JPH07223705A - Waste unmanned collecting method and device therefor - Google Patents

Abstract

PURPOSE:To provide a waste unmanned collection method and a device therefor which can minimize a space required for collecting waste in a building and is simple and flexible and can be applied to an existing building. CONSTITUTION:An empty container exclusive for waste and conveyed by an automated guided vehicle 3 is automatically inserted into a container storage device 1 from its side face, and then, the automated guided vehicle 3 moves to the opposite side of the container storage device 1. At this position, the exclusive container containing waste is automatically placed on the automated guided vehicle 3, and then, the vehicle 3 travels by itself to convey the exclusive container containing waste to a waste processing room R in a building. After only the waste is discharged from the exclusive container to a specified place in the waste processing room R, the empty exclusive container is automatically placed on the vehicle 3, and then the vehicle 3 returns by itself to the side face of the container storage device in the building. This operation is repeated so that waste can be automatically collected in the specified position in the waste processing room R.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an unmanned waste collecting method and apparatus for labor-saving, unmanned collection of waste discharged from a building, and accumulation in a waste processing room.

[0002]

2. Description of the Related Art Conventionally, it has been a great effort to collect the waste discharged from each floor of a large and high-rise building and bring it to the waste treatment room. Moreover, since the work cannot be done during the daytime, it is necessary to collect it during the nighttime when the work in the building is almost completed, and it is not possible to secure manpower for this purpose. In view of this situation, various mechanical collection / transportation methods have been proposed. That is, the methods are roughly classified as follows. Small-diameter air transportation system The principle of vacuum cleaner is to vacuum the piping and transport the waste to the waste treatment room.When the waste is thrown in through the waste inlets located on each floor of the building, the waste will be crushed by a crusher. After being crushed and once stored in the waste storage tank, it is pneumatically transported to the waste processing chamber through a small-diameter pipe. Shooting method Waste from each floor is put in a bag or a dedicated capsule and dropped into the waste treatment room. Some are equipped with a control device that reduces the impact when dropped. Lift method Waste is put in a container on each floor and transported to a waste treatment room by a dedicated lift. Robot system A garbage tray is placed on a trolley placed in a prescribed place in a prescribed room on each floor, and the trolley is towed by an automated guided vehicle (AGV), placed on an elevator and transported to a garbage treatment room. In the room, the trays mounted on the trolley are transferred one by one to the processing line by a robot or the like.

[0003]

Although the above-mentioned conventional waste collection devices have their respective advantages and disadvantages, a small-diameter pneumatic transportation system requires some dedicated pipes and a temporary waste storage tank. Therefore, there is a problem in that a space for that is taken and that much power is required. Further, in the chute method and the lift method, there is a problem in that a space for a dedicated chute or lift is taken. In addition, the robot system requires a dedicated room, which requires space and the tray on the trolley cannot be placed anywhere, and the material handling in the waste treatment room becomes complicated. There is.

The present invention has been made in view of the above-mentioned circumstances, and minimizes the space required for collecting dust in a building, and is simple (flexible) and flexible (existing) in an existing building. It is also intended to provide an unmanned waste collection method and device applicable.

[0005]

SUMMARY OF THE INVENTION In order to solve the above problems, the present invention provides a garbage provided with an automatic guided vehicle capable of mounting a dedicated refuse container, a dedicated refuse container and a container accumulating device, and a refuse disposal device. It is composed of a processing chamber. First, in order to solve the space problem, fixed equipment such as lifts and pipes for transporting waste is not provided, and the waste is placed on an unmanned guided vehicle that is freely movable and transported to the waste treatment room in the building. However, since garbage is generated from various places in the building, in order to carry it by an unmanned guided vehicle, it is necessary to collect the garbage in a certain area in a lump and to make it into a form that is easy to handle. For the purpose of collecting garbage, prepare a dedicated garbage container and automatically load this dedicated container on an unmanned guided vehicle, or to carry an empty container from an unmanned guided vehicle, unmanned storage of the container. A container accumulator that can be carried out is used.

