sensor 140. Based on the acquired detection information, the mobile-side alarm unit 115 determines whether the weight or volume of the trash is equal to or greater than the allowable value. When the weight or volume of the trash exceeds the allowable value, the mobile-side alarm unit 115 outputs an alarm sound indicating that the trash can is full to a speaker (not shown) connected to the output IF960A or a display device (not shown) connected to the output IF960A, in the form of sound or display.

[0059] <Control-side alarm unit 204> When the weight or volume of the trash exceeds the allowable value, the mobile-side alarm unit 115 transmits a full signal indicating that the trash can is full to the control device 200. Upon receiving the full signal, the control-side alarm unit 204 generates an alarm message and an alarm sound on a monitoring monitor screen of the control system or a speaker of the control system (not shown).

[0060] The measurement of the accommodation capacity by the accommodation volume sensor 140 for detecting the accommodation volume can estimate the accommodation capacity from the estimated volume obtained by multiplying the plane area of the trash can by the height of the top of the trash from the image inside the trash can. Alternatively, an optical sensor may be provided on the upper inner surface inside the trash can, and when the optical sensor detects trash, it may be detected that the accommodation capacity is equal to or greater than a predetermined threshold value. In this case, the optical sensor corresponds to the volume sensor.

[0061] ***Effects of Embodiment 3*** In the trash collection system 1000 of Embodiment 3, the control device 110 includes a moving-side alarm unit 115 that generates an alarm. Further, the control device 200 includes a control-side alarm unit 204 that generates an alarm. Therefore, users such as tourists who use the moving trash can 100 can know that the trash can is full, so the possibility of throwing trash into the moving trash can 100 is reduced. Therefore, the aesthetic appearance of the moving trash can 100 can be maintained. Also, the overcapacity of the moving trash can 100 can be protected. In addition, the administrator on the side of the control device 200 that manages the moving trash can 100 can know that the trash in the moving trash can 100 is full. Therefore, the path information generation unit 201 can generate and transmit a return path to the control device 110 of the full trash moving trash can 100, so that the moving trash can 100 can be returned to the garage.

[0062] Embodiment 4. Embodiment 4 will be described with reference to FIGS. 17 to 21. FIG. 17 shows the configuration of the control device 200. FIG. 18 shows the hardware configuration of the control device 110. FIG. 19 shows the hardware configuration of the control device 200. FIG. 20 shows the operation sequence of the trash collection system 1000 when call information is transmitted from the mobile terminal of the tourist 410. FIG. 21 shows the operation sequence of the garbage collection system 1000 when the tourist 410 addresses the mobile garbage bin 100. In the garbage collection system 1000 of the fourth embodiment, the control device 110 mounted on the mobile garbage bin 100 includes a conversation unit 116, and the control device 200 includes a call response unit 205.

[0063] <Call response unit 205> The route information generation unit 201 generates a route for the mobile garbage bin 100 to move toward the calling tourist 410 according to the call information from the tourist 410 generated by the call response unit 205. Referring to FIG. 20, the operation of the garbage collection system 1000 when call information is transmitted from the mobile terminal of the tourist 410 will be described.

[0064] <Step S101> In step S101, the tourist 410 presses a call button (not shown) on the mobile terminal he / she has. When the call button is pressed, the mobile terminal generates call information for calling the mobile garbage bin 100, and transmits the call information including the call position, which is the terminal position of the mobile terminal when the call button is pressed, to the control device 200.

[0065] <Step S102> In step S102, in the control device 200, the communication device 210 receives the call information via the network 330. The call information also includes time, which is the generation time of the call information. The call response unit 205 identifies the current position of the mobile garbage bin 100 that the control device 200 is dynamically monitoring based on the call position. The call response unit 205 inputs the call position and the identified current position of the mobile garbage bin 100 to the route information generation unit 201.

[0066] <Step S103> In step S103, the route information generation unit 201 generates route information 201a from a route connecting the calling position and the current position of the mobile trash can 100. The route information generation unit 201 transmits the generated route information 201a to the mobile trash can 100 via the communication device 210.

[0067] <Step S104> In step S104, in the mobile trash can 100, the communication device 190 receives the route information 201a via the network 330. In the mobile trash can 100, the movement control unit 111 returns to the original route via the calling position according to the route information 201a.

[0068] <Conversation unit 116> The control device 110 of the mobile trash can 100 includes a conversation unit 116. In the mobile trash can 100, call occurrence information may be transmitted to the call response unit 205 of the control device 200 based on the processing result of the conversation unit 116. This will be described with reference to FIG. 21.

[0069] <Step S201> In step S201, the conversation unit 116 receives a voice call from a tourist 410 passing by the periphery of the mobile trash can 100. When there is a call, the conversation unit 116 performs voice recognition processing on the voice information obtained by the sound collection microphone 191 mounted on the mobile trash can 100. Based on the result of the voice recognition processing, the conversation unit 116 determines whether the tourist 410 has the intention or desire to throw away trash. When it is determined that the tourist 410 has the intention or desire to throw away trash, the conversation unit 116 estimates the direction of the voice emission of the tourist 410 detected by the sound collection microphone 191. The conversation unit 116 generates call occurrence information including the estimated voice emission direction, the call occurrence time, and the current position of the mobile trash can 100, and transmits the call occurrence information via the communication device 190.

