Mobile

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 bin that autonomously moves, a trash collection system including the mobile trash bin, and a control device that controls the mobile trash bin.

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 handling the request information; a generation unit that generates a dispatch command for dispatching the corresponding mobile body to a collection location 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 location 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. 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 deliberately, the waiting time is also a nuisance, and the eyes of people around are also a concern. For this, when wanting to discard trash, a situation where a mobile trash bin 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] This disclosure concerns a mobile vehicle for collecting waste. The mobile entity relating to this disclosure is A control device having a movement control unit that autonomously moves the moving body according to path information indicating a movement path, A human sensor that detects human movement, A trash can that accepts garbage from people located along or on the aforementioned travel route, Equipped with, The aforementioned movement control unit, When the person sensor detects that a person is approaching the moving object, the speed of the moving object is reduced, and the moving object is made to travel at a speed that makes it easy to dispose of trash. Then, when the person sensor detects that the person is moving away from the moving object, the speed of the moving object is increased. [Effects of the Invention]

[0007] According to this disclosure, it is possible to eliminate the hassle of calling a mobile waste collection vehicle and waiting for the vehicle to arrive. [Brief explanation of the drawing]

[0008] [Figure 1] The diagram in Embodiment 1 shows the system configuration of the waste collection system 1000. [Figure 2] Figure 1 of Embodiment 1 shows an external view of the mobile trash can 100 provided by the waste collection system 1000. [Figure 3] The diagram of Embodiment 1 shows a tourist destination 400 where the mobile trash can 100 is used. [Figure 4] The diagram in Embodiment 1 shows the specific configuration of the waste collection system 1000. [Figure 5] This figure shows the various devices mounted on the mobile trash can 100, according to Embodiment 1. [Figure 6] Figure 1 of Embodiment 1 shows the hardware configuration diagram of the control device 110. [Figure 7]Figure of the hardware configuration of the control device 200 in the diagram of Embodiment 1. [Figure 8] Figure showing the route of the tourist destination 400 where the mobile trash can 100 circulates in the diagram of Embodiment 1. [Figure 9] Figure showing the configuration in which the control device 200 includes the crowd flow information generation unit 203 in the diagram of Embodiment 2. [Figure 10] Figure showing the hardware configuration of the control device 200 in the diagram of Embodiment 2. [Figure 11] Figure showing types A to E as the generation types of the crowd flow information 13 by the crowd flow information generation unit 203 in the diagram of Embodiment 2. [Figure 12] Figure showing a number line indicating the value V of the crowd flow information 13 in the diagram of Embodiment 2. [Figure 13] Figure showing route information consisting of 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 in the diagram of Embodiment 2. [Figure 14] Figure showing the configuration in which the control device 200 includes the control-side alarm unit 204 in the diagram of Embodiment 3. [Figure 15] Figure showing the hardware configuration of the control device 110 in the diagram of Embodiment 3. [[ID=​​​​​​​​​​​​​​​​​​​

Embodiments 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 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 of Embodiment 1 will be described.

[0011] ***Description of the 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. 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 10 has a tour of the tourist destination 400.

[0013] <Garbage Bin 120> As shown in Figure 2, the mobile trash can 100 is equipped with a trash can 120. The mobile trash can 100 moves on four wheels 101. Note that the rear right wheel 101 is not visible in Figure 2. 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 184, which will be described later. The trash can 120 consists of separate waste bins 121, 122, and 123. The separate waste bins have openings through which trash cans can be placed. The sides of the mobile trash can 100 are marked with labels indicating the type of waste in each separate waste bin, such as combustible waste 124a, plastic waste 124b, and beverage cup waste 124c. Bin 121 is labeled for combustible waste 124a, bin 122 for plastic waste 124b, and bin 123 for beverage cup waste 124c.

[0014] Figure 3 shows multiple tourists walking through a tourist area with multiple shops 320. The mobile trash can 100 travels through the tourist area 400 at a speed of approximately 1 to 2 km / h. The mobile trash can 100 patrols the tourist area 400 according to the route indicated by the route information 201a. Street cameras 310 are installed around the shops 320. The images captured by the street cameras 310 can be used for processing such as generating pedestrian flow information 13 and extracting trash, as described later.

[0015] <Configuration of the 1000-system waste collection system> Figure 4 shows the specific configuration of the waste collection system 1000. The mobile trash can 100 is equipped with a control device 110, a trash can 120, and a sensor group including a camera 181. The mobile trash can 100 receives positioning signals from GNSS satellites 40 to determine its position and performs self-position estimation using the positioning results and the measurement results of the sensor group. The control device 200 communicates with the mobile trash can 100 via the network 330. The control device 110 transmits waste collection information 100b, which indicates the waste collection status, to the control device 200 via the network 330. The control device 200 transmits route information 201a to the mobile trash can 100. The route information generation unit 201 of the control device 200 acquires pedestrian flow information, store information, dynamic map information, and facility information from outside the control device 200. The specifics of the mobile trash can 100 and the control device 200 are described below.

[0016] <Devices mounted on the mobile trash can 100> Figure 5 shows the devices mounted on the mobile trash can 100. The mobile trash can 100 is equipped 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 includes 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 trash can 100 to move autonomously. The camera 181 is installed on the front and rear sides, as shown in Figure 4. The camera 181 to the lidar 184 may be referred to as the sensor group. The GNSS antenna 605 is connected to the GNSS positioning device 185 to form a locator (positioning device). The measurement data from the sensor group and the positioning results from the GNSS positioning device 185 are input to the sensor fusion unit 186. The sensor fusion unit 186 inputs integrated information 188, which is the input data, to the movement control unit 111.

