Waste collection volume tracking system

Abstract

To enable the estimation of the weight of garbage placed at a garbage collection point. [Solution] The waste collection volume tracking system 300 is used in a waste collection service in which a vehicle 20 collects waste placed at multiple waste collection points set along a collection route. The waste collection volume tracking system 300 includes a vehicle weight estimation unit 340 that derives an estimated value of the weight of the vehicle 20 in the travel section between two adjacent waste collection points on the collection route as the vehicle weight in said travel section, and a waste weight deriving unit 350 that derives the weight of the waste placed at the waste collection points set between the first travel section and the second travel section based on the difference between the vehicle weight in the first travel section and the vehicle weight in the second travel section, which is the travel section following the first travel section.

Description

Technical Field

[0001] The present invention relates to a garbage collection amount grasping system for estimating the weight of garbage collected by a vehicle.

Background Art

[0002] Patent Document 1 discloses a management system that discriminates the type of garbage based on an image captured by imaging means provided on a garbage collection vehicle when collecting the garbage placed at a garbage collection site with the garbage collection vehicle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The problem of the present invention is to enable the estimation of the weight of the garbage placed at the garbage collection site.

Means for Solving the Problems

[0005] The garbage collection amount grasping system for solving the above problems is used for a garbage collection service in which a vehicle traveling on a collection route collects the garbage placed at a plurality of garbage collection sites set on the collection route. The garbage collection amount grasping system includes a vehicle weight estimation unit that derives an estimated value of the weight of the vehicle in a travel section between two adjacent garbage collection sites among the collection routes as the vehicle weight in the travel section, and a garbage weight derivation unit that derives the weight of the garbage placed at the garbage collection site set between the first travel section and the second travel section among the plurality of garbage collection sites based on the difference between the vehicle weight in the first travel section and the vehicle weight in the second travel section, which is the next travel section after the first travel section, among the plurality of travel sections. [Effects of the Invention]

[0006] The above-mentioned waste collection volume tracking system has the effect of estimating the weight of the waste placed at the waste collection point. [Brief explanation of the drawing]

[0007] [Figure 1] Figure 1 is a schematic diagram showing a configuration of multiple vehicles, a waste disposal plant, and a server in the first embodiment. [Figure 2] Figure 2 is a schematic diagram showing a collection route with multiple designated garbage collection points. [Figure 3] Figure 3 is a block diagram showing the functional configuration of the waste collection volume monitoring system. [Figure 4] Figure 4 is a graph showing the change in the vehicle's weight as it travels along the collection route shown in Figure 2. [Figure 5] Figure 5 is a graph showing representative vehicle weights for multiple travel sections that make up the collection route in Figure 2. [Figure 6] Figure 6 is a graph showing how the multiple representative values ​​shown in Figure 5 are corrected. [Figure 7] Figure 7 is a graph showing the weight of waste placed at multiple waste collection points. [Figure 8] Figure 8 is a flowchart showing the process for estimating the weight of garbage placed at multiple garbage collection points. [Figure 9] Figure 9 is a flowchart showing the processing flow when generating a guideline line indicating the change in vehicle weight in the second embodiment. [Figure 10] Figure 10 is a graph showing the change in the weight of the vehicles traveling along the collection route shown in Figure 2, and the guideline generated by the process shown in Figure 9. [Figure 11] Figure 11 is a graph showing how multiple vehicle weights are corrected using the guideline lines generated by the process shown in Figure 9. [Figure 12]Figure 12 is a graph showing representative vehicle weights for multiple driving sections, derived using multiple corrected vehicle weights. [Figure 13] Figure 13 is a graph showing representative values ​​of vehicle weight over multiple driving sections. [Figure 14] Figure 14 is a graph showing the weight of waste placed at multiple waste collection points. [Figure 15] Figure 15 is a block diagram showing the functional configuration of the waste collection volume tracking system in the third embodiment. [Figure 16] Figure 16 is a graph showing the changes in vehicle weight estimated in the waste collection volume tracking system shown in Figure 15. [Figure 17] Figure 17 is a graph showing the weight of waste placed at multiple waste collection points. [Figure 18] Figure 18 is a flowchart showing the process for estimating the weight of garbage placed at multiple garbage collection points. [Modes for carrying out the invention]

[0008] The first embodiment will be described with reference to Figures 1 to 8. Figure 1 shows a computer 13, multiple vehicles 20, and a server 50 installed outside the vehicles, all located at a waste disposal plant 100. The computer 13, the multiple vehicles 20, and the server 50 are able to send and receive various types of information via a communication network 200. The vehicles 20 are garbage trucks used to collect waste that has been placed at a waste collection point.

[0009] <Waste disposal plant> The waste treatment plant 100 is a facility that processes the waste collected by the vehicle 20. For example, in the waste treatment plant 100, as the treatment, the waste collected by a plurality of vehicles 20 is collected and incinerated. In addition to the computer 13, a weighing scale 11 is also installed in the waste treatment plant 100. The weighing scale 11 measures the weight of the vehicle 20 entering and leaving the waste treatment plant 100. The weight of the vehicle 20 measured by the weighing scale 11 is denoted as "vehicle weight measurement value WCM". When the weighing scale 11 measures the weight of the vehicle 20, the weighing scale 11 outputs vehicle weight information, which is information regarding the vehicle weight measurement value WCM, to the computer 13.

[0010] The computer 13 has a communication device 14 and a processing circuit 16. The communication device 14 can transmit the information output by the processing circuit 16 to the server 50 via the communication network 200. Also, the communication device 14 can receive the information transmitted by the server 50 and the vehicle 20 via the communication network 200. The information transmitted by the vehicle 20 to the computer 13 includes vehicle identification information, which is information for identifying the vehicle itself. The communication device 14 outputs the information received via the communication network 200 to the processing circuit 16.

[0011] An example of the processing circuit 16 is an electronic control unit. In this case, the processing circuit 16 has a CPU 17 and a memory 18 that stores a control program executed by the CPU 17. When the CPU 17 executes the control program in the memory 18, the processing circuit 16 executes various processes. For example, when the weighing scale 11 measures the weight of the vehicle 20, the processing circuit 16 acquires the vehicle weight information output by the weighing scale 11 and vehicle identification information, which is information for identifying the vehicle 20 whose weight has been measured by the weighing scale 11. Then, the processing circuit 16 transmits the vehicle weight information and the vehicle identification information to the server 50 via the communication network 200.

[0012] <Vehicle> The plurality of vehicles 20 each include an engine 21 and drive wheels 22 that rotate by the power output from the engine 21. Further, the plurality of vehicles 20 each include a power take-off device 23 disposed in the power transmission path from the engine 21 to the drive wheels 22 and a working device 24. Furthermore, the plurality of vehicles 20 each include a sensor system 26 and a vehicle control device 30. Hereinafter, the power take-off device 23 will be described as the "PTO device 23".

[0013] The PTO device 23 has a function of distributing a part of the power output from the engine 21 to the working device 24. When the PTO device 23 is on, the power of the engine 21 is transmitted to the working device 24 in order for the PTO device 23 to exhibit the function. As a result, the working device 24 operates. On the other hand, when the PTO device 23 is off, the power of the engine 21 is not transmitted to the working device 24 because the PTO device 23 does not exhibit the function. As a result, the working device 24 does not operate.

[0014] The on / off state of the PTO device 23 can be switched by an operation of an operator who rides on the vehicle 20 and performs the garbage collection work. Therefore, when the vehicle 20 travels, the PTO device 23 is turned off. On the other hand, when the vehicle 20 collects garbage, the PTO device 23 is turned on.

