JP7310401B2 - Server equipment - Google Patents

Description

TECHNICAL FIELD The present invention relates to technology for managing a plurality of self-propelled robots equipped with a garbage container.

Patent Literature 1 describes a main body having a dust container, a detection means for detecting a person around the main body, and an expression for executing an action for inducing the person to pick up the dust when the person is detected. A robot is disclosed comprising:

JP 2006-102861 A

Trash cans are installed in spaces such as theme parks, amusement parks, parks, etc., but users do not know where the trash cans are, and sometimes go looking for them. If we could create an environment in which a self-propelled robot equipped with a trash can moves around the space, users would be able to throw away the trash by meeting the trash can robot without moving. become. By increasing the number of trash can robots that move around in the space, it is possible to increase the probability that a user will encounter a trash can robot.

There is an upper limit to the amount of garbage that can be stored in a garbage can, and when the garbage can is full, the garbage can robot must run to the garbage collection point and have the attendant collect the garbage to empty the garbage can. In other words, a trash can robot with a full trash can cannot receive new trash until the trash can is emptied. Therefore, in places where there are many users who want to throw away garbage, the frequency of the garbage cans becoming full increases, and as a result, there is a problem that the probability of users encountering garbage can robots capable of collecting garbage decreases.

SUMMARY OF THE INVENTION An object of the present invention is to provide a technique for arranging a trash can robot at an appropriate location.

In order to solve the above problems, one aspect of the present invention relates to a server device capable of communicating with a plurality of robots having a garbage container. A plurality of robots travel within a predetermined area including a plurality of zones. The server device includes an information acquisition unit that acquires garbage storage information regarding the amount of garbage stored in the garbage storage unit of the robot, and an amount of garbage discarded in each of the plurality of areas or the amount of garbage based on the garbage storage information of the plurality of robots. a deriving unit for deriving an index for the garbage collection; a responsible area determining unit for determining the area in which the robot is in charge of garbage collection based on the amount of garbage or an index related to the amount of garbage in each area derived by the deriving unit; and a communication unit for transmitting information about the area in charge after the change to the existing robot.

ADVANTAGE OF THE INVENTION According to this invention, the technique for arrange|positioning a trash-can robot to an appropriate place can be provided.

FIG. 10 is a diagram showing an example of an environment in which a plurality of trash can robots move around; 1 is a perspective view of a trash can robot; FIG. FIG. 4 is a diagram showing functional blocks of a control system for a trash can robot; It is a figure which shows the functional block of a server apparatus. It is a figure which shows the correspondence of a trash box robot and an area of responsibility. It is a figure which shows a mode that a trash-can robot moves to the area of responsibility changed.

FIG. 1 shows an example environment in which a plurality of trash can robots with trash receptacles move about. This environment is realized, for example, within a predetermined area 1 such as a theme park, an amusement park, or a park, and a plurality of trash can robots 10 have an autonomous running function and run within the area 1 including a plurality of zones. In the example shown in FIG. 1, area 1 includes first area 11, second area 12, third area 13 and fourth area . Boundaries between regions may overlap each other.

The autonomous running function includes a collision avoidance function for avoiding collisions with objects other than itself, such as other trash can robots 10 and people. The trash can robot 10 processes detection information from various mounted sensors in real time, and controls the traveling direction and running speed.

The server device 100 can wirelessly communicate with a plurality of trash can robots 10, and manages the area in which each trash can robot 10 is in charge of garbage collection. The trash can robot 10 travels within the assigned area designated by the server device 100 and collects trash thrown away by the user. When the trash box robot 10 receives an instruction to change its assigned area from the server device 100, it moves to the changed assigned area. Although the server device 100 is placed inside the area 1 in FIG. 1, it may be placed outside the area 1 as long as it can communicate with the trash can robot 10 .

The trash can robot 10 travels on a circular route determined within its assigned area. By having a plurality of trash can robots 10 run on a circular route in each area, users can meet the trash can robots 10 with a high probability. It should be noted that a plurality of types of circuit routes may be set for each area. When the garbage storage section is filled with garbage, the garbage can robot 10 travels to the nearest garbage collecting station, asks the attendant to collect the garbage, and then returns to the circular route.