[0018] <Control device 110> The control device 110 controls the autonomous movement of the mobile trash can 100 and assists in the collection of trash into the trash can 120. The control device 110 comprises a movement control unit 111, a storage device 112, a trash extraction unit 113, and a trash volume control unit 114. The movement control unit 111 receives integrated information 188 from the integrated sensor unit 180. Based on the integrated information 188, the route information 201a stored in the storage device 112, and instructions from the control device 200, the movement control unit 111 generates autonomous movement control information 111a for the autonomous mobile device 170 to autonomously move the mobile trash can 100. The trash extraction unit 113 extracts trash using a group of sensors. Trash extraction will be described later. The trash volume control unit 114 monitors the trash storage capacity of the sorting trash cans 121, 122, and 123. The storage device 112 stores high-precision maps and point cloud data measured by the LiDAR 184 received from the control device 200, 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 trained model 113a and route information 201a received from the control device 200. The storage device 112 is implemented by the auxiliary storage device 930A.

[0019] <Autonomous mobile device 170> The autonomous mobile device 170 autonomously moves the mobile trash can 100 based on the autonomous movement control information 111a. Specifically, the autonomous mobile device 170 autonomously moves the mobile trash can 100 by controlling the driving mechanism, such as a motor and steering mechanism (not shown), which are equipped in the mobile trash can 100. The mobile trash can 100 is powered by a battery, and is a so-called electric vehicle.

[0020] <Hardware configuration of control device 110> Figure 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 920A, an auxiliary memory 930A, an input interface 940A, an output interface 950A, and a communication interface 960A. The processor 910A is connected to and controls the other hardware via a signal line 970A.

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

[0022] The processor 910A is a device that executes the control program 110a. The control program 110a is a program that implements the functions of the movement control unit 111, the waste extraction unit 113, and the waste volume 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 main memory 920A are SRAM (Static Random Access Memory) and DRAM (Dynamic Random Access Memory). Main memory 920A holds the calculation results of 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). Alternatively, the auxiliary storage device 930A may be a portable recording medium such as an SD (Secure Digital) memory card, NAND flash memory, a flexible disk, an optical disk, a compact disk, a Blu-ray (registered trademark) disk, or a DVD (Digital Versatile Disk). The auxiliary storage device 930A stores a high-precision map and point cloud database 119, a trained model 113a, route information 201a, and a control program 110a.

[0025] The input interface 940A is a port to 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 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 system 200 via the communication device 190. Specifically, communication between the control device 110 and the control system 200 is established when the communication device 190 communicates with the communication device 210 of the control system 200 (described later).

[0026] The control device 110 may include multiple processors that replace the processor 910A. These multiple processors share the task of executing the control program 110a. Each processor is a device that executes the control program 110a, just like the processor 910A. Data, information, signal values, and variable values ​​used, processed, or output by the control program 110a are stored in the main memory 920A, the auxiliary memory 930A, or in registers or cache memory within the processor 910A.

[0027] The control program 110a is a program that causes the computer to execute each process, each procedure, or each process, by replacing the "part" in the movement control unit 111, the waste extraction unit 113, and the waste volume control unit 114 with "process," "procedure," or "step."

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

[0029] <Hardware configuration of control unit 200> Figure 7 shows the hardware configuration of the control system 200. The control system 200 is a computer with a configuration similar to that of the control device 110. The control system 200 includes a processor 910B and other hardware components. Since the configuration of the control system 200 in Figure 7 is the same as that of the control device 110 in Figure 6, the code for the processor and other components is denoted as B, compared to A in Figure 6. Only the parts that differ from the control device 110 in Figure 6 will be explained.

[0030] The control device 200 includes a route information generation unit 201 and a mobile object monitoring unit 202 as functional elements. The functions of the route information generation unit 201 and the mobile object 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 the computer to execute each process, each procedure, or each process, by replacing "unit" in "route information generation unit 201" and "mobile object monitoring unit 202" with "process," "procedure," or "process." Furthermore, the control method is performed by the control device 200, which is a computer, executing the control program 200a. The control program 200a may be provided on a computer-readable recording medium or as a program product. The communication interface 960B is connected to the communication device 210. The control device 200 communicates with the control device 110 via the communication device 210. The communication device 210 is also shown in Figure 2.

[0031] ***Operation of the Mobile Trash Can 100*** The operation of the mobile trash can 100 will be described in detail below.

[0032] <Patrolling with 100 mobile trash cans> The mobile trash can 100 shown in Figure 2 is a mobile unit for collecting trash. The mobile control unit 111 of the control device 110 autonomously moves the mobile trash can 100 according to the route information 201a that indicates the route. Typically, the mobile trash can 100 autonomously travels at a speed of 6 km / h or less. For example, the mobile trash can 100 travels at a speed between 1 km / h and 2 km / h. However, the autonomous travel speed is merely an example. The speed of the autonomously traveling mobile trash can 100 is not limited. The trash can 120 is a trash can that accepts trash from people located along the route or along the route. The mobile trash can 100 travels at a low speed between 1 km / h and 2 km / h and collects trash along the route. Therefore, it can beautify the tourist area 400 without interfering with tourists 410. Figure 8 shows the route that the mobile trash can 100 patrols in a tourist area 400. There are multiple shops 320 in the tourist area 400. In Figure 8, the multiple shops 320 are distinguished into five shops, from shop 320a to shop 320e. Normally, the mobile trash can 100 patrols in the direction of travel 100a along route 401, which is specified by points P1, P2, P3, P4, and P1, according to route information 201a. As will be described later, depending on the trash capacity, etc., the mobile trash can 100 patrols along route 402, which is specified by points P6, P2, P3, P6, and P6. In this case, the mobile trash can 100 has route information 201b corresponding to route 402, and can patrol route 402 by switching from route information 201a to route information 201b.

