IT202100010655A1 - SYSTEM FOR COLLECTING WASTE IN AN URBAN AREA, OPERATING PROCEDURE AND CORRESPONDING IT PRODUCT - Google Patents

Description

DESCRIPTION of the industrial invention entitled:

?System for collecting waste in an urban area, corresponding operating procedure and IT product?

DESCRIPTION TEXT

Technical field

The present description refers to waste collection systems in an urban area, of the type comprising a robot which moves autonomously in the urban area to collect waste and periodically returns to a shelter and electric recharge station (?hub?) .

Technology background

Systems for cleaning domestic environments (mainly homes) are known in the art which comprise a robot capable of moving autonomously in the domestic environment performing a cleaning operation (for example, sweeping the floor) and periodically returning to a point of electric recharge to recharge the battery of the robot itself.

In some known systems of simple conception, the robot moves in the domestic environment following substantially random directions and varying its direction of movement when it encounters an obstacle which prevents its movement in the current direction. In other known systems pi? sophisticated, the robot ? able to memorize a map of the home environment following a configuration phase, and determine one or more? paths that cover the entire extension of the domestic environment.

Waste collection systems have been proposed for use in urban areas (for example squares, public gardens, city parks, pedestrian areas, etc.) based on an architecture similar to that implemented in known systems for domestic use. In these systems for urban use, the robot moves autonomously in the urban environment collecting waste from the street level, and periodically returns to a charging station to recharge the batteries. The charging station also provides a shelter to protect the robot from external agents (e.g. bad weather).

in virtue of the greatest complexity? of urban environments compared to domestic environments (due, for example, to the variable degree of crowding of the urban environment or the presence of numerous artifacts), the navigation of an autonomous robot in the urban environment requires a navigation system more? accurate and sophisticated compared to navigation systems implemented in home devices.

In this description, the term ?navigation? ? used in the sense pi? wide range of ?determination of position and trajectory of movement?, also applicable to terrestrial navigation.

Purpose and summary

In view of the above, autonomous garbage collection robots in urban environments including advanced navigation systems are desirable.

A purpose of one or more embodiments? provide a waste collection system in which an autonomous mobile robot works with a storage and charging station to navigate and move accurately in an urban area.

According to one or more embodiments, such a purpose pu? be achieved by means of a waste collection system having the characteristics set forth in the claims which follow. Briefly, the system comprises an autonomous mobile robot for waste collection and an element of street furniture which functions as a shelter and recharge station (?hub?) for the mobile robot. The robot and the station exchange radio signals to facilitate the navigation of the autonomous robot in the urban area.

One or more? embodiments can refer to a corresponding operating method of the system.

One or more? embodiments can refer to a corresponding computer product that can be loaded into the memory of at least one processing circuit (e.g., a control unit of the autonomous robot and/or a control unit of the station) and comprising portions of software code to execute the acts of the procedure when the product? performed on at least one processing circuit. As used herein, reference to such a computer product ? understood as equivalent to reference to a computer-readable medium containing instructions for controlling the processing system in order to coordinate the implementation of the procedure according to one or more? embodiments. The reference to ?at least one? processing circuit? intended to highlight the? eventualit? that one or more embodiments are implemented in a modular and/or distributed form: for example, one or more? embodiments can foresee the interaction between a unit? of control of the autonomous robot and a? unity? of control of the station, in which a part of? elaboration ? carried out by the autonomous robot and a part of the processing? performed by the station.

The claims are an integral part of the technical teaching provided herein in relation to the embodiments.