The container stacking device is placed in an arbitrary space in a building. The waste discharger may throw the waste directly into the dedicated container inside the container stacking device, or throw the waste into a small trash can at the trash generation part and carry the small trash can to the dedicated container inside the container stacking device. You may come to throw it away. An automated guided vehicle equipped with a dedicated container runs on its own in the aisle and automatically gets on and off the elevator to transport the dedicated waste container to the waste treatment room. In the waste treatment room, a dedicated container is unloaded on the conveyor line, and the waste is sorted and supplied to a storage drum and a paper packing device (baler).

[0007]

[Operation] The waste discharger or the cleaner in the building throws the generated waste directly or once into another small trash can, and then disposes the small trash can into the container stacking device placed in the common space of the building. . There are several dedicated garbage containers for each type of sorting in the container stacking equipment, and the person who disposes of the waste sorts them and then disposes them in each waste container in the container collecting equipment. The automated guided vehicle carries an empty dedicated waste container from the waste treatment room and stops on the side of the container stacking device, and issues an instruction to transfer the dedicated container by optical communication between the automated guided vehicle and the container stacking device. When the order is confirmed, first, an empty dedicated container is pushed in from the side of the container stacking device from the automatic guided vehicle. At the same time, a dedicated trash container containing trash is pushed out from the opposite side in a tokoroten style. The automated guided vehicle automatically moves to the opposite side of the container stacking device and receives the special container containing the extruded dust and loads it on the automated guided vehicle. Thus, the unmanned guided vehicle will carry an unmanned vehicle equipped with a dedicated container, get on and off the elevator, and move to the waste treatment room. In the waste treatment room, the type of waste in the dedicated container is automatically recognized and the waste is discharged through the predetermined waste discharge line. Then, the emptied dedicated container is mounted on the automatic guided vehicle again, and the automatic guided vehicle returns to the container accumulating device. By repeating such work, it is possible to collect waste in the building unattended in the waste treatment room.

[0008]

EXAMPLE An example of an unmanned waste collection method and apparatus according to the present invention will be described below. FIG. 1 is a diagram showing the basic configuration of an unmanned waste collecting apparatus according to the present invention. As shown in FIG. 1, on each floor F of the office building, a container stacking device 1 that stacks a plurality of dedicated containers is arranged. There is a garbage disposal room R on the basement floor, and each floor F
The waste treatment room R and the waste treatment room R are connected by an elevator E.

A dedicated container (hereinafter, referred to as an actual container) containing the separately collected garbage in each container of the container stacking device 1 installed on each floor is
Transported to elevator E. The automatic guided vehicle 3 automatically rides on the elevator E, descends from the elevator in the garbage processing room R, and automatically unloads. Then, the actual container is transferred onto the conveyor line 30 of the refuse processing chamber R.

The contents of each real container are recognized on the conveyor line 30, and the waste is stored in the storage drum 31 and then transferred to the collection vehicle 32 and carried out. Valuable materials are packed (veiled) in an appropriate size by the baler 33 and carried out to the outside.

On the other hand, an empty waste container (hereinafter referred to as an empty container) is transferred from the waste processing chamber R to the container stacking apparatus 1 by the unmanned transfer vehicle 3. In FIG.
The black arrow shows the movement of the automatic guided vehicle with the actual container, and the white arrow shows the movement of the automatic guided vehicle with the empty container.