[0033] <Actions taken when someone approaches> The mobile trash can 100 has a human sensor that detects human movement. The sensor group of the integrated sensor unit 180 can be used as the human sensor. When the human sensor detects that a person is approaching the mobile trash can 100, the movement control unit 111 reduces the speed of the mobile trash can 100. In other words, as shown in Figure 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, if the mobile trash can 100 normally travels at a speed of 1 to 2 km / h, the mobile trash can 100 is decelerated to travel at a normal speed of 0 to 1 km / h. The speed reduction command may also be a stop command. In the case of a stop command, the speed control unit 171 stops the movement of the mobile trash can 100. Furthermore, when the sensor group, which is a human sensor, detects that a person is moving 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 increases the speed of the mobile trash can 100 according to the speed increase command. For example, if the mobile trash can 100 normally travels at a speed of 0 to 1 km / h, the mobile trash can 100 is decelerated to travel at a normal speed of 1 to 2 km / h. The mobile trash can 100 changes its speed depending on whether a person is approaching or moving away, which has the effect of making it easier for tourists 410 to dispose of their trash.

[0034] <Route changes based on waste storage capacity> The control device 110 stores multiple route information in the storage device 112. In Figure 6, the auxiliary storage device 930A, which is the storage device 112, stores two route information items: route information 201a and route information 201b. The movement control unit 111 selects route information from among the multiple route information items according to the capacity of the garbage bin 120. The capacity of the garbage bin can be detected by a volume sensor placed in the garbage bin 120. The volume sensor can be replaced by a weight sensor, which will be described later. Volume sensors are placed in each of the separate waste bins 121, 122, and 123. For example, if the amount of waste that can be contained in the sorting bin 121 for collecting combustible waste exceeds a threshold, the mobile control unit 111 selects route information 201b and patrols route 402 (Figure 8) according to route information 201b. In this case, route information 201b is associated with attribute information indicating that the amount of combustible waste discharged is small. Furthermore, the threshold for combustible waste is determined by considering the remaining capacity of the waste storage, so even if combustible waste is discharged on route 402, a certain amount can be collected. The handling of cases where the combustible waste bin is full will be described later. In this way, the mobile bin 100 changes its route based on the waste storage capacity, so the bin 120 can be used effectively.

[0035] <Using pre-trained model 113a> The system includes a mobile trash can 100, which is a mobile unit, and a camera 181, which is a camera that captures images of the surroundings. The auxiliary storage device 930A of the control device 110 stores a trained model 113a. The trained model 113a is a model that extracts trash from images that contain trash. The trash extraction unit 113 of the control device 110 extracts trash from images captured by the camera 181 using the trained model 113a, and outputs a trash extraction signal when trash is extracted. The waste extraction unit 113 transmits an extraction notification, which notifies the control device 200 that manages the mobile trash can 100, as a waste extraction signal. Specifically, the waste extraction unit 113 transmits the extraction notification to the control device 200 via the communication interface 960A. The extraction notification includes the time and location of waste extraction. A control station (not shown) having the control device 200 can notify the administrator of the tourist site 400 that waste has been extracted. Alternatively, as shown in Figure 8, the mobile trash can 100 may be equipped with an arm mechanism 150 that grasps trash and places it in the trash can 120. When the trash extraction unit 113 outputs a trash extraction signal, it may use the arm mechanism 150 to collect the trash captured as an image into the trash can 120. As described above, the control device 110 extracts waste using the trained model 113a, so waste can be collected efficiently. The trained model 113a is generated by the route information generation unit 201 of the control device 200. The route information generation unit 201 learns images of garbage, for example, through supervised learning, and generates the trained model 113a. The generated trained model 113a is stored in the auxiliary storage device 930A of the control device 110.

[0036] <Identifying the person holding the trash> Furthermore, the trained model 113a may also be capable of extracting people carrying trash, such as tourist 410b shown in Figure 3, from images. The trash extraction unit 113 uses the trained model 113a to extract people carrying trash from images taken by the camera 181, which is a camera that captures images of the area around the route indicated by the route information. When the trash extraction unit 113 extracts people carrying trash from the images, the movement control unit 111 moves the mobile trash can 100 away from the route and approaches the person carrying trash. Specifically, the movement control unit 111 generates autonomous movement control information 111a that causes the mobile trash can 100 to approach the person carrying trash and outputs it to the autonomous movement device 170. When the sensor group confirms that the trash has been collected from the person holding the trash, the mobile trash can 100 returns to its original path. Specifically, when the sensor group confirms that the trash has been collected from the person holding the trash, the mobile control unit 111 generates autonomous mobile control information 111a instructing the mobile trash can to return to its original path and outputs it to the autonomous mobile device 170. In this way, the 100 mobile trash cans approach people carrying trash, making it easier for them to dispose of their waste and improving the beautification of tourist areas (400 locations).