In short, one or more Embodiments relate to a system for collecting waste in an urban area. In various embodiments, the system comprises a mobile robot comprising means for autonomous movement, means for collecting waste, a unit local control electronics, and a respective GNSS receiver configured to receive radio signals from a global satellite positioning system. The system also includes an element of street furniture comprising a shelter room accessible to the mobile robot, a unit? central control electronics, and a respective GNSS receiver configured to receive radio signals from the global satellite positioning system. The unit central control electronics ? configured to calculate a position error of the global satellite positioning system as a function of a known position of the street furniture element and the radio signals received from the global satellite positioning system, and transmit a correction signal indicative of the position error of the global satellite positioning system. The unit local control electronics ? configured to determine a current position of the mobile robot according to the radio signals received from the global positioning satellite system and the correction signal received from the unit? central control electronics, and moving the mobile robot along at least one garbage collection path defined in the urban area as a function of the mobile robot?s current location, activating the garbage collection means while moving the mobile robot along the at least a garbage collection route. The mobile robot further includes a distance sensor configured to sense data comprising distances to a set of points in a region of interest in the direction of movement of the mobile robot. The unit local control electronics ? configured to process the data detected by the distance sensor, during a return operation of the mobile robot to the hospitalization room, to produce indicative data of the position of an entrance gate of the hospitalization room, and to move the mobile robot during the operation of return according to the current position of the mobile robot and the data indicative of the position of the entrance gate of the shelter room.

In one or more preferred embodiments, the unit? local control electronics and/or the unit? central control electronics include a memory configured to store data indicative of the at least one defined refuse collection route in the urban area.

In one or more preferred embodiments, the unit? central control electronics ? configured to issue commands to the mobile robot to exit the hospitalization room and/or return to the hospitalization room according to a meteorological condition detected in the urban area and/or according to a crowded condition detected in the urban area .

In one or more preferred embodiments, the entrance gate of the recovery room comprises an automated door, and the unit? central control electronics ? configured to open the automated door in response to the fact that the mobile robot performs the re-entry operation and is within a limit distance from the street furniture element.

In one or more preferred embodiments, the unit? local control electronics ? configured to process the data detected by the distance sensor as the mobile robot moves along the garbage collection path to detect obstacles along the garbage collection path, and deflect the mobile robot from the garbage collection path in response to an obstacle is detected.

In one or more preferred embodiments, the street furniture element includes a bench, and the recovery room is ? positioned below the seating surface of the bench.

In one or more preferred embodiments, the GNSS receivers receive radio signals from at least one global satellite positioning system selected from the Global Positioning System (GPS), the Galileo system, the Global Navigation Satellite System (GLONASS), the BeiDou Navigation Satellite System (BDS), and the Indian Regional Navigation Satellite System (IRNSS).

In one or more preferred embodiments, the distance sensor comprises a stereoscopic image sensor and/or a LIDAR sensor.

In one or more Preferred embodiments, the street furniture item comprises an electric charging device for charging a battery of the mobile robot when the mobile robot is off. hospitalized inside the hospitalization room.

In one or more preferred embodiments, the street furniture element ? configured to connect to an electrical supply network and/or includes a photovoltaic panel.

One or more? Embodiments relate to a method for controlling a system for collecting waste in an urban area according to one or more embodiments. The process includes:

- calculate a position error of the global satellite positioning system as a function of a known position of the street furniture element and the radio signals received by the global satellite positioning system,

- transmit by radio a correction signal indicative of the position error of the global satellite positioning system,

- determine a current position of the mobile robot according to the radio signals received from the global satellite positioning system and the correction signal received from the unit? central control electronics,

- move the mobile robot along at least one waste collection path defined in the urban area as a function of the current position of the mobile robot, activating the waste collection means while moving the mobile robot along the at least one waste collection path waste,

- process the data detected by the distance sensor, during a return operation of the mobile robot to the shelter room, to produce data indicative of the position of an entrance gate to the shelter room, and

- move the mobile robot during the return operation according to the current position of the mobile robot and the indicative data of the position of the entrance gate of the shelter room.

Brief description of the figures

Various embodiments will now be described, purely by way of example, with reference to the accompanying figures, in which:

- figure 1 ? an exemplary view of a waste collection system in an urban area according to one or more embodiments of the present disclosure, e

- figure 2 ? an exemplary block circuit diagram of the electronics of a system according to one or more? embodiments of the present disclosure.

Detailed description

In the following description are illustrated one or more? specific details, aimed at providing a thorough understanding of examples of embodiments of this disclosure. Embodiments can be obtained without one or more? specific details, or other processes, components, materials, etc. In other cases, known structures, materials, or operations are not illustrated or described in detail such that certain aspects of the embodiments are not rendered unclear.