[0015] An example of the working device 24 is a device that compresses the garbage collected in the vehicle 20. When the PTO device 23 is on, the working device 24 compresses the garbage collected by the operator in the vehicle 20. In the present embodiment, the process in which the working device 24 compresses the garbage in this way corresponds to the "specific process executed when the vehicle 20 collects the garbage placed at the garbage collection site". In other words, it can be said that the period during which the PTO device 23 is on in the situation where the vehicle 20 is stopped is the period during which the specific process is executed. Also, it can be said that the length of the period during which the PTO device 23 is on in the situation where the vehicle 20 is stopped is the execution time of the specific process.

[0016] The sensor system 26 includes a plurality of sensors 27 that output detection signals to the vehicle control device 30. The plurality of sensors 27 include a crank angle sensor, a wheel speed sensor, an acceleration sensor, a yaw rate sensor, an accelerator sensor, a brake sensor, and a steering angle sensor. The crank angle sensor is a sensor that detects the rotation angle of the crankshaft of the engine 21 and outputs a detection signal corresponding to the engine rotation speed, which is the rotation speed of the crankshaft. The wheel speed sensor outputs a detection signal corresponding to the wheel speed, which is the rotation speed of the drive wheels 22. The acceleration sensor outputs a detection signal corresponding to the longitudinal acceleration of the vehicle 20. The yaw rate sensor outputs a detection signal corresponding to the yaw rate of the vehicle 20. The accelerator sensor outputs a detection signal corresponding to the accelerator operation amount, which is the amount of operation of the accelerator pedal of the vehicle 20. The brake sensor outputs a detection signal corresponding to the brake operation amount, which is the amount of operation of the brake pedal of the vehicle 20. The steering angle sensor outputs a detection signal corresponding to the steering angle of the steering wheel of the vehicle 20.

[0017] The vehicle control device 30 includes a communication device 31 and a processing circuit 33. The communication device 31 transmits the information output by the processing circuit 33 to the computer 13 or server 50 of the waste disposal plant 100 via the communication network 200. The communication device 31 also receives the information transmitted by the server 50 via the communication network 200. The communication device 31 then outputs the received information to the processing circuit 33.

[0018] An example of a processing circuit 33 is an electronic control unit. In this case, the processing circuit 33 has a CPU 34 and a memory 35 that stores a control program executed by the CPU 34. The CPU 34 executes the control program in the memory 35, and the processing circuit 33 performs various processes.

[0019] For example, when the weight of vehicle 20 is measured by the weighing scale 11 at the waste disposal plant 100, the processing circuit 33 instructs the communication device 31 to transmit vehicle identification information of vehicle 20 to the computer 13 at the waste disposal plant 100. As a result, the communication device 31 transmits vehicle identification information of vehicle 20 to the computer 13 via the communication network 200.

[0020] For example, when vehicle 20 travels along collection route RT for garbage collection, the processing circuit 33 of the vehicle control device 30 collects various information obtained from detection signals of multiple sensors 27. The various information collected here includes information necessary to derive the weight of vehicle 20 using well-known equations of motion. This information is referred to as "weight derivation necessary information". The communication device 31 of the vehicle control device 30 transmits the weight derivation necessary information to server 50 via the communication network 200. In this embodiment, vehicle control device 30 transmits the weight derivation necessary information acquired between the start and end of garbage collection by vehicle 20 to server 50 after garbage collection is completed. Alternatively, for example, vehicle control device 30 may transmit the weight derivation necessary information to server 50 at predetermined communication cycles when vehicle 20 is traveling along collection route RT.

[0021] <server> The server 50 includes a communication device 51, a processing circuit 53, and a storage device 57. The communication device 51 transmits the information output by the processing circuit 53 to the computer 13 or vehicle 20 of the waste disposal plant 100 via the communication network 200. The communication device 51 also receives information transmitted by the computer 13 or vehicle 20 of the waste disposal plant 100 via the communication network 200. For example, the communication device 51 receives the vehicle weight information and vehicle identification information transmitted by the computer 13. Also, for example, the communication device 51 receives the weight derivation necessary information transmitted by the vehicle 20. The communication device 51 outputs the received information to the processing circuit 53.

[0022] An example of a processing circuit 53 is an electronic control unit. In this case, the processing circuit 53 has a CPU 54 and a memory 55 that stores a control program executed by the CPU 54. By having the CPU 54 execute the control program in the memory 55, the processing circuit 53 performs various processes to estimate the weight of the garbage placed at the garbage collection point.

[0023] The storage device 57 is configured to store various types of information using the processing circuit 53, and to allow the processing circuit 53 to read out various types of information. In this embodiment, the storage device 57 stores various types of information obtained from the computer 13 and vehicles 20 of the waste treatment plant 100. For example, the storage device 57 stores information about multiple vehicles 20, associated with each vehicle 20. When estimating the weight of the waste placed at the waste collection point, the processing circuit 53 reads out the various types of information stored in the storage device 57. Then, the processing circuit 53 uses the various types of information read out from the storage device 57 to estimate the weight of the waste placed at the waste collection point.

[0024] <Collection Route> Referring to Figure 2, the collection route RT on which vehicle 20 travels to collect garbage will be explained.

[0025] The collection route RT is the route taken by vehicle 20, with waste treatment plant 100 as its starting and ending point. In other words, weighing scales 11 are installed at the starting and ending points of collection route RT. Multiple waste collection points 110 are set along collection route RT. Vehicle 20 proceeds sequentially to the multiple waste collection points 110 along collection route RT. Of the multiple waste collection points 110, the first waste collection point 110 that vehicle 20 arrives at after departing waste treatment plant 100 is designated as "first waste collection point 110A". Of the multiple waste collection points 110, the last waste collection point 110 that vehicle 20 arrives at while traveling along collection route RT is designated as "last waste collection point 110B".

[0026] Within the collection route RT, the section between two adjacent garbage collection points 110 is designated as "Driving Section DSM". Within the collection route RT, the section from the starting point, waste treatment plant 100, to the first garbage collection point 110A is designated as "Pre-Collection Driving Section DSS". Within the collection route RT, the section from the last garbage collection point 110B to waste treatment plant 100 is designated as "Final Driving Section DSF". Hereafter, when multiple driving sections constituting the collection route RT are not distinguished as Driving Section DSM, Pre-Collection Driving Section DSS, and Final Driving Section DSF, they will be referred to as "Driving Section DS".

[0027] Figure 2 shows a collection route RT with four garbage collection points 110 set as the collection route, but the number of garbage collection points 110 set as the collection route may be two or more, other than four.

[0028] <Waste Collection Volume Monitoring System> The waste collection volume tracking system 300 will be explained with reference to Figures 3 to 7. In this embodiment, the processing circuit 53 of the server 50 functions as a "garbage collection volume tracking system 300". The garbage collection volume tracking system 300 is used in a garbage collection service in which a vehicle 20 collects garbage placed at multiple garbage collection points 110 set on the collection route RT. By executing the control program of the memory 55 on the CPU 54, the processing circuit 53 functions as multiple functional units that constitute the garbage collection volume tracking system 300. These multiple functional units include a vehicle information acquisition unit 310, a determination unit 320, an information sorting unit 330, a vehicle weight estimation unit 340, and a garbage weight derivation unit 350.

[0029] <Vehicle Information Acquisition Unit> The vehicle information acquisition unit 310 acquires the weight derivation information IWD transmitted by the vehicle 20 to the server 50. For example, the vehicle information acquisition unit 310 reads the weight derivation information IWD transmitted by the vehicle 20 to be used for weight estimation, and the vehicle weight information IVW of the vehicle 20 to be used for weight estimation, from the storage device 57.