Next, a collection method using the unmanned waste collection device configured as shown in FIG. 1 will be described in detail with reference to FIG. In the embodiment, for example, the following respective conditions are set and explained. Target building: This is a 40-story office-based building with some retail stores and restaurants in the lower floors. Collect garbage discharged from offices in this building. Standard floor area: 1500 square meters Waste emission: 80 kg (about 400 liters) per floor Collection time zone: Midnight (after completion of work) Waste quality: As shown in Table 1. Table 1 ─────────────────────────────── Recycle vs. Recycle vs. Outside ─ ─────────────────────────── Weight by species (%) Weight by species (%) ────── ──── ─────────────── High-quality paper 5 Miscellaneous garbage 40 Regenerated paper 20 Shinmon paper 5 Miscellaneous magazines 15 Cardboard 10 bin 3 can 2 ────────── ──────────────────────

The garbage collected by the method for collecting garbage according to the present invention is, for example, three groups of garbage, newspapers / magazines, high-quality paper / recycled paper, and bins / cans are soft drinks that are separately discharged by the garbage discharger. Treated by a water supplier. About garbage, the garbage discharger throws it in the trash can on the desk side. Newspapers and magazines are sorted and discharged together. As for high-quality paper and recycled paper, the use of recycled paper will increase in the future and the usage of high-quality paper will decrease, so we will throw them together in the paper box in the desk. Floor cleaning garbage will be cleaned by a floor cleaning company using a dedicated mobile box and thrown into a garbage container.

The waste that has been separated and discharged is disposed of by a worker in the office in the separated waste container stored in the container stacking device 1 placed in the core of the building. That is, the garbage in the trash box on the desk side is used as a garbage container, and the newspapers and magazines are newspapers.
The magazine container and the paper in the desk side paper box are collected in the collected paper container. The container stacking device 1 stores, for example, six 100-liter containers, each of which can be used depending on the amount of waste discharged. In the embodiment, four containers are used for garbage, newspapers, magazines, and so on. For fine paper and recycled paper, allocate one each.
Hereinafter, this collection method will be described step by step.

When the work is completed, the automated guided vehicle 3 equipped with an empty container is automatically mounted on the elevator E from the refuse processing room R on the basement floor and moves to the refuse discharging floor. First, the automated guided vehicle 3 advances to and stops at one side surface of the container stacking device 1 on a determined side, and then the automated guided vehicle 3 issues a container receiving command to the container stacking device 1 by optical communication. After mutually confirming the commands, the empty container placed on the lifting table (described later) attached to the upper surface of the automatic guided vehicle 3 is lifted by about 8 cm by the action of the cam, and the tip end of the container stacking device 1 becomes a key. Further, an empty container carry-in arm (described later) extends to enter between the empty container and the automatic guided vehicle 3, the elevating table of the automatic guided vehicle 3 then descends, and the empty container is placed on the carry-in arm. The loading arm on which the container is placed is mechanically drawn into the container stacking device 1. Since the tip of the carry-in arm is key-shaped, the empty container is also drawn into the container stacking apparatus 1 together with the carry-in arm. Container stacking device 1
Since the real container already filled with garbage is already stored in the container, the real container containing dust is pushed out from the opposite side. The container pushed out at this time is also the actual container carry-out arm (described later).
Is pushed out. On the other hand, the automatic guided vehicle 3 lowers the lifting table. The automated guided vehicle 3 moves in the reverse direction to a position below the actual container mounted on the actual container unloading arm on the side opposite to the container stacking device 1, and the lifting table of the automated guided vehicle 3 rises to move the actual container on the unloading arm. It is slightly lifted, and then the carry-out arm is drawn into the container stacking device 1. The elevating table of the automatic guided vehicle 3 is lowered to enter the traveling system. The automatic guided vehicle 3 gets on and off the elevator E and travels toward the waste treatment room R. Then, in the waste processing room R, the dedicated container is transferred from the unmanned transport vehicle 3 onto the conveyor line 30 of the waste processing room R. The contents of each real container are recognized on the conveyor line by a method such as a bar code, and the contents are moved to the respective processing lines by the conveyor. The empty container after processing goes around the conveyor line and is mounted on the automatic guided vehicle 3 again. The automatic guided vehicle 3 further gets on and off the elevator E and collects the remaining waste containers. The above work is repeated to collect the waste in the building in the waste treatment room R.