The reference to ?one embodiment? in the context of the present description it is meant to mean that a particular configuration, structure or feature described in relation to the embodiment ? included in at least one embodiment. Therefore, phrases like ?in one embodiment? that can be present in one or more? points of the present description do not necessarily refer to the single and same embodiment. Furthermore, particular shapes, structures, or characteristics can be combined in any suitable way in one or more? embodiments.

In all the figures annexed hereto, unless the context indicates otherwise, similar parts or elements are indicated by similar references/numbers and a corresponding description will not be repeated for brevity?.

References used herein are provided simply for your convenience. and therefore do not define the extent of protection or the scope of the embodiments.

One or more? embodiments relate to a system for collecting waste in an urban area, as illustrated for example in figure 1. The system 1 comprises an autonomous robot 10 and an element of urban furniture 20, for example a bench. In the continuation of this description, it will be done? reference for brevity? to a bench 20, without this reference being intended as a limitation of the embodiments described here, since the urban furniture element could take other forms (purely by way of further examples, the urban furniture element could be a table, a fountain, etc.).

The robot 10 comprises means for autonomous movement, such as for example two wheels 12 independently actuated by respective electric motors, and a set of sensors for navigation, described further on. in detail later. The robot 10 also comprises means for collecting waste, such as for example two brushes 14 driven by respective electric motors, one or more containers for storing the collected waste, and possibly a waste suction system.

The bench 20 comprises a shelter room 22 accessible to the robot 10, possibly through an access door 24. As illustrated in figure 1, in the case exemplified here in which the street furniture element is? in the form of a bench, the local shelter can? be positioned below the seating surface of the bench, at street level.

Figure 2 ? a block circuit diagram exemplifying some of the electronic components of the robot 10 and bench 20.

As illustrated in figure 2, the robot 10 comprises a battery 101 (for example, a battery with a nominal voltage equal to 42 V) which stores electrical energy to power the sensors, the actuators and in general the electronic systems of the robot 10. The battery 101 ? connected to a control card 102, which in turn ? connected to a?unit? control electronics 103 (for example, a microprocessor or a microcontroller) of the robot 10, for example via a UART communication interface. The 102 control board ? connected to the electric motors 104a, 104b which drive the wheels 12 of the robot, and receives one or more? command signals C from? unit? of control 103 for operating the motors 104a, 104b. Furthermore, the control card 102 can? provide one or more feedback signals F to? unit? control 103.

The unit control 103 ? connected through respective controllers 105a, 105b to further electric motors 106a, 106b which drive the brushes 14. For example, the motors 106a, 106b comprise stepper motors and the controllers 105a, 105b are stepper controllers ( ?stepper controllers?). If the robot includes waste suction means, can these also be controlled by the unit? control 103.

The unit control 103 ? further connected to a wireless communication module 107 which allows the robot 10 to exchange (transmit and/or receive) signals with the bench 20, for example by means of a connection to an internet network. For example, the 107 wireless communication module can include a connection module to a Wi-Fi network, and the exchange of signals between the robot 10 and the bench 20 can take place via a local Wi-Fi network available in the urban area in which the robot 10 operates and in which ? the bench 20 is installed. In addition or alternatively, the wireless communication module 107 can? include a connection module to a cellular network (e.g., by means of 3G/4G/5G connectivity) and the exchange of signals between the robot 10 and the bench 20 can take place via the Internet by connecting to a remote server.

The unit control 103 ? also connected to a GNSS 108 receiver to receive radio signals from a global satellite positioning system. In particular, the GNSS 108 receiver? RTK (Real-Time Kinematic) type.

The unit control 103 ? also connected to one or more? distance sensors 109a and/or 109b configured to sense the distances of a set of points (e.g., a "cloud" of points) in a region of interest in the direction of motion of the robot 10. For example, distance sensor 109a can? include a LIDAR (Light Detection and Ranging) sensor and the 109b distance sensor can? include a stereoscopic image sensor (also called a stereo camera, stereoscopic camera or stereoscopic camera). The sensors 109a and/or 109b are positioned in a frontal region of the robot 10 in order to detect obstacles and/or objects in the direction of movement of the robot. In various embodiments, the robot 10 can comprise a single distance sensor (109a or 109b), a pair of sensors 109a and 109b, or even a plurality of of sensors 109a and/or 109b (for example, two or more stereoscopic image sensors).