[0037] <Handling of fallen trash> The mobile trash can 100 is equipped with a trash can monitoring device that monitors the trash can 120. The trash can monitoring device can be implemented with a group of sensors such as a camera 181, a sonar 182, a millimeter-wave radar 183, and a lidar 184. For example, as shown in Figure 2, a trash detection sensor 187 is placed above the central opening of the trash can 120 as part of the trash can monitoring device. The sensor 187 is composed of, for example, a camera, an infrared sensor, a sonar, or a light detector. This trash detection sensor 187 is also placed in the same position on the right side. The trash extraction unit 113 uses the monitoring results of the trash can monitoring device to determine whether there is any trash that has moved from inside the trash can 120 to outside the trash can 120. When the waste extraction unit 113 determines that there is waste that has moved from inside the waste bin 120 to outside the waste bin 120, it sends a warning notification to the control device 200 that manages the mobile waste bin 100. The warning notification includes the time and location in which the waste was detected. The control station where the control device 200 is located notifies the administrator of the tourist area 400 of the contents of the warning notification. This improves the beautification of the tourist area 400. Alternatively, the mobile trash can 100 may be equipped with an arm mechanism 150 that grasps trash and places it into the trash can 120, as shown in Figure 8. In this case, when the trash extraction unit 113 determines that there is trash that has moved from inside the trash can 120 to outside the trash can 120, it identifies the trash that has moved using the trained model 113a and uses the arm mechanism 150 to collect the trash that has moved into the trash can 120. This improves the beautification of the tourist area 400. The determination of whether or not trash has fallen can be carried out as follows. The waste extraction unit 113 can detect the dropping of waste from a weight sensor installed in the waste bin 120. Figure 4 shows the weight sensors 131, 132, and 133, which are placed in separate waste bins 121, 122, and 123, respectively. When referring to weight sensors 131, 132, and 133 collectively, they are denoted as weight sensor 130. The trash extraction unit 113 can detect trash by comparing a high-precision 3D map with real-time point cloud information (point cloud database) acquired by the LiDAR 184. This process can be used for all types of trash found on the road. The trash extraction unit 113 may also use a trained model 113a to determine whether the point cloud data is trash if an image corresponding to the point cloud difference exists.

[0038] <Volume change mechanism of trash can 120> As a trash can monitoring device, a weight sensor 130 may be placed inside the mobile trash can 100 to detect the weight of trash in each sorting trash can. Alternatively, an infrared sensor or the like may be placed on the underside of the ceiling of the mobile trash can 100 to detect the height of the trash accumulated in each sorting trash can or the position of the trash at the top. If the trash in only some sorting trash cans becomes excessive based on the detection results of the weight sensor 130, infrared sensor, etc., the capacity of the other sorting trash cans is detected and the capacity of the sorting trash can with the excessive trash is increased. Specifically, it is as follows. As shown in Figure 2, the trash can 120 is divided into sorting trash cans 121, 122, and 123 according to the type of trash. The trash storage capacity of sorting trash cans 121, 122, and 123 can be changed by control. Specifically, it is as follows. A partition plate drive device 129 is installed in the trash can 120. The partition plate drive device 129, under control, can independently move the partition plates 125, 126, 127, and 128 in the front-to-back direction of the mobile trash can 100. This allows the capacity of the sorting trash can 121 to sorting trash can 123 to be changed. The trash volume control unit 114 of the control device 110 controls the trash capacity that can be accommodated in each sorting trash can via the control of the partition plate drive device 129. As a result, the efficiency of using the trash can 120 is improved.

[0039] ***Operation of the 1000 Garbage Collection System*** The operation of the waste collection system 1000 will be explained below, focusing on the control device 200.

[0040] <Generating routing information> The mobile trash can 100 shown in Figure 4 moves autonomously at a speed of 6 km / h or less according to route information indicating the route. The mobile trash can 100 is equipped with trash cans 120 that accept trash from people along the route or the route. The control device 200 has a route information generation unit 201 that generates route information and transmits it to the mobile unit. The route information generation unit 201 generates route information based on the flow of people in an area such as a tourist destination 400 where the mobile trash can 100 is scheduled to travel. The pedestrian flow information 13, which indicates the flow of people, can be obtained from street cameras 310 as shown in Figure 3. Alternatively, it can be obtained from an organization such as a company that collects pedestrian flow information 13. By generating route information that patrols areas with high pedestrian traffic, the route information generation unit 201 can efficiently collect trash from tourists 410 in the tourist destination 400. The route information may include the pedestrian flow information 13. The route information generation unit 201 may generate route information based on facilities including stores 320 located in the area where the mobile trash can 100 is scheduled to move. Specifically, in Figure 8, if stores 320d and 320e are popular stores where people gather, the route information generation unit 201 will generate a route that includes points P5, P6, P2, and P3. Since popular stores attract many people, including the locations of these stores in the route allows for efficient collection of trash from tourists 410. Route information can be obtained from an external device to the control device 200. The auxiliary storage device 930B stores waste discharge information indicating the waste discharge status at multiple locations 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 waste discharge information stored in the auxiliary storage device 930B. By referring to the waste discharge information and generating route information that includes locations with high waste discharge rates, the route information generation unit 201 can efficiently collect waste. The waste discharge information, for example, records the amount of waste discharged per unit of time for each location. The route information generation unit 201 can acquire the waste discharge information from a device outside the control device 200. As described above, the waste discharge information includes time information indicating the time when waste is discharged. As a result, route information effective for waste collection can be generated. Furthermore, a pre-trained model for generating route information may be used to generate route information. Specifically, it is as follows: The route information generation unit 201 uses at least one of the following as training data: images from the street camera 310 shown in Figure 3, pedestrian flow information shown in Figure 4, or garbage information obtained from outside the control device 200, which associates the time, location, and capacity of garbage disposal at the tourist area 400. The unit learns the locations and times where a lot of garbage is generated and generates a pre-trained model for generating route information. The route information generation unit 201 uses this pre-trained model to generate route information that includes the locations and times where the mobile garbage can 100 should focus its patrols.