Next, the container stacking apparatus 1 will be described with reference to the drawings. FIG. 3 is a diagram showing the layout around the container stacking device 1. The container stacking device 1 is provided with a box-shaped device body 2, and the device body 2 is provided with dust inlets 2a, 2b and 2c. Input port 2a
Wastepaper is thrown in, and newspapers / magazines are put in the inlet 2b, and high-quality paper / recycled paper is put in the inlet 2c. Arrangement of the input port of these garbage is good anywhere. Container stacking device 1
On the other hand, the automatic guided vehicle 3 moves along the locus of the magnetic guiding tape 6, but first moves in the order of A → B → C and stops on the side surface of the container stacking apparatus 1. Automated guided vehicle 3 at this position
The empty container 4 mounted on the container is transferred to the container stacking device 1. When the transfer is completed, the automatic guided vehicle 3 is provided with the magnetic guiding tape 6
Along the way, move backward such as C → B → D → E → F,
Stop on the opposite side of the container stacking device 1. At this position, a real container 8 containing garbage from the container stacking device 1
After receiving the F, E → G along the magnetic induction tape 6
Move in a direction like.

FIG. 4 is a perspective view of the container stacking apparatus 1. An inlet 7 for transferring the empty container 4 is formed at one end of the apparatus main body 2, and an outlet 16 is formed at the other end. . FIG. 5 is a cross-sectional view taken along the line XX in FIG. 4. Reference numerals 8a and 8b are a garbage container and a newspaper / magazine container, respectively. The newspaper / magazine container 8b is placed on the empty container loading arm 9. A key 10 for pushing in the empty container 4 is formed at the tip of the empty container carry-in arm 9. Similarly, the garbage container 8a is mounted on the real container carrying-out arm 11 for taking out the real container 8 containing dust and mounting it on the automatic guided vehicle 3. A key 12 is also formed at the tip of the actual container carry-out arm 11.

FIG. 6 is a view as seen from the YY direction in FIG. 4, in which the apparatus main body 2 is provided internally with a guide 13 extending in the longitudinal direction, and the newspaper / magazine container 8b and the high-quality paper / recycled paper container 8c are provided. Is inserted along the guide 13.

7 and 8 are views showing the drive mechanism of the empty container carry-in arm 9 and the actual container carry-out arm 11. As shown in FIG. 7, the empty container carry-in arm 9 is connected to the carry-in arm drive motor cylinder 21, and the actual container carry-out arm 11 is connected to the carry-out arm drive motor cylinder 20. Further, a carry-in side shutter 22 is arranged at the entrance 7 of the apparatus main body 2, and the shutter 22 is connected to a carry-in side shutter drive motor cylinder 23 and can be moved up and down. A delivery-side shutter 24 is arranged at the exit 16 of the apparatus main body 2.
Is connected to a carry-out side shutter drive motor cylinder 25 as shown in FIG.

FIG. 9 is a view showing the details of the automatic guided vehicle 3. The automatic guided vehicle 3 is provided with a lifting table 14.
A guide 14a is fixed on the lifting table 14 so that two containers can be placed. Lifting table 1
4 is moved up and down by the action of the lift cam 15 which is in contact with the vertical rod. The lift cam 15 is driven by a motor 20 with a speed reducer as a drive source via an electric shaft 17 and a gear box 18.

Next, a method for transferring the empty container 4 from the automatic guided vehicle 3 to the container stacking apparatus 1 and transferring the actual container 8 to the automatic guided vehicle 3 by the container stacking apparatus 1 will be described with reference to FIGS. And explain.

First, as shown in FIG. 10A, the automated guided vehicle 3 loaded with the empty container 4 arrives at the empty container loading side. The empty container 4 mounted on the lifting table 14 of the automatic guided vehicle 3 is lifted by the action of the lift cam 15 as shown in FIG. 10B, and the level of the space between the lifting table 14 and the bottom of the empty container 4 is increased. And the level of the carry-in arm 9 of the container stacking apparatus 1 becomes the same. Then, Figure 1
As shown in 0 (c), the optical communication device 27 causes the empty container carry-in signal S ₁ from the automatic guided vehicle 3 to the container stacking device 1.
Then, as shown in FIG. 10D, the container stacking apparatus 1 is activated, and the shutters 22 on the carry-in side and the carry-out side are
24 descends, and the inlet 7 and the outlet 16 of the apparatus main body 2 are opened.