As illustrated in FIG. 2, the bench 20 comprises a unit? control electronics 201 (for example, a microprocessor or a microcontroller). The unit control 201 ? connected via a controller 202 to an electric motor 203 which drives (ie opens and closes) the access door 24 to the recovery room 22. For example, the motor 203 comprises a stepping motor and the controller 202 ? a stepper controller.

The unit control 201 ? also connected to a battery 204 (for example, a battery with nominal voltage equal to 12 V) which powers the electronic systems of the bench 20. In one or more? embodiments, the bench 20 comprises a photovoltaic panel 205 connected to the battery 204 via a charging management circuit 206, such that the battery 204 can be charged. be recharged with solar energy collected by the photovoltaic panel 205. Additionally or alternatively, the bench 20 can? comprising an electrical connection 207 to an electrical power supply network (for example, a household-type 220 V AC power supply network). The 204 battery can? be selectively connected to the power supply through an inverter 208, so that the battery 204 can? be recharged from the mains. In particular, the electrical connection between the mains supply and the battery 204 can be selectively activated by means of an electronic switch 209 controlled by the unit? control circuit 201 by means of a control circuit 210.

The electronic switch 209 can? alternatively couple the battery 204 (via the inverter 208) to a direct current recharging circuit 211 (for example, a 42 V DC recharging circuit, or in any case configured to supply an output voltage equal to the nominal voltage of the battery 101 of the robot 10). The 211 charging circuit? coupled to two electrical terminals 212a, 212b positioned in the hospital room 22, in such a way that, when the robot 10 is hospitalized in the hospitalization room, an electrical coupling is made between the recharging circuit 211 and the battery 101 to recharge the battery 101 of the robot 10. In addition or alternatively, the electrical coupling between the recharging circuit 211 and the battery 101 of the robot can? be accomplished by inductive coupling, without the use of physical electrical connectors.

The unit control 201 ? also connected to a GNSS receiver 213 to receive radio signals from the same global satellite positioning system used by the robot 10. In particular, the GNSS receiver 213 is also connected. RTK (Real-Time Kinematic) type.

The unit control 201 ? further connected to a wireless communication module which allows the bench 20 to exchange (transmit and/or receive) signals with the robot 10, for example via the internet network discussed above. Therefore, the wireless communication module of the bench 20 can? include a Wi-Fi network connection module and/or a cellular network connection module, similar to the robot 10.

In the system 1 described here, the robot 10 and the bench 20 collaborate by exchanging radio signals (via the respective wireless communication modules, possibly via connection to an Internet network) to precisely determine the position of the robot 10 and facilitate its navigation in the area urban. In particular, the localization system is based on a satellite-type architecture (GNSS, Global Navigation Satellite System) RTK (Real-Time Kinematic), in which the satellite localization device of bench 20 acts as a base station for determining the ?position error of the GNSS signals, and transmits to the robot 10 a correction signal indicative of the GNSS system error, which the robot 10 uses to compensate for the position determined by means of the GNSS signals received by it alone. Therefore, the unit? controller 201 and/or the RTK localization device 213 are configured to calculate a position error of the GNSS positioning system as a function of the position of the bench 20, which ? known at the time of its installation in the urban area, and of the signals received by the GNSS positioning system, according to known methodologies of so-called differential satellite localization, of which RTK technology is a part. The bench 20 then transmits the correction signal indicative of the error inherent in the data received from the satellite system, so that this correction signal is received by the robot 10. For this reason, in the present description reference is made to the street furniture element 20 also with the terminology ?central station? 20 or ?base station? 20, in virtue? of the role of master device that this element plays in the navigation system of the robot 10.