[0030] The information required for weight derivation, IWD, includes, for example, the following: • Time-series data of the driving force of vehicle 20. • Time-series data of longitudinal acceleration of vehicle 20.

[0031] • Time-series data of vehicle speed. • Time-series data of engine rotational speed. • Time-series data of the yaw rate of vehicle 20.

[0032] • Time-series data of driver inputs, namely, accelerator input, brake input, and steering angle. The vehicle weight information IVW includes the initial vehicle weight WCMs and the final vehicle weight WCMf. The initial vehicle weight WCMs is the measured vehicle weight WCM before departing from waste disposal plant 100. The final vehicle weight WCMf is the measured vehicle weight WCM when returning to waste disposal plant 100.

[0033] <Judgment part> The determination unit 320 determines whether the work device 24 of the vehicle 20 has performed a garbage compression process while the vehicle 20 is stopped. Since the garbage compression process performed by the work device 24 corresponds to a specific process, the determination unit 320 functions as a "specific process execution determination unit". If the determination unit 320 determines that the garbage compression process performed by the work device 24 of the vehicle 20 has been performed while the vehicle 20 is stopped, it determines that the vehicle 20 has collected garbage at the garbage collection point 110. Specifically, the determination unit 320 identifies the time when the garbage compression process performed by the work device 24 was performed and determines that the vehicle 20 collected garbage at the garbage collection point 110 at that time.

[0034] When the work device 24 is activated, the PTO device 23 of the vehicle 20 is turned on. The engine 21 is then operated to increase the power transmitted from the engine 21 to the work device 24. At this time, the engine speed increases.

[0035] Therefore, the determination unit 320 can identify the time when the work device 24 performed the garbage compression process based on the change in engine speed when the vehicle 20 is stopped. For example, the determination unit 320 searches for the stopping period, which is the period when the vehicle 20 is stopped, by analyzing the time-series data of vehicle speed. Then, the determination unit 320 analyzes the change in engine speed during the stopping period. If the engine speed exceeds a predetermined threshold during the stopping period, the determination unit 320 determines that the work device 24 performed the garbage compression process during the stopping period. More specifically, if the duration of the state in which the engine speed exceeds the predetermined threshold is equal to or greater than the determination time, the determination unit 320 determines that the work device 24 performed the garbage compression process during the stopping period. This allows the determination unit 320 to identify the time when the work device 24 performed the garbage compression process. This time corresponds to the garbage collection time TM by the vehicle 20.

[0036] On the other hand, if the engine speed does not exceed a predetermined threshold during the stopping period, the determination unit 320 determines that the work device 24 did not perform the garbage compression process, i.e., the specific processing, during the stopping period.

[0037] <Information Selection Department> The information selection unit 330 selects information from the weight derivation necessary information IWD acquired by the vehicle information acquisition unit 310 by removing information that is unnecessary for estimating the vehicle weight.

[0038] For example, the information sorting unit 330 removes information about the time period in which the determination unit 320 determined that the vehicle 20 collected garbage at the garbage collection point 110. In this case, the information sorting unit 330 may also remove information about the period during which the work device 24 performed the garbage compression process.

[0039] <Vehicle weight estimation unit> The vehicle weight estimation unit 340 estimates the weight of the vehicle 20 when the vehicle 20 travels along the collection route RT. The vehicle weight estimation unit 340 estimates the weight of the vehicle 20 using the equation of motion. For example, the vehicle weight estimation unit 340 can derive an estimated value of the weight of the vehicle 20 by dividing the driving force of the vehicle 20 by the longitudinal acceleration. An example of such vehicle weight estimation processing is disclosed in "Japanese Patent Application Publication No. 2014-119039".

[0040] The vehicle weight estimation unit 340 derives an estimated weight of the vehicle 20 for each driving section DSM of the collection route RT. At this time, the vehicle weight estimation unit 340 derives an estimated weight of the vehicle 20 when traveling in a certain driving section DSM1, based on the longitudinal acceleration and driving force of the vehicle 20 in that driving section DSM1 among the multiple driving section DSMs. Hereafter, the estimated weight of the vehicle 20 when traveling in a driving section DSM will be referred to as the "vehicle weight WCE in the driving section DSM".

[0041] The vehicle weight estimation unit 340 also derives an estimated value of the vehicle 20's weight when it is traveling in the pre-garbage collection travel section DSS, and an estimated value of the vehicle 20's weight when it is traveling in the final travel section DSF. Hereafter, the estimated value of the vehicle 20's weight when it is traveling in the pre-garbage collection travel section DSS will be referred to as "vehicle weight WCE in the pre-garbage collection travel section DSS". The estimated value of the vehicle 20's weight when it is traveling in the final travel section DSF will be referred to as "vehicle weight WCE in the final travel section DSF".

[0042] For example, the vehicle weight estimation unit 340 derives the vehicle weight WCE in the pre-garbage collection travel section DSS based on the longitudinal acceleration and driving force of the vehicle 20 in the pre-garbage collection travel section DSS. The vehicle weight estimation unit 340 derives the vehicle weight WCE in the final travel section DSF based on the longitudinal acceleration and driving force of the vehicle 20 in the final travel section DSF.

[0043] This section details an example of the process for estimating vehicle weight (WCE). The vehicle weight estimation unit 340 derives the vehicle weight WCE in the driving section DS based on the longitudinal acceleration and driving force of the vehicle 20 when the vehicle 20 is traveling in the driving section DS and predetermined estimation permission conditions are met. The vehicle weight estimation unit 340 can determine that the estimation permission conditions are met if any of the following conditions (A1) to (A3) are met.

[0044] (A1) No braking force is applied to vehicle 20. (A2) Vehicle 20 is not turning. (A3) Vehicle 20 is not traveling on an uphill slope.

[0045] The vehicle weight estimation unit 340 can determine, for example, whether braking force is being applied to the vehicle 20 based on whether the brake pedal is being operated. The vehicle weight estimation unit 340 can determine, for example, whether the vehicle 20 is turning based on the change in at least one of the steering angle and the yaw rate. The vehicle weight estimation unit 340 can determine, for example, whether the vehicle 20 is traveling on an incline based on the difference between the derivative of the vehicle speed and the longitudinal acceleration.

[0046] Figure 4 shows the change in vehicle weight WCE as vehicle 20 travels along collection route RT. In the graph shown in Figure 4, the vehicle weight WCE derived as described above is indicated by a black circle. In this graph, the initial vehicle weight WCMs, which is the vehicle weight measurement WCM before departing from waste treatment plant 100, is indicated by a large white circle. The final vehicle weight WCMf, which is the vehicle weight measurement WCM when returning to waste treatment plant 100, is indicated by a large black circle.

[0047] <Waste Weight Discharge Section> The waste weight calculation unit 350 calculates the waste weight WGE, which is the weight of the waste placed at the waste collection point 110. Specifically, the waste weight calculation unit 350 obtains the difference between the vehicle weight WCE in the first travel section and the vehicle weight WCE in the second travel section, which is the next travel section after the first travel section, among a plurality of travel sections DS. Then, based on the obtained difference, the waste weight calculation unit 350 calculates the waste weight WGE of the waste collection point 110, which is set between the first travel section and the second travel section. At this time, the waste weight calculation unit 350 calculates the waste weight WGE such that the larger the difference, the larger the value.