[0041] <Covering 400 tourist spots with 100 mobile trash cans> As shown in Figure 1, the waste collection system 1000 is equipped with multiple mobile trash cans 100. The route information generation unit 201 generates different route information for each mobile trash can 100, thereby covering waste collection in the tourist area 400, which is the planned area where multiple mobile trash cans 100 are to be placed. This ensures that all waste in the tourist area 400 is collected without fail.

[0042] <Arrangement of 100 alternative mobile trash cans> When the waste capacity of the mobile trash can 100 and trash can 120 exceeds a threshold, an overload signal is sent to the control device 200. When the route information generation unit 201 receives an excess signal, it sends a destination instruction to the transmitting mobile body, which is the mobile trash can 100 that sent the excess signal, instructing the transmitting mobile body to move to the destination. For example, the destination is the storage warehouse 340 shown in Figure 8. The route information generation unit 201 transmits the same route information that was transmitted to the transmitting mobile body to another mobile trash can 100 in order to replace the transmitting mobile body with a different mobile trash can 100. This allows a transmitting mobile body that has become full of trash to be replaced with another mobile trash can 100.

[0043] The control device 200 has a mobile monitoring unit 202 that monitors the movement status of the mobile trash can 100 and controls the movement status of the mobile trash can 100 based on the monitoring results. Location information that forms the basis of the monitoring is transmitted from the mobile trash can 100. The location information corresponds to the time of existence and the location of existence. Based on the location information and the mobile trash can 100 as captured in the video of the street camera 310, the mobile monitoring unit 202 can control the movement status of the mobile trash can 100. By remotely controlling the mobile trash can 100 in this way, the tourist area 400 can be beautified efficiently.

[0044] ***Effects of Embodiment 1*** According to the first embodiment of the waste collection system 1000, by having a mobile trash can 100, which is an autonomous vehicle carrying a trash can itself, travel along the route taken by the tourists 410, the tourists 410 can avoid the trouble of searching for a trash can, thereby improving the beautification of the tourist area 400.

[0045] Embodiment 2. The second embodiment of the waste collection system 1000 will be described with reference to Figures 9 to 14. The second embodiment of the waste collection system 1000 is identical to that in Figure 1, so its description will be omitted. In the second embodiment, the waste collection system 1000 is equipped with a pedestrian flow information generation unit 203. The functions of the pedestrian flow information generation unit 203 may be located in the control device 200, or in another device outside the control device 200, but the pedestrian flow information generation unit 203 is located inside the waste collection system 1000. In the following, the configuration in which the control device 200 is equipped with the pedestrian flow information generation unit 203 will be described as an example. Figure 9 shows a configuration in which the control device 200 includes a pedestrian flow information generation unit 203. Figure 10 shows the hardware configuration of the control unit 200.

[0046] <People flow information generation department 203> Figure 11 shows the types of pedestrian flow information 13 generated by the pedestrian flow information generation unit 203, from Type A to Type E.

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

[0048] <Type B> The pedestrian flow information generation unit 203 can generate pedestrian flow information 13 from image information, person location information, and person speed information acquired by a sensor X mounted on the mobile trash can 100 or a sensor X provided outside the mobile trash can 100. "Sensor X provided outside the mobile trash can 100" means a sensor X that is not mounted on the mobile trash can 100.

[0049] <SensorX> Let me explain sensor X. Sensor X consists 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) Cameras mounted on PMVs (Personal Mobility Vehicles) (4) Cameras installed in MaaS (Mobility as a Service), (5) One or more sensors among speed sensors, acceleration sensors, and position sensors installed in mobile terminals (hereinafter referred to as "mobile terminals") such as smartphones or mobile devices held by tourists. (6) User information for MaaS, hotels, or stores. Note that a mobile terminal is a terminal device.

[0050] <Street Camera 310> The street camera 310 may be placed in locations other than around the store 320, such as (1) to (4) below. (1) Planned route for the mobile trash can 100, (2) Planned route of the PMV, (3) Facilities such as hotels, exhibition halls, entertainment facilities, hot spring facilities, and public halls where people who may be able to dispose of garbage come and go, (4) Places where people pass through and where it is not possible to leave trash, such as tourist routes, parks, forest roads, and fields, or the surrounding areas of such places.

[0051] <Type C> As shown in Figure 11, the pedestrian flow information generation unit 203 recognizes and tracks people from images based on first image information acquired by the street camera 310, second image information acquired by the camera 181 of the mobile trash can 100, and third image information acquired by the camera mounted on the PMV. The pedestrian flow information generation unit 203 then measures items such as the position, speed or change in position of the tracked people, or the number of people. By measuring these items, the pedestrian flow information generation unit 203 can generate pedestrian flow information 13 that indicates an evaluation index of pedestrian flow from "the density of people present, the average movement speed of people, the direction of movement of people, and the movement flux of people" per unit space, for example, per cubic meter. As an evaluation index of pedestrian flow, i.e., as pedestrian flow information 13, values ​​that numerically evaluate "the level of sparseness, the degree of congestion, and the density of movement flux" can be used.

[0052] <Type D> Furthermore, the pedestrian flow information generation unit 203 can generate pedestrian flow information 13 based on location information and speed information acquired from mobile terminals carried by tourists.