As another operation, the trash can robot 10 basically travels along the circular route, but when called by the user, may deviate from the circular route and travel to the position where the user is. When the called user throws away the garbage, the garbage can robot 10 returns to the circular route and travels again.

FIG. 2 shows a perspective view of the trash can robot 10. As shown in FIG. The trash can robot 10 comprises a main body 16 having a control system, a drive mechanism and a battery, and the main body 16 is provided with a trash receptacle 18 which is a container for storing trash.

The trash can robot 10 has a plurality of wheels 28 . The trash can robot 10 may have at least three or more wheels 28 and preferably four or more wheels 28 . A drive mechanism built into the main body 16 includes at least a motor that rotates the wheels 28 and an actuator that adjusts the orientation of the wheels 28 . The control system determines the direction of travel and travel speed of the trash can robot 10 and controls the operation of the motors and actuators.

Various sensors 22 a , 22 b , 22 c , 22 d , 24 and 26 are provided on the main body 16 . Various sensors detect information about the surroundings of the trash can robot 10 or the trash receptacle 18 and provide the detected information to the control system.

A plurality of image sensors 22a, 22b, 22c, and 22d (hereinafter referred to as "image sensors 22" unless otherwise distinguished) are provided outside the main body 16 so as to photograph the entire circumference of the trash can robot 10. FIG. The image sensor 22 periodically photographs the surroundings of the trash can robot 10, and the photographing period may be, for example, 1/30 [second]. Images captured by the image sensor 22 are used by the control system to detect objects existing around the trash can robot 10 .

The image sensor 24 is provided at a position where the inside of the dust container 18 can be photographed. A plurality of image sensors 24 may be provided. The image sensor 24 may periodically photograph the interior of the dust container 18 , and the photographing period may be longer than the photographing period of the image sensor 22 . An image captured by the image sensor 24 is used by the control system to detect the amount of dust contained in the dust container 18 .

A weight sensor 26 is provided to measure the weight of the dust contained in the dust container 18 . The measured dust weight is used by the control system to detect the amount of dust contained in the dust container 18 .

FIG. 3 shows the functional blocks of the control system of the trash can robot 10. As shown in FIG. The control system includes a sensor information processing section 30 , a control section 40 , a communication section 50 , a GPS (Global Positioning System) receiver 52 , a map holding section 54 and a plurality of motors 56 . The sensor information processing section 30 has an object detection section 32 and a capacity detection section 34 . The control unit 40 has a travel control unit 42 and a capacity management unit 44 . The communication unit 50 has a wireless communication function, and can perform vehicle-to-vehicle communication with the communication units of other trash can robots 10 and can communicate with the communication units of the server device 100 . GPS receiver 52 detects the current position based on signals from satellites.

In FIG. 3, each element described as a functional block that performs various processes can be configured by a circuit block, memory, or other LSI in terms of hardware, and is loaded in memory in terms of software. It is realized by a program or the like. Therefore, those skilled in the art will understand that these functional blocks can be realized in various forms by hardware only, software only, or a combination thereof, and are not limited to either one.

<Basic behavior of trash can robot 10>
The trash can robot 10 is assigned an area for trash collection by the server device 100 . The map holding unit 54 holds map information indicating road positions in area 1 . The traveling control unit 42 refers to the map information and uses the current position information supplied from the GPS receiver 52 to control the trash can robot 10 so as to travel along a circular route in its assigned area. The travel control unit 42 preferably sets the travel speed to 5 kilometers per hour or less. Since the trash can robot 10 travels at a low speed, the user can easily approach the trash can robot 10 and dump the trash into the trash container 18. - 特許庁

The object detection unit 32 recognizes objects existing around the trash can robot 10 based on images captured by the plurality of image sensors 22, and detects information about the objects. For example, the object detection section 32 may detect the position of the object from the captured image of the image sensor 22 . Objects to be detected include static objects such as structures and gutters that obstruct travel, and movable objects (moving objects) such as people and other trash can robots 10 . The object detection unit 32 detects relative position information of other objects with respect to itself and supplies it to the traveling control unit 42 . The traveling control unit 42 determines the traveling direction and traveling speed so as to avoid collision with other objects, and controls the traveling of the trash can robot 10 .