[0048] This section provides a detailed explanation of an example of the process for deriving waste weight (WGE). The waste weight calculation unit 350 generates a guideline line GL as shown in Figure 4, based on the initial vehicle weight WCMs and the final vehicle weight WCMf. The guideline line GL is a line that predicts the change in vehicle weight when the vehicle 20 travels along the collection route RT. The waste weight calculation unit 350 generates the guideline line GL such that the initial vehicle weight WCMs is the starting point and the final vehicle weight WCMf is the ending point. In this embodiment, the straight line connecting the initial vehicle weight WCMs and the final vehicle weight WCMf in the graph shown in Figure 4 is the guideline line GL.

[0049] The waste weight derivation unit 350 eliminates outliers among the multiple vehicle weights WCE derived by the vehicle weight estimation unit 340 that deviate significantly from the guideline GL. For example, as shown by the dashed line in Figure 4, the waste weight derivation unit 350 generates a first boundary line LB1 and a second boundary line LB2 based on the guideline GL. The first boundary line LB1 is a line offset from the guideline GL toward the side that increases the vehicle weight. The second boundary line LB2 is a line offset from the guideline GL toward the side that decreases the vehicle weight. The waste weight derivation unit 350 sets the area enclosed by the first boundary line LB1 and the second boundary line LB2 as the allowable area. The waste weight derivation unit 350 considers vehicle weights WCE that are not included in the allowable area among the multiple vehicle weights WCE as outliers. The waste weight derivation unit 350 then eliminates the vehicle weights WCE that are considered outliers.

[0050] The waste weight calculation unit 350 derives a representative value WCES of the vehicle weight WCE in multiple travel sections DS. As shown in Figure 5, the waste weight calculation unit 350 divides the graph showing the change in vehicle weight WCE at the time when the vehicle 20 arrives at the waste collection station 110, i.e., the waste collection time TM(n). "n" is the order in which the vehicle 20, which departed from the waste treatment plant 100, arrived at the waste collection station 110. Therefore, a positive number of 1 or more is substituted for "n".

[0051] The waste weight calculation unit 350 derives a representative value WCES for a single travel section DS based on multiple vehicle weights WCE in that travel section DS. For example, the waste weight calculation unit 350 derives the average value of multiple vehicle weights WCE in a single travel section DS as the representative value WCES for that travel section DS. In this case, the waste weight calculation unit 350 may derive the median value of multiple vehicle weights WCE in a single travel section DS as the representative value WCES, or it may derive the mode value of multiple vehicle weights WCE in a single travel section DS as the representative value WCES.

[0052] The waste weight extraction unit 350 removes representative values ​​from among multiple representative values ​​WCES that deviate from the overall trend. The weight of the vehicle 20 traveling along the collection route RT should increase each time it passes a waste collection station 110. In other words, the vehicle weight WCE after passing a waste collection station 110 should not be smaller than the vehicle weight WCE before passing the waste collection station 110. Therefore, the waste weight extraction unit 350 removes representative values ​​WCES from among multiple representative values ​​WCES that are smaller than the representative value WCES of the previous travel section.

[0053] The waste weight calculation unit 350 derives a calculation error ΔWC, which is the difference between the initial vehicle weight WCMs and the vehicle weight WCE in the pre-waste collection driving section DSS. For example, the waste weight calculation unit 350 can derive the calculation error ΔWC by subtracting the initial vehicle weight WCMs from the vehicle weight WCE in the pre-waste collection driving section DSS.

[0054] As shown in Figure 6, the waste weight calculation unit 350 corrects multiple representative values ​​WCES based on the calculation error ΔWC. For example, the waste weight calculation unit 350 derives the corrected representative value WCESA by subtracting the calculation error ΔWC from the original representative value WCES. In this case, if the calculation error ΔWC is a positive value, the corrected representative value WCESA will be smaller than the original representative value WCES. On the other hand, if the calculation error ΔWC is a negative value, the corrected representative value WCESA will be larger than the original representative value WCES.

[0055] Then, as shown in Figure 7, the waste weight calculation unit 350 calculates the waste weight WGE of the waste collection station 110 based on the corrected representative value WCESA. Specifically, the waste weight calculation unit 350 calculates the difference between the representative value WCESA of the first travel section and the representative value WCESA of the second travel section, which is the next travel section after the first travel section, as the waste weight WGE of the waste collection station 110 set between the first and second travel sections.

[0056] <Waste Collection Volume Assessment Process> Referring to Figure 8, the waste collection volume determination process, which is a process for estimating the weight of waste collected at multiple waste collection points 110, will be explained. For example, in the waste collection volume determination system 300, the waste collection volume determination process is executed after the vehicle 20 that traveled along the collection route RT arrives at the waste treatment plant 100.

[0057] In step S11, the processing circuit 53 of the server 50 functions as a vehicle weight estimation unit 340 to derive multiple vehicle weights WCE. At this time, the processing circuit 53 derives multiple vehicle weights WCE based on the longitudinal acceleration and driving force of the vehicle 20 included in the weight derivation necessary information IWD collected when the vehicle 20 to be subject to vehicle weight estimation travels along the collection route RT. More specifically, the processing circuit 53 derives the vehicle weight WCE based on the longitudinal acceleration and driving force of the vehicle 20 when predetermined estimation permission conditions are met under the conditions in which the vehicle 20 is traveling.

[0058] In the subsequent step S13, the processing circuit 53 functions as a waste weight extraction unit 350 to obtain the initial vehicle weight WCMs and the final vehicle weight WCMf. In the next step S15, the processing circuit 53 acquires the garbage collection times TM(n) of the vehicle 20 at multiple garbage collection points 110. For example, by functioning as a determination unit 320, the processing circuit 53 acquires the time at which it can determine that the vehicle 20 has collected garbage at the garbage collection point 110 as the garbage collection time TM(n).

[0059] In the following step S17, the processing circuit 53 functions as a waste weight derivation unit 350 to generate a guideline GL as shown by the dashed line in Figure 4. At this time, the processing circuit 53 generates the guideline GL based on the initial vehicle weight WCMs and the final vehicle weight WCMf obtained in step S13. Then, in step S19, the processing circuit 53 functions as a waste weight derivation unit 350 to eliminate outliers among the multiple vehicle weights WCE derived in step S11 that deviate significantly from the guideline GL.

[0060] In the next step S21, the processing circuit 53 functions as a waste weight extraction unit 350 to derive a representative value WCES of the vehicle weight in multiple travel sections DS. In the following step S23, the processing circuit 53, functioning as a waste weight extraction unit 350, removes representative values ​​from the multiple representative values ​​WCES derived in step S21 that deviate from the overall trend.

[0061] In the next step S25, the processing circuit 53 corrects the representative value WCES by functioning as a waste weight deriving unit 350. Specifically, the processing circuit 53 derives a calculation error ΔWC, which is the difference between the initial vehicle weight WCMs and the vehicle weight WCE in the pre-waste collection driving section DSS. Then, the processing circuit 53 derives the corrected representative value WCESA by correcting the representative value WCES with the calculation error ΔWC.

[0062] In the subsequent step S27, the processing circuit 53 functions as a waste weight derivation unit 350 and derives the waste weight WGE of multiple waste collection points 110 based on multiple corrected representative values ​​WCESA. After that, the processing circuit 53 completes the waste collection amount determination process.

[0063] <Operation and Effects of This Embodiment> (1-1) The waste collection volume tracking system 300 derives the vehicle weight WCE for multiple travel sections DS that constitute the collection route RT. Based on the difference between the vehicle weight WCE in the first travel section and the vehicle weight WCE in the second travel section, which is the next travel section after the first travel section, the waste weight WGE of the waste collection station 110 set up between the first and second travel sections is derived. Therefore, the waste collection volume tracking system 300 can estimate the weight of the waste placed at the waste collection station 110.