In turn, the robot 10 ? configured to determine its current position according to the signals received from the GNSS satellite system and the correction signal received from the bench 20, thus being able achieve a localization accuracy in the order of a few centimeters (for example, about 2 cm). Once its position has been precisely determined, the robot 10 moves in the urban area following a defined waste collection path, at the same time activating the brushes 14 to collect the waste from the road surface.

In one or more forms of implementation, one or more? waste collection paths for the robot 10 can be memorized, during a configuration phase, in a memory of the robot 10 itself. In that case, ? it is sufficient for the bench 20 to give the robot 10 an activation command, possibly associated with a command identifying a particular collection route, so that the robot leaves the hospitalization room 22 and moves autonomously along the indicated path. The robot can return to the shelter room 22 at the end of the predetermined route, or if it receives a specific return command transmitted by the central station 20, or again if it detects a low charge level of the battery 101.

Additionally or alternatively, the garbage collection routes may be stored in a memory of the central station 20, and the robot 10 may be configured to follow a given waste collection route under the continuous supervision of the central station 20, which sends command signals to the robot 10 on a continuous basis.

In various embodiments, the global satellite positioning system (GNSS) utilized by the receivers 108 and 213 is the Global Positioning System (GPS). Alternative embodiments may use another satellite positioning system, such as the Galileo system, the Global Navigation Satellite System (GLONASS), the BeiDou Navigation Satellite System (BDS), or the Indian Regional Navigation Satellite System (IRNSS) . In one or more embodiments, the robot 10 and the central station 20 can receive signals from multiple? of one of these systems.

As anticipated, the robot 10 also comprises a distance sensor, such as a LIDAR sensor 109a and/or at least a stereoscopic image sensor 109b, configured to detect the distances of a point cloud in a region of interest in the direction of movement of the robot . This distance sensor allows the robot 10 to detect any obstacles while navigating along the waste collection route. The robot 10 can? therefore be configured to deviate from the predetermined paths in order to avoid obstacles detected by the sensors 109a and/or 109b.

In addition, the distance sensor 109a, 109b can be used by the robot 10 to improve location accuracy when navigating in the urban area. For example, robot 10 can? use artificial vision algorithms (?computer vision?) to detect the presence of one or more? digital markers on the bench 20, which make it possible to determine the position of the robot in space with greater precision.

In various embodiments, the data collected by one or more? distance sensors 109a and/or 109b, processed by means of artificial vision algorithms, are merged with the position data determined by the GPS RTK system, so as to increase the localization precision of the robot 10 and provide a correction (for example continuous, instant by instant) of the position of the robot 10 in the urban space during navigation.

In particular, an artificial vision algorithm for processing the data collected by the distance sensor? advantageously used by the robot 10 during the return operation to the hospitalization room 22. Once the cleaning of the surrounding urban area has been completed, or when? necessary to make a stop to recharge the battery 101, or in any other case in which the robot 10 ? recalled from the central station 20 to the hospitalization room 22, the robot 10 goes towards the bench 20. During the return phase, taking advantage of the possibility? of continuous wireless communication between the robot 10 and the central station 20, the central station 20 can? detect when the robot 10 is in its vicinity (for example, within a certain limit distance equal to a few metres) and can consequently open the door 24 to allow the robot 10 to access the shelter room 22. When the robot 10 is in the proximity? of the opening 24, the distance sensor of the robot 10 can? detect a ?cloud? of points in correspondence with the opening 24 of the bench 20, identifying the void and its geometric centre. The data detected by the distance sensor and processed according to an artificial vision algorithm can be combined (?merged?) with the position data determined by means of the differential satellite positioning system (GPS RTK) allowing the robot 10 to direct its navigation in precisely through the opening 24.

In addition, the data detected by the distance sensor and processed according to an artificial vision algorithm can be combined with the position data determined through the differential satellite positioning system even during the navigation of the robot 10 in the urban area (in the open field ?), using an initial setup step. For example, robot 10 can? be configured to store a map of the urban area by collecting data via the distance sensor during the initial setup phase, where robot 10 ?explores? the urban area. Once this map has been memorized (which may include data indicative of the position of various obstacles and/or artefacts, such as, for example , trees, sidewalks, flowerbeds, fixed installations of various kinds), the robot 10 can use the information contained therein to continuously correct one's position, avoiding the accumulation of a position error (drift error) over time.