[0070] <Step S202> In step S202, the call response unit 205 inputs the voice emission direction of the call occurrence information and the current position of the mobile trash can 100 to the route information generation unit 201.

[0071] <Step S203> Based on the voice emission direction and the current position of the mobile trash bin 100, the route information generation unit 201 generates a detour route from the current position towards the voice emission direction. The route information generation unit 201 transmits the detour route to the mobile trash bin 100 via the communication device 210. In the mobile trash bin 100, the movement control unit 111 of the control device 110 changes the current movement route to the received detour route. The movement control unit 111 causes the mobile trash bin 100 to perform a turning operation towards the detour route. After the turning operation, the movement control unit 111 recognizes a person present in the voice emission direction based on the sensor information detected by at least one sensor among a group of sensors such as a camera, sonar, millimeter wave radar, and LiDAR. The movement control unit 111 tracks the recognized person and proceeds towards the person being tracked.

[0072] At this time, while following the detour route, the movement control unit 111 prioritizes the tracking operation. That is, assuming that the mobile trash bin 100 has moved more than a set distance away from the detour route due to the tracking operation. In this case, the movement control unit 111 transmits the current position and the tracking direction to the control device 200. In the control device 200 that has received the current position and the tracking direction, the route information generation unit 201 updates the detour route and transmits the updated detour route to the mobile trash bin 100.

[0073] Also, the conversation unit 116 may emit a response voice from the speaker 192 towards the person being tracked. In this case, if there is a response corresponding to the response voice from the direction of the presence of the person being tracked, the movement control unit 111 continues the image tracking. At this time, the movement control unit 111 may recognize the face image of the person being tracked and confirm whether there is a change in the state of the mouth area through facial expression recognition processing. The movement control unit 111 may continue the tracking when it recognizes a change. Also, based on AI recognition, the movement control unit 111 may determine whether to continue the tracking.

[0074] In addition, when the sensor group measures the distance to the person being tracked and the distance to the person being tracked becomes equal to or less than the set value, the movement control unit 111 may cause the mobile trash can 100 to perform a turning operation, stop the mobile trash can 100, and cause the speaker 192 to emit a voice prompting garbage disposal toward the person being tracked. The emission from the speaker may be performed by the conversation unit 116.

[0075] Note that for image tracking, the movement control unit 111 may perform tracking processing by combining detection results of sensors other than the camera, such as a sonar, a millimeter-wave radar, and a LiDAR. Further, in any of the following cases (1), (2), and (3), the conversation unit 116 emits a response voice for notifying the person to return to the original route from the speaker. (1) When the weight sensor 150 detects a change in the weight of the garbage, (2) When the garbage drop detection sensor 187 detects garbage disposal, (3) When the set time has elapsed.

[0076] Thereafter, when the conversation unit 116 detects that a voice indicating a request for continued garbage disposal has been emitted from a person in the vicinity, the conversation unit 116 transmits a signal indicating the content to the movement control unit 111. When receiving this signal, the movement control unit 111 continues the stopped state of the mobile trash can 100 for the set time as it is. Thereafter, when the conversation unit 117 confirms that a voice indicating a request for continued garbage disposal has not been emitted from a person in the vicinity, the conversation unit 117 transmits approach stop information indicating that the approach has ended and the current position to the approach response unit 205.

[0077] When receiving the approach stop information and the current position, the route information generation unit 201 generates a return route to return to the original movement route from the received current position, and transmits the movement route to the mobile trash can 100.

[0078] The control device 110 of the mobile trash can 100 receives a return path via the communication device 190. The movement control unit 111 returns to the original movement path according to the return path. When the movement control unit 111 confirms that the position of the mobile trash can 100 has returned to the original movement path or a preset allowable range area that can be regarded as on the original movement path, it resumes the movement on the original movement path.

[0079] ***Effects of Embodiment 4*** In Embodiment 4, the control device 110 includes the conversation unit 116, and the control device 200 includes the call response unit 205. Therefore, for users of the mobile trash can 100 such as tourists 410, the usability of the mobile trash can 100 is improved. As a result, the beautification of the environment where the mobile trash can 100 is used is improved.

[0080] The above describes Embodiments 1 to 4. Among these embodiments, two or more of them may be combined and implemented. Alternatively, among the plurality of technical matters included in one embodiment, one technical matter may be partially implemented. Alternatively, the technical matters included in each embodiment may be partially combined and implemented.