[0064] (1-2) In the waste collection volume assessment system 300, the vehicle weight WCE is derived using the equation of motion. Specifically, the vehicle weight WCE in a travel section DS is derived based on the longitudinal acceleration and driving force of the vehicle 20 in that travel section. The longitudinal acceleration and driving force of the vehicle 20 are information that can be obtained while the vehicle 20 is traveling. In other words, the waste collection volume assessment system 300 can estimate the weight of the vehicle 20 using the information obtained while the vehicle 20 is traveling, and by extension, the weight of the waste placed at the waste collection point 110 can be estimated.

[0065] (1-3) The accuracy of the derivation is low even if the vehicle weight WCE is derived based on the longitudinal acceleration and driving force of the vehicle 20 when braking force is applied to the vehicle 20. The accuracy of the derivation is low even if the vehicle weight WCE is derived based on the longitudinal acceleration and driving force when the vehicle 20 is turning. The accuracy of the derivation is low even if the vehicle weight WCE is derived based on the longitudinal acceleration and driving force when the vehicle 20 is traveling on an incline.

[0066] In this regard, the waste collection volume assessment system 300 derives the vehicle weight WCE in a given travel section DS based on the longitudinal acceleration and driving force of the vehicle 20 when the vehicle 20 is traveling in that travel section DS and the predetermined estimated permit conditions are met. The waste collection volume assessment system 300 determines that the estimated permit conditions are met when all of the above conditions (A1) to (A3) are met. This suppresses a decrease in the accuracy of deriving the vehicle weight WCE, and therefore suppresses a decrease in the accuracy of deriving the waste weight WGE using the vehicle weight WCE.

[0067] (1-4) The weight of vehicle 20 when it is heading from waste treatment plant 100 to the first garbage collection point 110A is approximately equal to the weight of vehicle 20 when it departed from waste treatment plant 100. In other words, the difference between the initial vehicle weight WCMs, which is the weight of vehicle 20 when it departed from waste treatment plant 100, and the vehicle weight WCE in the pre-garbage collection section DSS corresponds to the estimation error of the weight of vehicle 20 using the equation of motion.

[0068] Therefore, in the waste collection volume tracking system 300, the waste weight WGE at the waste collection point 110 is derived based on the calculation error ΔWC, which is the difference between the initial vehicle weight WCMs and the vehicle weight WCE in the pre-waste collection driving section DSS. This allows the estimation error of the vehicle weight 20 using the equation of motion to be taken into account when deriving the waste weight WGE at the waste collection point 110. As a result, the estimation accuracy of the weight of the waste placed at the waste collection point 110 can be improved.

[0069] (1-5) In the waste collection volume tracking system 300, the weight of the vehicle 20 measured by the weighing scale 11 installed at the waste treatment plant 100 is acquired as the initial vehicle weight WCMs. In other words, the initial vehicle weight WCMs is the measured weight of the vehicle 20 before it leaves the waste treatment plant 100. The waste collection volume tracking system 300 uses these initial vehicle weight WCMs to derive the calculation error ΔWC. Then, based on this calculation error ΔWC, the waste weight WGE at the waste collection point 110 is derived. Therefore, the estimation accuracy of the weight of the waste placed at the waste collection point 110 can be increased.

[0070] (1-6) If the work device 24 of vehicle 20 does not operate even during the vehicle 20's stopped period, it can be inferred that no garbage collection took place during that stopped period. On the other hand, if the work device 24 of vehicle 20 operates during the vehicle 20's stopped period, it can be inferred that garbage collection took place during that stopped period.

[0071] Therefore, the waste collection volume tracking system 300 can determine that the vehicle 20 has collected waste at the waste collection point 110 if the vehicle 20 is stopped and the vehicle 20's work device 24 compresses the waste. Then, based on the difference between the vehicle weight WCE in the first travel section and the vehicle weight WCE in the second travel section, which are two travel sections that straddle the point where it was determined that the vehicle 20 collected waste, the waste weight WGE at the waste collection point 110 set at that location is derived. This allows the weight of the waste placed at the waste collection point 110 to be estimated.

[0072] (1-7) In the waste collection volume tracking system 300, a guideline GL is generated such that the initial vehicle weight WCMs is the starting point and the final vehicle weight WCMf is the ending point. Then, among the multiple vehicle weights WCE, vehicle weights WCE that deviate significantly from the guideline GL are excluded as outliers. Then, using the multiple vehicle weights WCE from which the outliers have been excluded, the waste weight WGE of the waste collection station 110 is derived. This suppresses a decrease in the accuracy of deriving the waste weight WGE.

[0073] (1-8) Multiple vehicle weights WCE can be derived for a single travel section DS. In this case, a representative value WCES for the vehicle weight in that travel section DS is derived based on these multiple vehicle weights WCE. The representative value WCES for the travel section DS should increase each time vehicle 20 collects garbage at garbage collection point 110. However, among the representative values ​​WCES for multiple travel sections DS, there may be a representative value that deviates from this overall trend due to the accuracy of the calculation of vehicle weight using the equation of motion.

[0074] Therefore, in the waste collection volume tracking system 300, representative values ​​that deviate from the overall trend are removed from the representative values ​​WCES of multiple travel sections DS. Then, the waste weight WGE of the waste collection station 110 is derived using the remaining representative values ​​WCES. This helps to suppress a decrease in the accuracy of deriving the waste weight WGE.

[0075] (Second Embodiment) The second embodiment will be described with reference to Figures 9 to 14. Note that the second embodiment differs from the first embodiment in the method for creating guide lines and the method for estimating the weight of waste at multiple waste collection points. In the following description, the differences from the first embodiment will be mainly explained, and the same reference numerals will be used for components identical to those in the first embodiment to avoid redundant explanations.

[0076] In this embodiment, the processing circuit 53 of the server 50 functions as the waste collection volume tracking system 300. <Generating guideline lines> Referring to Figure 9, the process for generating the guideline GL1 will be explained. The processing circuit 53 functions as a waste weight extraction unit 350 and executes the processes S51 to S59 that constitute the generation process.

[0077] In step S51, the processing circuit 53 derives the change in vehicle weight ΔWM. The change in ΔWM is the increase in the weight of the vehicle 20 from the time the vehicle 20 leaves the waste disposal plant 100 until the time the vehicle 20 returns to the waste disposal plant 100. For example, the processing circuit 53 can derive the change in ΔWM by subtracting the initial vehicle weight WCMs from the final vehicle weight WCMf.

[0078] In the subsequent step S53, the processing circuit 53 acquires the garbage collection time TMA at multiple garbage collection points 110. The garbage collection time TMA is the time required to collect garbage at the garbage collection points 110. For example, the processing circuit 53 can acquire the operating time of the work device 24 for compressing garbage during the vehicle 20's stop period as the garbage collection time TMA. Alternatively, the processing circuit 53 may acquire a time corresponding to the operating time as the garbage collection time TMA. In this respect, the processing circuit 53 can be said to function as an "execution time measurement unit" that measures the execution time of specific processes performed when the vehicle 20 collects garbage placed at the garbage collection points 110.

[0079] In the next step S55, the processing circuit 53 derives the waste collection weight DWM per unit time. For example, the processing circuit 53 derives the total time TMA as the sum of the waste collection times TMA at multiple waste collection points 110. The processing circuit 53 derives the waste collection weight DWM per unit time by dividing the change amount ΔWM by the total time TMAtl.