In one or more embodiments, therefore, the robot 10 navigates in the urban environment following predefined paths, avoiding static and dynamic obstacles detected by the sensors 109a and/or 109b. Autonomous navigation? supported by the differential satellite positioning system which makes it possible to determine, instant by instant and with an accuracy of a few centimeters (even just 2 cm), the coordinates (x, y) of the robot in the urban area and its relative rotation angle therefore its direction of movement) thanks to the subordinate relationship with the master device, i.e. the central station 20.

In one or more embodiments, the central station 20 operates as a central control and data collection device, maintaining constant wireless communication with one or more? 10 autonomous robots, as well as an electric charging station for the latter. The data exchange between the robots 10 and the central station 20 can allow the central station 20 to carry out an energy analysis of the system (for example, by monitoring the state of recharge and the electrical efficiency of the robots 10), as well as to analyze the logistical and operational efficiency of the system. In particular, the unit? of central control 201 pu? analyze one or more parameters for programming the outputs of the robot 10. For example, the central station 20 pu? give operating commands (exit and/or return) to the robot 10 according to the weather conditions in the urban area of reference, which can be detected by suitable sensors of the central station 20 and/or by accessing online weather forecasts, in order to avoid possible damage to the robot. According to another example, the robots 10 can be configured to collect statistical data about the crowding of the urban area where they operate (for example, memorizing the number of obstacles encountered during each operating session), and the central station 20 can be configured to process this data in order to program future robot outputs 10.

In one or more embodiments, the central station 20 and/or the robots 10 can be equipped with sensors configured to analyze the type of waste collected in the urban area (for example, video cameras to distinguish plastic from other materials), and/or the quantity? of collected waste. The central station 20 pu? process this data and accordingly program the outputs of the robots 10 (for example, establishing the output frequency of the robot, or assigning to each waste collection route a parameter which indicates the optimal cleaning frequency of that route).

In various embodiments, the robot 10 can be configured to dump garbage when ? hospitalized inside the hospitalization room 22. For example, the street furniture element 20 can? include a waste collection room below the recovery room 22, possibly separated by a trap door. Alternatively, the street furniture element 20 can be installed above a pit previously prepared in the ground.

Alternatively, the robot 10 pu? be prepared to unload the waste at certain predetermined unloading points along the route followed. According to a further alternative, the robot 10 can be downloaded manually by an operator when the robot is in hospitalization room 22 or at another time.

Various embodiments have been described herein with reference to the interaction between a central station 20 and an autonomous robot 10. In one or more? forms of implementation, the system pu? understand a plurality of autonomous robots 10 which exchange signals with the same central station 20 in the manner previously described. A single central station 20 can? be provided with a recovery room 22 adapted to contain more? autonomous robots, optionally comprising a corresponding number of electric charging interfaces.

Without prejudice to the underlying principles, the details and embodiments can vary significantly with respect to what? That ? been described here only as an example, without deviating from the scope of protection.

The scope of protection? defined by the appended claims.

Claims (12)