[0053] <Type E> Furthermore, the pedestrian flow information generation unit 203 can use at least one of the following (1), (2), or (3) to count the number of theme park visitors (tourists) per unit of time in the theme park and obtain pedestrian flow information 13 from the number of people for each movement and location. (1) Location information of "Mobility as a Service or a mobile vehicle", (2) Number of passengers getting on and off in vehicles or other moving objects such as trains, (3) "User information of users of facilities such as hotels or shops."

[0054] The operation of the route information generation unit 201 of Embodiment 2, which works in conjunction with the pedestrian flow information generation unit 203, will be described below. Figure 12 shows a number line representing the value V of the pedestrian flow information 13. The contents of the number line in Figure 12 are set in the route information generation unit 201. Routes where the value V is less than or equal to the threshold V1 are sparsely populated routes with little pedestrian flow. Routes where the value V is greater than or equal to the threshold V2 are congested routes with a lot of pedestrian flow. Routes between threshold V1 and threshold V2 are intermediate density routes. Intermediate density routes can be represented by one category where the value V is represented by a single value between V1 and V2, or by multiple categories where the value V is represented by multiple values ​​between V1 and V2. The upper intermediate density route in Figure 12 shows one category where the value V is represented by a single value V31. The lower intermediate density route in Figure 12 shows two categories where the value V is represented by two values ​​V31 and V31. The route information generation unit 201 schedules the priority and order of route passage according to the following: sparsely populated routes that pass through areas where the value V is less than or equal to the threshold V1; congested routes that pass through areas where the value V is greater than or equal to the threshold V2; and intermediate-density routes that pass through one category where the value V is a single representative value or multiple categories where the value V is a multiple representative value. If a higher priority number indicates a higher priority, the route information generation unit 201 sets priority 4 for congested routes, priority 3 for intermediate routes with V32, priority 2 for intermediate routes with V32, and priority 1 for sparsely populated routes. For example, the route information generation unit 201 sets route information, which is the route the mobile trash can 100 will take, by referring to the set priority so that the number of times the mobile trash can 100 will pass through congested routes per unit time or per unit time or usage time of the facility used by tourists will increase, or the number of times it will pass through sparse routes per unit time or per unit time or usage time will decrease.

[0055] Figure 13 shows an example of route information created by the route information generation unit 201, consisting of, from left to right, a sparsely populated route, an intermediate density route with value V31, an intermediate density route with value V32, a congested route, and an intermediate density route with value V32. This route information has a set order of passage. S1 to S17 indicate the order of passage. S1 is the start and S17 is the end. According to the route information in Figure 13, the mobile trash can 100 passes through the congested route 6 times, the intermediate density route with value V32 4 times, the intermediate density route with value V31 2 times, and the sparsely populated route once. As a result, the mobile trash can 100 can efficiently collect trash according to the density.

[0056] ***Effects of Embodiment 2*** In the second embodiment of the waste collection system 1000, the control device 200 is equipped with a pedestrian flow information generation unit 203 that generates pedestrian flow information 13. The route information generation unit 201 then generates route information using the pedestrian flow information 13 generated by the pedestrian flow information generation unit 203. Therefore, pedestrian flow information is generated within the waste collection system 1000, and route information is generated from the pedestrian flow information generated within the waste collection system 1000. Consequently, the waste collection system 1000 can quickly obtain necessary and accurate pedestrian flow information. Furthermore, because route information is generated from accurate pedestrian flow information for the waste collection system 1000, efficient waste collection becomes possible. In addition, the satisfaction of tourists on the waste-generating side is improved.

[0057] Embodiment 3. The third embodiment of the waste collection system 1000 will be described with reference to Figures 14 to 16. The system configuration of the waste collection system 1000 in Embodiment 3 is the same as in Figure 1. Figure 14 shows the configuration of the control device 200. Figure 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 depending on the weight or volume of the trash in the mobile trash can 100. The mobile trash can 100 is equipped with a mobile alarm unit 115 that generates an alarm. The control device 200 is equipped with a control alarm unit 204 that generates an alarm. As shown in Figure 14, weight sensors 151, 152, and 153 are placed in each of the separate trash cans 121, 122, and 123. Also, volume sensors 141, 142, and 143 are placed in each of the separate trash cans 121, 122, and 123. The weight sensor is referred to as weight sensor 150 unless otherwise specified. The volume sensor is referred to as volume sensor 140 unless otherwise specified.

[0058] <Moving side alarm unit 115> The mobile alarm unit 115 issues an alarm based on the detection result of a sensor that detects at least one of the weight of the garbage accumulated in the trash can and its storage capacity. The mobile alarm unit 115 acquires detection information from the weight sensor 150, which measures the weight of the waste, or from the storage volume sensor 140, which measures the storage volume of the waste. Based on the acquired detection information, the mobile alarm unit 115 determines whether the weight or volume of the waste exceeds the allowable value. If the weight or volume of the waste exceeds the allowable value, the mobile alarm unit 115 outputs an alarm sound indicating that the waste container is full to a speaker (not shown) connected to output IF960A, or to a display device (not shown) connected to output IF960A, either as sound or display.

[0059] <Control side alarm unit 204> If the weight or volume of the waste exceeds the permissible limit, the mobile alarm unit 115 transmits a full signal to the control device 200 indicating that the waste container is full. Upon receiving the full signal, the control alarm unit 204 (not shown in the figure) generates an alarm message and an alarm sound on the control system's monitoring screen or the control system's speaker.

[0060] The storage capacity can be measured by the storage capacity sensor 140, which detects the storage volume. The storage capacity can be estimated from an image of the inside of the trash can, by multiplying the height of the top of the trash by the floor area of ​​the trash can. Alternatively, an optical sensor may be installed on the upper inner surface of the inside of the trash can, and when the optical sensor detects trash, it may be detected that the storage capacity is above a predetermined threshold. In this case, the optical sensor acts as the volume sensor.