[0080] In the following step S57, the processing circuit 53 derives a guideline value WGS for the collected weight of waste at the multiple waste collection points 110 based on the collected weight DWM and the waste collection time TMA at the multiple waste collection points 110. For example, the processing circuit 53 can derive the guideline value WGS as the product of the waste collection time TMA at the waste collection point 110 and the collected weight DWM. Once the processing circuit 53 has derived the guideline value WGS for the multiple waste collection points 110, it proceeds to step S59.

[0081] In step S59, the processing circuit 53 generates a guideline GL1 based on the guideline values ​​WGS at multiple waste collection points 110. Figure 10 shows the guideline GL1 generated by the processing circuit 53 as a dashed line. The processing circuit 53 generates the guideline GL1 such that the initial vehicle weight WCMs is the starting point and the final vehicle weight WCMf is the ending point. The vehicle weight indicated by the guideline GL1 increases in a stepwise manner each time the vehicle passes through the garbage collection point 110. The amount of increase in vehicle weight indicated by the guideline GL1 at the garbage collection point 110 is equal to the guideline value WGS at that garbage collection point 110.

[0082] When the processing circuit 53 generates the guideline GL1 as shown in Figure 10, the processing circuit 53 terminates the generation process shown in Figure 9. <Deriving a representative list of multiple vehicle weights> Referring to Figures 10 to 13, we will explain the several processes involved in deriving the representative value WCES of the vehicle weight in multiple driving sections DS, after the generation of the guideline line GL1.

[0083] As shown in Figure 10, similar to the first embodiment, the processing circuit 53 functions as a waste weight extraction unit 350 to eliminate outliers among multiple vehicle weights WCE that deviate significantly from the guideline GL1.

[0084] As shown in Figure 11, the processing circuit 53 functions as a waste weight deriving unit 350 to correct multiple vehicle weights WCE based on the calculation error ΔWC. For example, the processing circuit 53 derives the calculation error ΔWC by subtracting the initial vehicle weight values ​​WCMs from the vehicle weight WCE in the pre-waste collection driving section DSS. The processing circuit 53 derives the vehicle weight correction value WCEA by subtracting the calculation error ΔWC from the vehicle weight WCE before correction. In this case, if the calculation error ΔWC is a positive value, the vehicle weight correction value WCEA will be smaller than the vehicle weight WCE before correction. On the other hand, if the calculation error ΔWC is a negative value, the vehicle weight correction value WCEA will be larger than the vehicle weight WCE before correction.

[0085] As shown in Figure 12, the processing circuit 53 functions as a waste weight extraction unit 350 to derive a representative value WCES for multiple travel sections DS. For example, the processing circuit 53 derives the average value of multiple vehicle weight correction values ​​WCEA in one travel section DS as the representative value WCES for that travel section DS. In this case, the waste weight extraction unit 350 may derive the median value of multiple vehicle weight correction values ​​WCEA in one travel section DS as the representative value WCES, or it may derive the mode value of multiple vehicle weight correction values ​​WCEA in one travel section DS as the representative value WCES.

[0086] The processing circuit 53 functions as a waste weight extraction unit 350, and, similar to the first embodiment described above, removes representative values ​​from among multiple representative values ​​WCES that deviate from the overall trend. In the examples shown in Figures 12 and 13, the representative value WCES could not be derived in the travel section DS between the second and third garbage collection station 110, and in the travel section DS between the third and fourth garbage collection station 110. This is because the vehicle weight WCE could not be derived in at least one of the two travel sections DS that enclose the third garbage collection station 110, and the vehicle weight WCE could not be derived in at least one of the two travel sections DS that enclose the fourth garbage collection station 110.

[0087] In this embodiment, the processing circuit 53 functions as a waste weight derivation unit 350 and uses the guideline GL1 to derive a representative value WCES of the vehicle weight in the travel section DS between the second waste collection point 110 and the third waste collection point 110. Similarly, the processing circuit 53 uses the guideline GL1 to derive a representative value WCES of the vehicle weight in the travel section DS between the third waste collection point 110 and the fourth waste collection point 110.

[0088] For example, the processing circuit 53 obtains a reference value WGS for the weight of garbage at the second garbage collection point 110 based on the reference line GL1. Then, the processing circuit 53 derives the sum of the representative value WCES for the vehicle weight in the travel section DS between the first garbage collection point 110 and the second garbage collection point 110 and the reference value WGS at the second garbage collection point 110 as the representative value WCES for the vehicle weight in the travel section DS between the second garbage collection point 110 and the third garbage collection point 110.

[0089] Similarly, the processing circuit 53 obtains a reference value WGS for the weight of garbage at the third garbage collection point 110 based on the reference line GL1. Then, the processing circuit 53 derives the sum of the representative value WCES for the vehicle weight in the travel section DS between the second and third garbage collection points 110 and the reference value WGS at the third garbage collection point 110 as the representative value WCES for the vehicle weight in the travel section DS between the third and fourth garbage collection points 110.

[0090] <Derivation of waste weight> As shown in Figure 14, the processing circuit 53 functions as a waste weight deriving unit 350 to derive the waste weight WGE at the waste collection station 110 based on the representative value WCES of a plurality of travel sections DS. Specifically, the waste weight deriving unit 350 derives the difference between the representative value WCES of the first travel section and the representative value WCES of the second travel section, which is the travel section following the first travel section, as the waste weight WGE at the waste collection station 110 set between the first and second travel sections. In other words, in this embodiment, if the processing circuit 53 cannot derive the vehicle weight WCE for at least one of the travel sections between the first and second travel sections, it derives the waste weight WGE at the waste collection station 110 located at a point between the first and second travel sections based on the length of the operating time of the vehicle 20's work device 24 at that point.

[0091] <Operation and Effects of This Embodiment> In this embodiment, in addition to the effects (1-1) to (1-8) of the first embodiment described above, the following further effects can be obtained.

[0092] (2-1) In the waste collection volume determination system 300, if the vehicle weight WCE in at least one of the two travel sections DS that enclose the waste collection station 110 is not determined, the waste weight WGE at the waste collection station 110 is determined based on the length of time required for the waste to be compressed by the work device 24 at the waste collection station 110.

[0093] In other words, the waste weight deriving unit 350 can derive the waste weight WGE (Weight Gauge) placed at the waste collection station 110 that was the subject of the waste collection time TMA (Time Management Age) measurement, based on the waste collection time TMA measured by the execution time measurement unit. Therefore, the estimation accuracy of waste weight WGE at multiple waste collection stations 110 can be increased.

[0094] (Third embodiment) The third embodiment will be described with reference to Figures 15 to 18. Note that the third embodiment differs from the above embodiments in its method for estimating the weight of waste at multiple waste collection points. In the following description, the differences from the above embodiments will be primarily explained, and identical component components will be denoted by the same reference numerals to avoid redundant explanations.

[0095] Refer to Figure 15 to explain the waste collection volume monitoring system 300A. The processing circuit 53 of the server 50 functions as a waste collection volume tracking system 300A. The waste collection volume tracking system 300A is used in a waste collection service in which a vehicle 20 traveling along a collection route RT starting and ending at a waste treatment plant 100 collects waste from multiple waste collection points 110. The CPU 54 executes a control program in the memory 55, causing the processing circuit 53 to function as multiple functional units that constitute the waste collection volume tracking system 300A. These multiple functional units include a weight difference acquisition unit 310A, a collection time acquisition unit 320A, and a waste weight derivation unit 330A.