When the object detection unit 32 recognizes a person in the captured image, the object detection unit 32 monitors the movement of the person. When it is recommended that a user make a predetermined gesture when throwing away trash in Area 1, the object detection unit 32 monitors whether the person is making a predetermined gesture. For example, if a gesture of stretching a hand upward and waving it left and right is defined as an expression of intention to throw away trash, the object detection unit 32 monitors whether the user is performing this defined gesture. When the object detection unit 32 detects that the gesture has been made, the object detection unit 32 supplies the travel control unit 42 with position information of the user and information indicating that the user has made a predetermined gesture. Thereby, the traveling control unit 42 causes the trash box robot 10 to travel to the position where the user is present so that the user can throw away the garbage without moving.

Note that the user may transmit the intention to throw away the garbage from, for example, a smartphone. In this case, the server device 100 may receive the location information of the user who has sent out the intention to throw away the trash, and direct the trash can robot 10 running nearby toward the user. When the trash box robot 10 approaches the user, the object detection part 32 detects the user making a predetermined gesture, and the travel control part 42 causes the trash box robot 10 to travel to the position where the user is. .

The amount detection unit 34 detects the amount of dust stored in the dust storage unit 18 . In the embodiment, the storage amount detection unit 34 detects the weight and volume of the dust as the storage amount of the dust in the dust storage unit 18 and provides them to the storage amount management unit 44 . Concerning the weight of dust, the storage amount detection unit 34 may provide the weight of the dust measured by the weight sensor 26 to the storage amount management unit 44 as it is.

The storage amount detection unit 34 performs image analysis on the image captured inside the dust storage unit 18 by the image sensor 24 , acquires dust volume information in the dust storage unit 18 , and provides the storage amount management unit 44 with the volume information. The dust volume information may be expressed as a ratio of the dust volume to the volume of the dust container 18, or may be expressed as a volume value obtained by image analysis. The amount detection unit 34 may acquire dust volume information in the same cycle as the imaging cycle of the image sensor 24, but may acquire it in a longer cycle.

The storage amount management unit 44 acquires dust weight and dust volume information from the storage amount detection unit 34 . When the dust volume information is expressed as a ratio of the dust volume to the volume of the dust container 18, for example, when it is 90% or more, the storage amount management unit 44 recognizes that the dust container 18 is almost full. and notifies the travel control unit 42 to that effect. In response to this, the travel control unit 42 refers to the map holding unit 54 to search for the garbage collection point closest to the current position, deviates from the circular route, and travels toward the garbage collection point. When the garbage is collected at the garbage collection point, the garbage can robot 10 travels the original circuit route again.

The storage amount management unit 44 generates garbage storage information related to the amount of garbage stored in the garbage storage unit 18, adds an identifier (robot ID) for identifying the trash can robot 10 and current time information to the garbage storage information, The data is transmitted from the communication unit 50 to the server device 100 . The trash accommodation information includes at least trash weight and may include trash volume information. The storage amount management unit 44 may periodically transmit the dust storage information, or may transmit the dust storage information when there is a change in the weight of the dust. The server device 100 acquires garbage accommodation information from a plurality of trash can robots 10 and uses it for optimal placement control of the trash box robots 10 .

<Assignment of Responsible Areas by Server Device 100>
FIG. 4 shows functional blocks of the server device 100 . The server device 100 includes a communication unit 102 and a processing unit 110 , and the processing unit 110 has an information acquisition unit 112 , a garbage amount derivation unit 114 , a charge area determination unit 116 and a charge table 118 . The communication unit 102 has a wireless communication function, can communicate with the communication unit 50 of the trash can robot 10, and can receive information transmitted from a mobile communication terminal such as a user's smart phone.

In FIG. 4, each element described as a functional block that performs various processes can be configured by a circuit block, memory, or other LSI in terms of hardware, and is loaded in memory in terms of software. It is realized by a program or the like. Therefore, those skilled in the art will understand that these functional blocks can be realized in various forms by hardware only, software only, or a combination thereof, and are not limited to either one.