Next, the carry-in arm drive motor cylinder 21
Is driven, and as shown in FIG. 11 (a), the empty container carry-in arm 9 advances and enters between the elevating table 14 and the bottom of the empty container 4. Then, the optical communication device 27 transmits an empty container loading preparation completion signal S ₂ from the container stacking device 1 to the automatic guided vehicle 3 as shown in FIG. 11B. Next, as shown in FIG. 11C, when the lift table 14 of the automatic guided vehicle 3 is lowered, the empty container 4 is transferred onto the carry-in arm 9. Then, as shown in FIG. 11D, the optical communication device 27 transmits an empty container transfer end signal S ₃ from the automatic guided vehicle 3 to the container stacking device 1.

Next, as shown in FIG. 12A, when the carry-in arm 9 is retracted and the empty container 4 is housed in the container stacking apparatus 1, at the same time the carry-out arm 11 is advanced and the actual container 8 is moved to the container. It is in the form of being carried out from the stacking device 1.
It should be noted that the container stacking device 1 is moved by pushing and pushing the containers by the operation of the carry-in arm 9 and the carry-out arm 11. Then, as shown in FIG. 12B, the optical communication device 2
An empty container carry-in end signal S ₄ is transmitted from the container stacking apparatus 1 to the automatic guided vehicle 3 by 7. Then, the automatic guided vehicle 3 starts and moves to the actual container unloading side as shown in FIG. Then, as shown in FIG. 12D, the elevating table 14 of the automated guided vehicle 3 rises,
As shown in (a), the optical communication device 27 sends an actual container reception end signal S from the automatic guided vehicle 3 to the container stacking device 1.
₅ is sent.

Next, as shown in FIG. 13 (b), the carry-out arm 11 is retracted, and as shown in FIG. 13 (c), the optical communication device 27 carries out the actual container from the container stacking device 1 to the automated guided vehicle 3. The end signal S ₆ is transmitted. And FIG.
As shown in FIG. 3 (d), the lifting table 1 of the automatic guided vehicle 3
4 descends and the automatic guided vehicle 3 starts.

The above operations shown in FIGS. 10 to 13 are repeated with the second and third unmanned guided vehicles 3 to replace the containers. Then, finally, the shutters 22 and 24 of the container stacking device 1 are lifted to complete the operation.

[0027]

As described above, according to the present invention, the effects listed below can be obtained. (1) Since the waste collection work that was conventionally performed manually at night can be automatically carried to the waste treatment room at night by an unmanned transport vehicle using a dedicated waste container, the work can be reduced, which reduces labor costs. Therefore, the garbage collection cost can be reduced. (2) The user of the building can reduce the load on the cleaning company as well as improve the morals for the separate collection of the building user, since the user of the building collects the waste in the container collecting apparatus according to the present invention. (3) Since the waste collection is a station method using a container stacking device, building users can throw away the waste at any time.

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing a basic configuration of an unmanned waste collection device according to the present invention.

FIG. 2 is a diagram showing a flow sheet of an unmanned waste collection method according to the present invention.

FIG. 3 is a layout view around a container stacking device in an unmanned waste collection device according to the present invention.

FIG. 4 is a perspective view of a container stacking device.

5 is a diagram showing an XX cross section of FIG. 4;

6 is a diagram showing a cross section taken along line YY of FIG. 4;

FIG. 7 is a sectional view taken along the longitudinal direction of the container stacking device.

FIG. 8 is a partially cutaway side view of the container stacking device.

FIG. 9 is a partially cutaway perspective view showing details of an automatic guided vehicle.

FIG. 10 is an operation explanatory view of the container stacking device and the automated guided vehicle.