Explanation of Reference Numerals

[0081] 13 pedestrian flow information, 40 GNSS satellites, 100 mobile trash cans, 100a moving direction, 100b garbage collection information, 101 tires, 110 control device, 110a control program, 111 movement control unit, 111a autonomous movement control information, 112 storage device, 113 garbage extraction unit, 113a learned model, 114 garbage quantity control unit, 115 moving side warning unit, 116 conversation unit, 119 high-precision map and point cloud database, 120 trash can, 121, 122, 123 sorting trash cans, 124 sorting trash display, 125, 126, 127, 128 partition plates, 129 partition plate driving device, 130, 131, 132, 133 weight sensors, 140, 141, 142, 143 accommodation volume sensors, 151, 152, 153 weight sensors, 170 autonomous movement device, 171 speed control unit, 172 vehicle direction control unit, 180 integrated sensor unit, 181 camera, 182 sonar, 183 millimeter wave radar, 184 lidar, 185 GNSS positioning device, 186 sensor fusion unit, 188 integrated information, 190 communication device, 191 microphone, 192 speaker, 200 control device, 200a control program, 201 route information generation unit, 201a route information, 202 moving body monitoring unit, 203 pedestrian flow information generation unit, 204 control side warning unit, 205 call response unit, 210 communication device, 310 street camera, 320 store, 330 network, 340 storage warehouse, 400 tourist attraction, 410 tourist, 401, 402 routes, 605 GNSS antenna, 910A, 910B processors, 920A, 920B main memory devices, 930A, 930B auxiliary memory devices, 940A, 940B input interfaces, 950A, 950B output interfaces, 960A, 960B communication interfaces, 970A, 970B signal lines, 1000 garbage collection system.

Claims

1. A mobile body for collecting garbage, comprising: A control device having a movement control unit that autonomously moves the mobile body according to route information indicating a movement route; A human sensor for detecting the movement of a person; A garbage bin for receiving garbage of a person existing on or along the movement route in the middle of the movement route; Comprising; The movement control unit: When the human sensor detects a state where a person approaches the mobile body, the speed of the mobile body is decreased, and after the mobile body travels at a speed at which it is easy to discard garbage, when the human sensor detects a state where a person moves away from the mobile body, the speed of the mobile body is increased. Mobile body.

2. The garbage bin has a plurality of sorting garbage bins on which garbage types are displayed. The mobile body according to Claim 1.

3. A photographing device for photographing the surroundings; A position marking device; Comprising; The control device has a garbage extraction unit that extracts garbage from a photographed image of the photographing device and transmits a garbage extraction notification including a garbage extraction time and a garbage extraction location to a control device that manages the mobile body when garbage is extracted. The mobile body according to Claim 1.

4. A photographing device for photographing the surroundings; A garbage extraction unit that extracts a person with garbage from an image by the photographing device around the movement route indicated by the route information; Comprising; When a person with garbage is extracted by the garbage extraction unit from the image, the movement control unit causes the mobile body to leave the movement route and approach the person with garbage, and when it is confirmed by a sensor that garbage has been collected from the person with garbage, the mobile body returns to the original movement route. The mobile body according to Claim 2.

5. A mobile body for collecting garbage, comprising: A control device having a movement control unit that autonomously moves the mobile body according to route information indicating a movement route; A garbage bin for receiving garbage of a person existing on or along the movement route in the middle of the movement route; A conversation unit; Comprising; When the conversation unit receives a voice greeting from a person passing by the surroundings, it emits a voice toward the person, and when there is a response to the emitted voice, it emits a voice prompting the surrounding people to discard garbage.

6. Based on the direction of voice emission from the person and the current position of the mobile body, the movement control unit generates a detour route from the current position toward the direction of voice emission from the surrounding people, and advances the mobile body toward the surrounding people. The mobile body according to Claim 5.

7. After the conversation unit prompts the people around to discard garbage, it tells the people around to return from the detour route to the original movement route, and when it confirms that no voice indicating a request to continue garbage disposal is emitted from the people around, it causes the movement control unit to return the moving body to the original movement route. The moving body according to claim 6.

8. A moving body that collects garbage, A control device having a movement control unit that autonomously moves the moving body according to route information indicating a movement route, A garbage bin that accepts garbage possessed by people existing on or along the movement route in the middle of the movement route, A conversation unit, Comprising: When the movement control unit receives a voice greeting from a person passing by in the vicinity at the conversation unit, it recognizes the person existing in the direction of the voice emission, measures the distance to the recognized person, and when the distance becomes equal to or less than a set value, it causes the moving body to perform a turning operation. Moving body.

9. A moving body that collects garbage, A control device having a movement control unit that autonomously moves the moving body according to route information indicating a route, A garbage bin that accepts garbage possessed by people existing on or along the route in the middle of the route, Comprising: The moving body includes, as the garbage bin, a plurality of sorting garbage bins for separately collecting a plurality of types of garbage.

10. The sorting garbage bin is the moving body according to claim 9 in which the garbage type is displayed.

11. The control device is the moving body according to claim 9 or claim 10 having a sensor that measures the height or volume of garbage in each of the sorting garbage bins.

12. The control device measures the height or volume of garbage in each of the sorting garbage bins, and transmits a signal according to the measurement to a control device having a route information generation unit that transmits the route information to the moving body. The moving body according to claim 9 or claim 10.

13. The movement control unit is the moving body according to claim 12 that receives the route information changed as the route information from the control device.

Images