The processing unit 110 manages areas in charge of the plurality of trash can robots 10 traveling in the area 1 .
FIG. 5 shows the correspondence relationship between the trash can robot 10 and the area in charge held in the table 118 in charge. In the duty table 118, the robot ID of the trash can robot 10 and the assigned area in the area 1 are associated and recorded. The correspondence relationship in the assignment table 118 is updated by the assigned area determination unit 116 . The trash can robot 10 runs within the assigned area and collects the user's trash.

The information acquisition unit 112 acquires garbage storage information about the amount of garbage accommodated in the garbage storage unit 18 from all the trash can robots 10 . The garbage amount derivation unit 114 derives the amount of garbage thrown away in each of the plurality of areas or an index related to the amount of garbage from the garbage storage information of all the trash can robots 10 .

As described above, the trash storage information includes the weight of trash stored in the trash storage unit 18, and the trash amount deriving unit 114 may derive the weight of trash discarded in each area as the trash amount. , and as an index for the amount of garbage, an index for the weight of garbage discarded in each area may be derived. Referring to FIG. 5, the garbage amount derivation unit 114 adds the garbage weight included in the garbage accommodation information to which the robot ID "0001" is added to the garbage weight discarded in the first area 11, 0002” is added to the weight of the garbage discarded in the second area 12 . The garbage amount deriving unit 114 adds the difference between the garbage weight included in the previously acquired garbage accommodation information and the garbage weight included in the currently acquired garbage accommodation information to the garbage weight discarded in the area. As a result, the weight of garbage thrown away in the area will be added to the weight of the garbage from the previous time.

In this way, the garbage amount derivation unit 114 refers to the assigned table 118, identifies an area from the robot ID added to the garbage accommodation information, and totalizes the weight of garbage discarded in the area. The garbage amount derivation unit 114 may totalize the weight of garbage per unit time, for example, total the weight of garbage every 15 minutes. Here, the weight of garbage per unit time in the first section 11 is W1, the weight of garbage per unit time in the second section 12 is W2, the weight of garbage per unit time in the third section 13 is W3, and the garbage per unit time in the fourth section 14 is W3. Assume that the weight is totaled as W4.

The garbage amount derivation unit 114 calculates the average garbage weight per trash box robot 10 for each zone. The average garbage weight is one of the indexes related to garbage weight, and is used to evaluate the number of garbage can robots 10 in each area. The number of trash can robots 10 in the first zone 11 is N1, the number of trash can robots 10 in the second zone 12 is N2, the number of trash can robots 10 in the third zone 13 is N3, and the number of trash can robots 10 in the fourth zone 14 is N3. Assuming N4, the average garbage weight for each area is obtained by the following formula.
(Average garbage weight in first zone 11) W1/N1
(Average garbage weight in second zone 12) W2/N2
(Average garbage weight in the third zone 13) W3/N3
(Average garbage weight in the fourth zone 14) W4/N4
The garbage amount derivation unit 114 provides the area-in-charge determination unit 116 with the calculated average garbage weight of each area.

The area-in-charge determining unit 116 determines the area in which the robot is in charge of garbage collection, based on the amount of garbage in each area derived by the garbage amount deriving unit 114 or an index related to the amount of garbage. In an embodiment, the assigned area determination unit 116 is provided with the average garbage weight of each area from the garbage amount derivation unit 114 and compares the average garbage weight of each area. A relatively high average trash weight indicates a relatively high speed at which the trash receptacle 18 of the trash can robot 10 is filled. Therefore, if the average garbage weight (W1/N1) in the first zone 11 is larger than the average garbage weight (W2/N2) in the second zone, the garbage container 18 of the trash can robot 10 in the first zone 11 will be full. It is presumed that the time until the garbage container 18 of the trash can robot 10 in the second zone 12 becomes full is shorter than the time.

When the garbage container 18 becomes full, the trash can robot 10 needs to move to the garbage collection point to collect the garbage in the garbage container 18. In the area, the number of trash can robots 10 capable of collecting trash is reduced by one. Therefore, the area-in-charge determination unit 116 determines areas in which the trash can robot 10 is in charge of garbage collection so that the average garbage weights of the areas are not biased, that is, the average garbage weights of the areas are substantially equal.