[0096] <Weight difference acquisition section> The weight difference acquisition unit 310A acquires the weight difference ΔWM1, which is the difference between the weight of vehicle 20 when it departs from the waste disposal plant 100 and the weight of vehicle 20 when it returns to the waste disposal plant 100. The weight of vehicle 20 when it departs from the waste disposal plant 100 is the initial vehicle weight WCMs. The weight of vehicle 20 when it returns to the waste disposal plant 100 is the final vehicle weight WCMf. In other words, the weight difference acquisition unit 310A acquires the total weight of the waste collected by vehicle 20 throughout its journey along the collection route RT as the weight difference ΔWM1.

[0097] <Collection Time Acquisition Unit> The collection time acquisition unit 320A acquires the garbage collection time TMA for each garbage collection point 110, which is the time required to collect garbage at the garbage collection point 110 when the vehicle 20 arrives at the garbage collection point 110. The collection time acquisition unit 320A can also acquire the operating time of the work device 24 for compressing garbage during the vehicle 20's stop period as the garbage collection time TMA. Alternatively, the collection time acquisition unit 320A may acquire a time corresponding to the operating time as the garbage collection time TMA.

[0098] <Waste Weight Discharge Section> The waste weight calculation unit 330A calculates the waste weight WGE for each waste collection station 110 based on the weight difference ΔWM1 and the waste collection time TMA at each of the multiple waste collection stations 110.

[0099] Specifically, the waste weight calculation unit 330A calculates the waste collection weight DWM per unit time. For example, the waste weight calculation unit 330A calculates the total waste collection time TMA at multiple waste collection points 110 as the total time TMAtl. The waste weight calculation unit 330A calculates the waste collection weight DWM per unit time by dividing the weight difference ΔWM1 by the total time TMAtl.

[0100] The waste weight calculation unit 330A calculates the waste weight WGE at multiple waste collection points 110 based on the collected weight DWM and the waste collection time TMA at each of the multiple waste collection points 110. For example, the waste weight calculation unit 330A can calculate the waste weight WGE at a waste collection point 110 by multiplying the waste collection time TMA at that point by the collected weight DWM.

[0101] Figure 16 shows the weight changes of vehicle 20 as it traveled along collection route RT, indicated by a dashed line. This dashed line is the same as the guideline line GL1 generated in the second embodiment. Figure 17 shows the waste weights WGE of multiple waste collection points 110, which are derived by the waste weight extraction unit 330A.

[0102] <Waste Collection Volume Assessment Process> Referring to Figure 18, the waste collection volume determination process performed in this embodiment will be described. In step S111, the processing circuit 53 obtains the initial vehicle weight WCMs and the final vehicle weight WCMf.

[0103] In the subsequent step S113, the processing circuit 53 functions as a weight difference acquisition unit 310A to acquire the weight difference ΔWM1. For example, the processing circuit 53 acquires the magnitude of the difference between the initial vehicle weight WCMs and the final vehicle weight WCMf as the weight difference ΔWM1.

[0104] In the next step S115, the processing circuit 53 functions as a collection time acquisition unit 320A to acquire the garbage collection time TM(n) of the vehicle 20 at multiple garbage collection points 110. For example, the processing circuit 53 can acquire the time when the vehicle 20's work device 24 starts operating while the vehicle 20 is stopped as the garbage collection time TM(n).

[0105] In the subsequent step S117, the processing circuit 53 functions as a collection time acquisition unit 320A to acquire the total waste collection time (TMA) at multiple waste collection points 110. For example, the processing circuit 53 can acquire the operating time of the work device 24 for compressing waste during the vehicle 20's stop period as the total waste collection time (TMA).

[0106] In the next step S119, the processing circuit 53 functions as a waste weight deriving unit 330A to derive the waste collection weight DWM per unit time. For example, the processing circuit 53 can derive the collection weight DWM by the same process as in step S55 of Figure 9.

[0107] In the subsequent step S121, the processing circuit 53 functions as a waste weight deriving unit 330A to derive the waste weight WGE of multiple waste collection points 110. For example, the processing circuit 53 can derive the product of the waste collection time TMA and the collected weight DWM at a waste collection point 110 as the waste weight WGE of that waste collection point 110. Once the processing circuit 53 has derived the waste weight WGE of multiple waste collection points 110, it terminates the waste collection amount determination process.

[0108] <Operation and Effects of This Embodiment> (3-1) The waste collection volume tracking system 300A derives a weight difference ΔWM1, which is the difference between the weight of vehicle 20 when it departs from waste treatment plant 100 and the weight of vehicle 20 when it returns to waste treatment plant 100. In addition, the waste collection time TMA, which is the time required to collect waste at each waste collection point 110, is derived for each waste collection point 110. Based on the waste collection time TMA and weight difference ΔWM1 for multiple waste collection points 110, the waste weight WGE for multiple waste collection points 110 is derived. Therefore, the waste collection volume tracking system 300A can estimate the weight of waste placed at multiple waste collection points 110.

[0109] (3-2) The waste collection volume estimation system 300A can estimate the weight of waste placed at multiple waste collection points 110 without using the vehicle weight WCE in multiple travel sections DS. Therefore, the computational load of the processing circuit 53 that performs the waste collection volume estimation process shown in Figure 18 can be reduced.

[0110] (Example of change) The above embodiments can be implemented with the following modifications. The above embodiments and the following modifications can be combined with each other to the extent that they do not contradict each other technically.

[0111] In the third embodiment, the weight difference acquisition unit 310A may acquire the vehicle weight WCE in the pre-garbage collection travel section DSS as the weight of the vehicle 20 when the vehicle 20 departs from the garbage disposal plant 100. Alternatively, the weight difference acquisition unit 310A may acquire the vehicle weight WCE in the final travel section DSF as the weight of the vehicle 20 when the vehicle 20 returns to the garbage disposal plant 100. In this case, the weight difference acquisition unit 310A can acquire the magnitude of the difference between the vehicle weight WCE in the pre-garbage collection travel section DSS and the vehicle weight WCE in the final travel section DSF as the weight difference.

[0112] In the first embodiment, the waste weight deriving unit 350 may correct the representative value WCES for multiple travel sections DS based on the difference between the vehicle weight WCE in the final travel section DSF and the final vehicle weight WCMf. This allows the waste weight deriving unit 350 to derive the waste weight WGE of the waste collection station 110 based on the difference between the vehicle weight WCE in the final travel section DSF and the final vehicle weight WCMf.

[0113] In the second embodiment, the waste weight deriving unit 350 may correct multiple vehicle weights WCE based on the difference between the vehicle weight WCE in the final travel section DSF and the final vehicle weight WCMf. This allows the waste weight deriving unit 350 to derive the waste weight WGE of the waste collection station 110 based on the difference between the vehicle weight WCE in the final travel section DSF and the final vehicle weight WCMf.

[0114] In the first embodiment, the waste weight extraction unit 350 does not need to correct the representative value WCES of multiple travel sections DS based on the initial vehicle weight WCMs or the final vehicle weight WCMf. Similarly, in the second embodiment, the waste weight extraction unit 350 does not need to correct the multiple vehicle weights WCE based on the vehicle weight WCE or the final vehicle weight WCMf in the travel section DSS before waste collection.

[0115] In this case, the vehicle weight estimation unit 340 may derive the initial vehicle weight WCMs as the vehicle weight WCE in the pre-garbage collection travel section DSS. Then, the garbage weight derivation unit 350 can derive the garbage weight WGE that was placed at the first garbage collection station 110A based on the difference between the vehicle weight WCE in the travel section DSM following the pre-garbage collection travel section DSS and the vehicle weight WCE in the pre-garbage collection travel section DSS (i.e., the initial vehicle weight WCMs).