FIG. 11 is an operation explanatory view of the container stacking device and the automated guided vehicle.

FIG. 12 is an operation explanatory view of the container stacking device and the automated guided vehicle.

FIG. 13 is an operation explanatory view of the container stacking device and the automated guided vehicle.

[Explanation of symbols]

 1 container stacking device 2 device main body 2a, 2b, 2c garbage input port 3 unmanned transport vehicle 4 empty container 8, 8a, 8b, 8c real container 9 empty container carry-in arm 11 real container carry-out arm 14 lift table 15 lift cam 22, 24 shutter 27 Optical communication device

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Hitoshi Kimura 11-1 Haneda Asahi-cho, Ota-ku, Tokyo Inside EBARA CORPORATION (72) Inventor Tomotsu Ishiyama 11-1 Haneda-Asahi-cho, Ota-ku, Tokyo Stocks Inside the EBARA CORPORATION

Claims (7)

[Claims] 1. A container stacking device, which is disposed at a specific place in a building and stores a dedicated container for garbage, and an unmanned transport vehicle for transporting the dedicated container, and between the container stacking device and the unmanned transport vehicle, After mutually confirming the instruction to deliver the exclusive container, the empty garbage exclusive container that has been conveyed by the automatic guided vehicle is automatically inserted from the side of the container accumulating device, and then the opposite side of the container accumulating device. The automatic guided vehicle moves to the side of the vehicle, and at that position, a dedicated container containing dust is automatically mounted on the automated guided vehicle, and then the automated guided vehicle self-propelled to remove the dedicated container containing the garbage. After transporting to the waste treatment room in the building and discharging only the waste from the dedicated container containing the waste to the predetermined position in the waste treatment room, an empty dedicated container is automatically mounted on the automatic guided vehicle, The automated guided vehicle self-propelled and returned to the side of the container collecting device, and the above operation was repeated to leave only the empty container for the waste inside the container collecting device, and the unmanned guided vehicle also self-propelled to another container collecting device. Then, the waste collection method is characterized in that the waste in the building is collected unattended at a predetermined position in the waste disposal chamber by repeating such operations. 2. The container collecting device is provided with a plurality of dedicated containers to increase the amount of collected dust and to separate the waste into each container to enable separate collection. Unattended waste collection method. 3. The automatic guided vehicle when the automatic guided vehicle is self-propelled to mount a dedicated container on the container stacking apparatus or is self-propelled to return an empty dedicated container to the container stacking apparatus. Is to stop in front of the elevator, send a destination signal to the elevator, stop the elevator, then automatically board the elevator, issue a destination command to the elevator, and travel down the predetermined floor. Item 1. An unattended waste collection method according to item 1 or 2. 4. A container stacking device that is placed in a specific place in a building and stores a dedicated container for garbage, and a self-propelled container stacking device and a waste treatment chamber placed in a specific place in the building. An unmanned transport vehicle is provided, and the container stacking device automatically receives an empty waste container that has been transported by the unmanned transport car from a side surface of the container stacking device, and a container on the opposite side of the container stacking device. An unmanned waste collection device, which is configured to automatically mount a dedicated container containing dust on the moved unmanned transport vehicle. 5. The container stacking device comprises a retractable empty container loading arm for receiving and mounting an empty dedicated container for waste, and a retractable real container for carrying out a dedicated container containing dust from the container stacking device. The unmanned waste collection device according to claim 4, further comprising a carry-out arm. 6. In the expansion and contraction movements of the empty container carry-in arm and the actual container carry-out arm, the start timing of extension of the actual container carry-out arm is from when the empty container carry-in arm begins to expand to when the empty container carry-in arm begins to contract. The unmanned waste collection device according to claim 5, wherein the unmanned waste collection device is controlled as follows. 7. The container stacking device has an opening through which an empty container carry-in arm and an actual container carry-out arm come in and out, and an opening / closing member that can be automatically opened and closed is provided in the opening. The unmanned waste collection device according to claim 5.