For example, assume that the relationship (W3/N3)>(W1/N1)>(W4/N4)>(W2/N2) holds. Assuming that one trash can robot 10 is moved from the second zone 12 to the third zone 13 and one trash can robot 10 is moved from the second zone 12 to the first zone 11, the average garbage in each zone is Weight is calculated by the following formula.
(Average garbage weight in first zone 11) W1/(N1+1)
(Average garbage weight in second zone 12) W2/(N2-2)
(Average garbage weight in the third zone 13) W3/(N3+1)
(Average garbage weight in the fourth zone 14) W4/N4

At this time, if W1/(N1+1), W2/(N2-2), W3/(N3+1), and W4/N4 are substantially equal, one trash can robot 10 from the second zone 12 is transferred to the first zone 11 and By moving to each of the three areas 13, the number of trash can robots 10 in each area is optimally set. The area-in-charge determining unit 116 calculates the number of trash can robots 10 in each area so that the average garbage weight in each area is approximately equal, and changes the area in charge of the trash-can robot 10 .

FIG. 6 shows how the trash can robot 10 moves to another area. The responsible area determination unit 116 changes the responsible area of one trash can robot 10 in the second area 12 to the first area 11, and changes the responsible area of another trash can robot 10 in the second area 12 to the third area. Change to area 13. The changed information is registered in the person in charge table 118 . When the area in charge of the trash can robot 10 is changed, the communication unit 102 transmits information about the area in charge after the change to the trash box robot 10 whose area has been changed. When the trash box robot 10 receives an instruction to change its assigned area from the server device 100, it moves to the changed assigned area and travels around the assigned area. In an embodiment, one trash can robot 10 in the second zone 12 moves to the first zone 11 and another trash robot 10 in the second zone 12 moves to the third zone 13, as shown. are doing.

The present invention has been described above based on the examples. It should be understood by those skilled in the art that this embodiment is merely an example, and that various modifications can be made to combinations of each component and each treatment process, and such modifications are within the scope of the present invention. .

In the embodiment, the area-in-charge determining unit 116 determines the area in charge of the trash can robot 10 based on the average garbage weight, but the area in charge of the trash-can robot 10 may be determined based on the garbage weight. In the embodiment, the dust amount derivation unit 114 calculates the dust weight as the dust amount and calculates the average dust weight as the index for the dust amount. A garbage volume may be calculated.

DESCRIPTION OF SYMBOLS 10... Trash box robot, 16... Main body, 18... Garbage storage part, 30... Sensor information processing part, 32... Object detection part, 34... Storage amount detection part, 40... Control unit 42 Travel control unit 44 Capacity management unit 50 Communication unit 52 GPS receiver 54 Map holding unit 100 Server device , 102... Communication unit, 110... Processing unit, 112... Information acquisition unit, 114... Waste amount derivation unit, 116... Responsible area determination unit, 118... Responsible table.

Claims (2)

A server device capable of communicating with a plurality of robots having a garbage storage unit, wherein each of the plurality of robots travels in a predetermined area including a plurality of areas and on a circular route determined in the area it is in charge of. and
an information acquisition unit that acquires garbage storage information about the amount of garbage contained in the garbage container of the robot;
a deriving unit for deriving the amount of trash thrown away in each of the plurality of areas or an index related to the amount of trash from the trash storage information of the plurality of robots;
A responsible area determination unit that determines an area in which the robot is in charge of garbage collection based on the amount of garbage or an index related to the amount of garbage in each area derived by the derivation unit;
a communication unit that transmits information about the changed area of responsibility to the robot whose area of responsibility has changed ,
The derivation unit calculates an average amount of garbage per robot in each area,
The area-in-charge determination unit determines an area in which the robot is in charge of garbage collection, based on the calculated average amount of garbage in each area.
A server device characterized by: The area-in-charge determination unit calculates the number of robots in each area so that the average amount of garbage in each area is approximately equal, and changes the area in charge of the robot.
2. The server device according to claim 1, wherein:

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