1. System (1) for collecting waste in an urban area, comprising: - a mobile robot (10) comprising means for autonomous movement (12), means for collecting waste (14), a unit? local control electronics (103), and a respective GNSS receiver (108) configured to receive radio signals from a global satellite positioning system, and - an element of street furniture (20) comprising a shelter room (22) accessible to said mobile robot (10), a unit central control electronics (201), and a respective GNSS receiver (213) configured to receive radio signals from said global satellite positioning system, in which said unit? central control electronics (201) ? configured for: - calculating a position error of said global satellite positioning system as a function of a known position of the street furniture element (20) and of said radio signals received by said global satellite positioning system, and - transmitting a correction signal indicative of said position error of said global satellite positioning system, in which said unit? local control electronics (103) ? configured for: - determining a current position of the mobile robot (10) as a function of said radio signals received from the global satellite positioning system and said correction signal received from the unit? central control electronics (201), e - moving said mobile robot (10) along at least one waste collection path defined in said urban area as a function of said current position of said mobile robot, activating said waste collection means (14) during movement of said mobile robot along said at least one garbage collection path, wherein the mobile robot (10) further comprises a distance sensor (109a, 109b) configured to detect data comprising the distances of a set of points in a region of interest in the direction of movement of the mobile robot, e in which said unit? local control electronics (103) ? also configured for: - processing the data detected by said distance sensor (109a, 109b), during a return operation of the mobile robot (10) to said hospitalization room (22), to produce data indicative of the position of an entrance gate of said shelter, e - moving said mobile robot (10) during said return operation as a function of said current position of said mobile robot and of said data indicative of the position of the entrance gate of said shelter room (22). 2. System (1) according to claim 1, wherein said unit? local control electronics (103) and/or said unit? central control electronics (201) includes a memory configured to store data indicative of said at least one garbage collection route defined in said urban area. 3. System (1) according to claim 1 or claim 2, wherein said unit? central control electronics (201) ? configured to impart to said mobile robot (10) exit commands from said shelter room (22) and/or return commands to said shelter room (22) according to a meteorological condition detected in correspondence with said urban area and/or according to a condition of crowding detected in said urban area. 4. System (1) according to any one of the preceding claims, wherein said entrance gate of said recovery room (22) comprises an automated door (24), and in which said unit? central control electronics (201) ? configured to open the automated door in response to the fact that the mobile robot (10) performs said return operation and is within a limit distance from said street furniture element (20). 5. System (1) according to any one of the preceding claims, wherein said unit? local control electronics (103) ? configured for: - processing the data detected by said distance sensor (109a, 109b) during the movement of said mobile robot (10) along said at least one refuse collection path to detect obstacles along said at least one refuse collection path, and - deflecting said mobile robot (10) from said at least one waste collection path in response to the fact that an obstacle ? detected. 6. System (1) according to any one of the preceding claims, wherein said street furniture element (20) includes a bench, and said shelter room (22)? positioned below the seating surface of the bench. 7. System (1) according to any one of the preceding claims, wherein said GNSS receivers (108, 213) receive radio signals from at least one global satellite positioning system selected among the Global Positioning System, GPS, the Galileo system, the Global Navigation Satellite System, GLONASS, the BeiDou Navigation Satellite System, BDS, and the Indian Regional Navigation Satellite System, IRNSS. System (1) according to any one of the preceding claims, wherein said distance sensor comprises a LIDAR sensor (109a) and/or a stereoscopic image sensor (109b). 9. System (1) according to any one of the preceding claims, wherein said street furniture element (20) comprises an electric recharging device (211) for charging a battery (101) of said mobile robot (10) when said mobile robot ? hospitalized inside said hospitalization room (22). 10. System (1) according to any one of the preceding claims, wherein said element of street furniture (20) ? configured (210) to connect to an electrical supply network (207) and/or comprises a photovoltaic panel (205). 11. Method for controlling a system (1) for collecting waste in an urban area according to any one of the preceding claims, the method comprising: - calculating a position error of said global satellite positioning system as a function of a known position of the street furniture element (20) and of said radio signals received by said global satellite positioning system, - transmitting a correction signal indicative of said position error of said global satellite positioning system, - determining a current position of the mobile robot (10) as a function of said radio signals received from the global satellite positioning system and said correction signal received from the unit? central control electronics (201), - moving said mobile robot (10) along at least one waste collection path defined in said urban area as a function of said current position of said mobile robot, activating said waste collection means (14) during movement of said mobile robot along said at least one waste collection route, - processing the data detected by said distance sensor (109a, 109b), during a return operation of the mobile robot (10) to said hospitalization room (22), to produce data indicative of the position of an entrance gate of said shelter, e - moving said mobile robot (10) during said return operation as a function of said current position of said mobile robot and of said data indicative of the position of the entrance gate of said shelter room (22). 12. Computer product loadable in the memory of at least one processing circuit (103, 201) and comprising portions of software code for performing the acts of the method according to claim 11 as a result of the execution of the computer product on said at least one processing circuit ( 103, 201).