[0061] ***Effects of Embodiment 3*** In the third embodiment of the garbage collection system 1000, the control device 110 is equipped with a mobile alarm unit 115 that generates an alarm. The control device 200 is equipped with a control-side alarm unit 204 that generates an alarm. Therefore, users such as tourists who use the mobile garbage can 100 can know when it is full of garbage, thus reducing the likelihood of them throwing garbage into the mobile garbage can 100. Thus, the aesthetic appearance of the mobile garbage can 100 can be maintained. Furthermore, the garbage capacity of the mobile garbage can 100 can be prevented from being exceeded. In addition, the administrator on the control device 200 side who manages the mobile garbage can 100 can know when the garbage in the mobile garbage can 100 is full of garbage. Therefore, the route information generation unit 201 generates and transmits a return route to the control device 110 of the full mobile garbage can 100, allowing the mobile garbage can 100 to return to the garage.

[0062] Embodiment 4. Embodiment 4 will be described with reference to Figures 17 to 21. Figure 17 shows the configuration of the control device 200. Figure 18 shows the hardware configuration of the control device 110. Figure 19 shows the hardware configuration of the control unit 200. Figure 20 shows the operation sequence of the garbage collection system 1000 when call information is transmitted from a mobile terminal owned by tourist 410. Figure 21 shows the operation sequence of the garbage collection system 1000 when a tourist 410 speaks to the mobile trash can 100. In the garbage collection system 1000 of Embodiment 4, the control device 110 mounted on the mobile trash can 100 is equipped with a conversation unit 116, and the control device 200 is equipped with a call response unit 205.

[0063] <Call and response unit 205> The route information generation unit 201 generates a route for the mobile trash can 100 to travel toward the tourist 410, in response to the call information from the tourist 410 generated by the call response unit 205. The operation of the trash collection system 1000 when call information is transmitted from the mobile terminal of the tourist 410 will be explained with reference to Figure 20.

[0064] <Step S101> In step S101, the tourist 410 presses a call button (not shown) on his mobile terminal. When the call button is pressed, the mobile terminal generates call information to call the mobile trash can 100 and transmits the call information, including the call location which is the terminal's position at the time the call button was pressed, to the control device 200.

[0065] <Step S102> In step S102, the control device 200 receives call information via the network 330 from the communication device 210. The call information also includes time, which is the time the call information was generated. The call response unit 205 identifies the current location of the mobile trash can 100 that the control device 200 is dynamically monitoring, based on the call location. The call response unit 205 inputs the call location and the identified current location of the mobile trash can 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 the route connecting the call location and the current location 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, the mobile trash can 100 receives route information 201a via the network 330 from the communication device 190. The mobile trash can 100's mobile control unit 111 returns to the original route via the call location according to the route information 201a.

[0068] <Conversation Section 116> The control device 110 of the mobile trash can 100 is equipped with a conversation unit 116. The mobile trash can 100 may transmit call generation information to the call response unit 205 of the control device 200 based on the processing result of the conversation unit 116. This will be explained with reference to Figure 21.

[0069] <Step S201> In step S201, the conversation unit 116 receives a voice call from a tourist 410 passing by the mobile trash can 100. If a call is received, the conversation unit 116 performs voice recognition processing on the voice information obtained by the sound-collecting microphone 191 mounted on the mobile trash can 100. Based on the results of the voice recognition processing, the conversation unit 116 determines whether the tourist 410 has the intention or desire to dispose of their trash. If it is determined that the tourist 410 has the intention or desire to dispose of their trash, the conversation unit 116 estimates the direction from which the tourist 410's voice was emitted, as detected by the sound-collecting microphone 191. The conversation unit 116 generates call occurrence information including the estimated direction of voice emission, the time the call occurred, and the current location 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 direction of the voice output of the call generation information and the current location of the mobile trash can 100 to the route information generation unit 201.

[0071] <Step S203> The route information generation unit 201 generates a detour route from the current position toward the direction of voice emission, based on the direction of voice emission and the current position of the mobile trash can 100. The route information generation unit 201 transmits the detour route to the mobile trash can 100 via the communication device 210. In the mobile trash can 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 can 100 to rotate toward the detour route. After the rotation, the movement control unit 111 recognizes a person in the direction of voice emission based on sensor information detected by at least one sensor from a group of sensors such as a camera, sonar, millimeter-wave radar, and LiDAR. The movement control unit 111 tracks the recognized person using image tracking and moves toward the person being tracked.

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

[0073] Furthermore, the conversation unit 116 may emit a response voice from the speaker 192 toward the person being tracked. In this case, if a response corresponding to the response voice is received from the direction of the person being tracked, the movement control unit 111 will continue image tracking. At this time, the movement control unit 111 may recognize the facial image of the person being tracked and check whether there has been a change in the state of the mouth using facial expression recognition processing. The movement control unit 111 may continue tracking if it recognizes that there has been a change. Alternatively, the movement control unit 111 may determine whether or not to continue tracking based on AI recognition.

[0074] Furthermore, the sensor group may measure the distance to the person being tracked, and when the distance to the person being tracked falls below a set value, the movement control unit 111 may rotate the mobile trash can 100, stop the mobile trash can 100, and emit a voice message from the speaker 192 urging the person being tracked to dispose of their trash. The voice message from the speaker may be emitted by the conversation unit 116.