[0116] In the case of such modifications, the vehicle weight estimation unit 340 can start a series of processes to derive the vehicle weight WCE as soon as the vehicle 20 begins moving from the first garbage collection point 110A to the next garbage collection point 110.

[0117] In the waste collection volume tracking systems 300 and 300A, if information can be obtained regarding whether or not the PTO device 23 of the vehicle 20 is turned on, it is possible to determine whether or not the work device 24 is operating based on that information.

[0118] In the above embodiments, the processing circuit 53 of the server 50 functioned as one of several functional units constituting the waste collection volume monitoring systems 300 and 300A, but this is not limited to this. In other words, the processing circuit 33 of the vehicle control device 30 may function as one of several functional units.

[0119] In the above embodiments, one processing circuit 53 functioned as multiple functional units constituting the waste collection volume assessment system 300, 300A, but this is not limited to this. For example, the waste collection volume assessment system 300, 300A may be configured using multiple processing circuits.

[0120] The processing circuit 53 may be configured as a circuit including one or more processors that operate according to a computer program, one or more dedicated hardware circuits such as dedicated hardware that performs at least some of the various processes, or a combination thereof. Examples of dedicated hardware include application-specific integrated circuits (ASICs). The processor includes a CPU and memory such as RAM and ROM, and the memory stores program code or instructions configured to cause the CPU to perform the processes. Memory, i.e., storage media, includes any available media that can be accessed by a general-purpose or dedicated computer.

[0121] (Other technological ideas) This section describes the technical concepts that can be understood from the above-mentioned multiple embodiments and modifications. [Note 1] Preferably, the vehicle weight estimation unit derives the vehicle weight in the travel section based on the acceleration and driving force of the vehicle when the vehicle travels through the travel section.

[0122] [Note 2] The vehicle weight estimation unit preferably derives the vehicle weight in the driving section based on the acceleration and driving force of the vehicle when the vehicle is traveling in the driving section and predetermined estimation permission conditions are met.

[0123] [Note 3] The vehicle weight estimation unit is, The vehicle in question is not being subjected to braking force. The vehicle is not turning, and The aforementioned vehicle is not traveling on an incline. It is preferable to determine that the presumed permission conditions are met when all of the above conditions are met.

[0124] [Note 4] The aforementioned collection route is a route that starts from a waste disposal plant equipped with a weighing scale capable of measuring the weight of the vehicle, Of the aforementioned multiple garbage collection points, the first garbage collection point reached by the vehicle traveling along the collection route is the first garbage collection point. Of the aforementioned collection route, the section from the aforementioned waste treatment plant to the aforementioned first waste collection point is the section where waste is collected before collection. Preferably, the vehicle weight estimation unit corrects the vehicle weight in multiple driving sections based on the difference between the vehicle weight measured by the weighing scale before departing the waste disposal plant and the vehicle weight in the driving section before waste collection.

[0125] [Note 5] The aforementioned collection route is a route that ends at a waste disposal plant equipped with a weighing scale capable of measuring the weight of the vehicle. Of the aforementioned multiple garbage collection points, the last garbage collection point reached by the vehicle traveling along the collection route is the final garbage collection point. Of the aforementioned collection route, the section from the last garbage collection point to the aforementioned garbage treatment plant is the final section of travel. Preferably, the vehicle weight estimation unit corrects the vehicle weight in multiple travel sections based on the difference between the vehicle weight measured by the weighing scale when the vehicle returns to the waste disposal plant and the vehicle weight in the final travel section.

[0126] [Note 6] It is used in a waste collection service in which vehicles traveling along a collection route that starts and ends at a waste disposal plant collect waste that has been placed at multiple waste collection points set up along that collection route. A weight difference acquisition unit acquires the weight difference which is the difference between the weight of the vehicle when it departs the waste disposal plant and the weight of the vehicle when it returns to the waste disposal plant. A collection time acquisition unit acquires the garbage collection time, which is the time required to collect garbage at a garbage collection point when the vehicle arrives at that garbage collection point, for each garbage collection point. A waste collection volume determination system comprising: a waste weight calculation unit that calculates the weight of the waste placed at each waste collection point based on the weight difference and the waste collection time at each of the multiple waste collection points.

[0127] [Note 7] In a collection route where a vehicle that collects garbage placed at a garbage collection point travels, and where multiple such garbage collection points are set, the estimated weight of the vehicle in the section between two adjacent garbage collection points is derived into the processing circuit as the vehicle weight in that section. A method for determining the amount of garbage collected, comprising: using the difference between the vehicle weight in a first travel section and the vehicle weight in a second travel section, which is the next travel section after the first travel section, to guide the processing circuit to determine the weight of the garbage placed in a garbage collection station set between the first travel section and the second travel section, among the multiple travel sections.

[0128] In this specification, the expression "at least one" means "one or more" of the desired options. For example, if there are two options, the expression "at least one" means "only one option" or "both of the two options." As another example, if there are three or more options, the expression "at least one" means "only one option" or "a combination of two or more arbitrary options." [Explanation of Symbols]

[0129] 11...Weight scale 13… Computer 16…Processing circuit 20... Vehicles 23…PTO device 24…Working equipment 30... Vehicle control device 33… Processing circuit 50... Server 53…Processing circuit 100...Waste disposal plant 110, 110A, 110B... Garbage collection point 300,300A... Garbage Collection Volume Monitoring System 310A…Weight difference acquisition section 320...Judgment section 320A...Collection time acquisition unit 340... Vehicle weight estimation unit 350, 330A... Waste weight output section DS, DSF, DSM, DSS… Driving section DSS…Pre-collection driving section RT...Collection route

Claims

1. It is used in a garbage collection service in which vehicles traveling along a collection route collect garbage placed at multiple garbage collection points set up along that collection route. A vehicle weight estimation unit derives an estimated value of the vehicle's weight in the section of the aforementioned collection route between two adjacent garbage collection points as the vehicle weight in that section, The vehicle includes a waste weight retrieval unit that derives the weight of the waste placed at a waste collection station located between the first and second travel sections, based on the difference between the vehicle weight in the first travel section and the vehicle weight in the second travel section, which is the next travel section after the first travel section, among the multiple travel sections. A system for tracking the amount of waste collected.

2. A weighing scale for measuring the weight of the vehicle is installed at the starting point of the aforementioned collection route. The vehicle weight estimation unit obtains the weight of the vehicle measured by the weighing scale as the vehicle weight in the pre-collection travel section, which is the travel section between the first garbage collection station, which is the first garbage collection station reached by the vehicle after departing from the starting point, and the starting point, The waste weight calculation unit calculates the weight of the waste placed at the first waste collection station based on the difference between the vehicle weight in the section before waste collection and the vehicle weight in the section following the section before waste collection. The waste collection volume determination system according to claim 1.

3. The system includes a specific processing execution determination unit that determines whether or not a specific processing performed by the vehicle when it collects garbage placed at the garbage collection point has been performed by the vehicle. The vehicle weight estimation unit estimates the vehicle weight when the vehicle is moving from the garbage collection point where the specific processing execution determination unit has determined that the specific processing has been executed, toward the next garbage collection point. A waste collection volume determination system according to claim 1 or claim 2.

4. The system includes an execution time measuring unit that measures the execution time of a specific process performed when the vehicle collects garbage placed at the aforementioned garbage collection point. The waste weight calculation unit calculates the weight of the waste placed at the waste collection site that was the subject of the execution time measurement by the execution time measurement unit, based on the execution time measured by the execution time measurement unit. The waste collection volume determination system according to claim 1.

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