[0075] Furthermore, for image tracking, the movement control unit 111 may perform tracking processing by combining detection results from other sensors besides the camera, such as sonar, millimeter-wave radar, and LiDAR. Also, in any of the following cases (1), (2), or (3), the conversation unit 116 will emit a response voice from the speaker to indicate that the vehicle should return to its original path. (1) When the weight sensor 150 detects a change in the weight of the waste, (2) When the trash detection sensor 187 detects that trash has been thrown away, (3) When the set time has elapsed.

[0076] Subsequently, if the conversation unit 116 detects that a voice has been emitted from a person nearby indicating their intention to continue disposing of their trash, the conversation unit 116 transmits a signal indicating the content of that voice to the movement control unit 111. Upon receiving this signal, the movement control unit 111 continues the mobile trash can 100 in a stopped state for the set time. After that, if the conversation unit 117 confirms that no voice has been emitted from a person nearby indicating their intention to continue disposing of their trash, it transmits stop-and-go information indicating that the stop has ended, along with the current location, to the call response unit 205.

[0077] Upon receiving stopover information and the current location, the route information generation unit 201 generates a return route from the received current location to the original travel route and transmits the travel route to the mobile trash can 100.

[0078] The control device 110 of the mobile trash can 100 receives the 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 to a preset acceptable range area that can be considered to be the original movement path, it resumes movement along the original movement path.

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

[0080] Embodiments 1 to 4 have been described above. Two or more of these embodiments may be combined and implemented. Alternatively, one technical feature from among the multiple technical features included in one embodiment may be partially implemented. Alternatively, the technical features included in each embodiment may be partially combined and implemented. [Explanation of symbols]

[0081] 13 Human flow information, 40 GNSS satellite, 100 Mobile trash can, 100a Direction of travel, 100b Trash collection information, 101 Tires, 110 Control device, 110a Control program, 111 Movement control unit, 111a Autonomous movement control information, 112 Storage device, 113 Trash extraction unit, 113a Learned model, 114 Trash volume control unit, 115 Moving side alarm unit, 116 Conversation unit, 119 High-precision map and point cloud database, 120 Trash can, 121,122,123 Separation trash can, 124 Separation trash display, 125,126,127,128 Partition plate, 129 Partition plate drive device, 130, 131,132,133 Weight sensor, 140,141,142,143 Storage volume sensor, 151,152,153 Weight sensor, 170 Autonomous mobile 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 Sound-collecting microphone, 192 Speaker, 200 Control device, 200a Control program, 201 Route information generation unit, 201a Route information, 202 Mobile object monitoring unit, 203 People flow information generation unit, 204 Control side alarm unit, 205 Call response unit, 210 Communication device, 310 Street camera, 320 Store, 330 Network, 340 Storage warehouse, 400 Tourist destination, 410 Tourist, 401, 402 Route, 605 GNSS antenna, 910A, 910B processor, 920A, 920B main memory, 930A, 930B auxiliary memory, 940A, 940B input interface, 950A, 950B output interface, 960A, 960B communication interface, 970A, 970B signal line, 1000 waste collection system.

Claims

1. A mobile vehicle for collecting garbage, A control unit has a movement control unit that autonomously moves the moving body according to path information indicating the movement path. The device and A human sensor that detects human movement, Along the aforementioned travel route, the person possessing the aforementioned travel route or a person located along the travel route A trash can that accepts waste, A camera that photographs the surrounding area, A positioning device, Equipped with, The control device is When the person sensor detects that a person is approaching the moving object, the speed of the moving object is reduced, and the moving object is made to travel at a speed that makes it easy to dispose of trash. Then, when the person sensor detects that a person is moving away from the moving object, the speed of the moving object is increased. The system extracts debris from the images captured by the aforementioned camera, and when debris is extracted, it manages the moving object. The waste extraction unit sends a waste extraction notification to the control device, including the waste extraction time and location. Having, A mobile object.

2. The aforementioned trash can has multiple sorting bins, each displaying a different type of waste. The mobile body according to claim 1.

3. A camera that photographs the surrounding area, Images taken by the camera of the area around the travel path indicated by the aforementioned path information show that there is debris A waste extraction unit that extracts people, Equipped with, When the movement control unit detects a person holding trash from the image using the trash extraction unit, The moving body is moved away from the movement path and brought closer to the person holding the trash, and the sensor detects the trash If it is confirmed that the trash was collected from a person carrying it, the mobile unit will be returned to its original movement path. 、 The mobile body according to claim 1.

4. A mobile vehicle for collecting garbage, A control unit has a movement control unit that autonomously moves the moving body according to path information indicating the movement path. The device and Along the aforementioned travel route, the person possessing the aforementioned travel route or a person located along the travel route A trash can that accepts waste, Conversation section, Equipped with, When the aforementioned conversation unit receives a voice message from a person passing by, it will respond to the person with a voice. It emits a sound, and if there is a response to the emitted sound, it emits a sound prompting those nearby to dispose of their trash. A mobile object.

5. The aforementioned movement control unit, based on the direction of sound emission from the person and the current position of the moving object, From the location, a route is generated that leads from the direction of sound emission from the surrounding people, and the surrounding The moving body is advanced toward a person. The mobile body according to claim 4.

6. The aforementioned conversation section, after prompting the people around to dispose of their trash, then returns to the original travel route from the aforementioned detour route. He told those around him that he was going back to the street, and then he heard voices from those around him indicating their intention to continue littering. Upon confirming that the object has not been released, the movement control unit is instructed to return the moving object to its original movement path. ru, The mobile body according to claim 5.

Images